+ python -m lidar_slam --result /working/result.json --no-model /working/dd21d219-3608-42a3-beee-c46ef2a66c24 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/dd21d219-3608-42a3-beee-c46ef2a66c24 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 0.010385723 Adjusted end_distance from 9.223372036854776e+18 to 867.350385723 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010385723 meters Centerline goodness : 0.093908 with order 1 Centerline is valid? [0, False] SLAMing on 0.070385723 meters Centerline goodness : 0.096413 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99998965e-01 1.15993932e-03 8.50912841e-04 6.39540652e-02] [-1.15870569e-03 9.99998279e-01 -1.44883613e-03 -3.42517392e-03] [-8.52591939e-04 1.44784867e-03 9.99998588e-01 9.19411032e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130385723 meters Centerline goodness : 0.094984 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.00 [[ 0.99991178 0.01228034 -0.00506282 0.16366774] [-0.01229406 0.99992081 -0.00268916 -0.01423487] [ 0.00502939 0.00275117 0.99998357 0.00195123] [ 0. 0. 0. 1. ]] SLAMing on 0.190385723 meters Centerline goodness : 0.121225 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:-0.00 [[ 0.99985609 0.01529017 -0.00734967 0.23602923] [-0.01526502 0.99987747 0.00346619 -0.03184966] [ 0.00740177 -0.0033535 0.99996698 -0.00372064] [ 0. 0. 0. 1. ]] SLAMing on 0.250385723 meters Centerline goodness : 0.120531 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.99932791 0.03392847 -0.01387756 0.3435663 ] [-0.03381113 0.9993912 0.00860485 -0.05353521] [ 0.01416106 -0.00812985 0.99986668 -0.00366394] [ 0. 0. 0. 1. ]] SLAMing on 0.310385723 meters Centerline goodness : 0.121964 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.02 [[ 0.9972184 0.06953674 -0.0268346 0.49031314] [-0.06875392 0.99721004 0.02906935 -0.09629722] [ 0.02878112 -0.02714351 0.99921713 -0.01564242] [ 0. 0. 0. 1. ]] SLAMing on 0.370385723 meters Centerline goodness : 0.123061 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.01 [[ 9.99078165e-01 -1.75113718e-02 -3.91940255e-02 2.38460226e-01] [ 1.74976142e-02 9.99846664e-01 -6.94044654e-04 -7.95150478e-02] [ 3.92001693e-02 7.60292336e-06 9.99231378e-01 -1.29903149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430385723 meters Centerline goodness : 0.124068 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.03 [[ 9.98779389e-01 -3.50859941e-02 -3.47664268e-02 1.96592228e-01] [ 3.51216848e-02 9.99382957e-01 4.16218934e-04 -8.86585823e-02] [ 3.47303710e-02 -1.63676638e-03 9.99395378e-01 -3.16040359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.490385723 meters Centerline goodness : 0.128026 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.04 [[ 0.99830085 -0.04708944 -0.03432206 0.2028099 ] [ 0.04686142 0.99887385 -0.00741826 -0.09410669] [ 0.03463273 0.00579727 0.99938329 -0.03987398] [ 0. 0. 0. 1. ]] SLAMing on 0.550385723 meters Centerline goodness : 0.129867 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.05 [[ 0.99781742 -0.05700947 -0.03332154 0.20785542] [ 0.05663448 0.99832175 -0.01209197 -0.09773256] [ 0.03395498 0.01017843 0.99937153 -0.04889973] [ 0. 0. 0. 1. ]] SLAMing on 0.6103857229999999 meters Centerline goodness : 0.112515 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.06 [[ 0.9971563 -0.06895395 -0.03040826 0.21209271] [ 0.06845769 0.99750796 -0.01707092 -0.10164968] [ 0.03150959 0.0149407 0.99939178 -0.05909188] [ 0. 0. 0. 1. ]] SLAMing on 0.6703857229999999 meters Centerline goodness : 0.174604 with order 2 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.07 [[ 0.99655262 -0.07722876 -0.03030826 0.22036745] [ 0.07653764 0.99679352 -0.02333815 -0.10309391] [ 0.03201345 0.02093797 0.9992681 -0.06719408] [ 0. 0. 0. 1. ]] SLAMing on 0.7303857229999999 meters Centerline goodness : 0.139551 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:-0.07 [[ 0.99603575 -0.08335072 -0.03107143 0.22892975] [ 0.08255722 0.99624702 -0.02600354 -0.1073746 ] [ 0.03312223 0.02333529 0.99917885 -0.07482557] [ 0. 0. 0. 1. ]] SLAMing on 0.790385723 meters Centerline goodness : 0.141691 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:-0.08 [[ 0.99606511 -0.08266032 -0.03196207 0.23315181] [ 0.08191211 0.99634929 -0.02405207 -0.10964328] [ 0.03383354 0.02133935 0.99919964 -0.07887274] [ 0. 0. 0. 1. ]] SLAMing on 0.8503857229999999 meters Centerline goodness : 0.148106 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:-0.09 [[ 0.99612995 -0.07831386 -0.03990054 0.23180792] [ 0.07744146 0.99673244 -0.02296213 -0.11623445] [ 0.04156842 0.01978331 0.99893978 -0.08936188] [ 0. 0. 0. 1. ]] SLAMing on 0.9103857229999999 meters Centerline goodness : 0.164398 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:-0.10 [[ 0.99647667 -0.07342616 -0.04053209 0.21750158] [ 0.07214814 0.99687585 -0.03214319 -0.12807298] [ 0.04276561 0.02910563 0.99866109 -0.10106734] [ 0. 0. 0. 1. ]] SLAMing on 0.9703857229999999 meters Centerline goodness : 0.176704 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.15, Z:-0.11 [[ 0.99711195 -0.06488016 -0.03947563 0.20184775] [ 0.06382299 0.9975829 -0.02747703 -0.14665689] [ 0.04116293 0.02487822 0.99884267 -0.11331013] [ 0. 0. 0. 1. ]] SLAMing on 1.030385723 meters Centerline goodness : 0.192916 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:-0.13 [[ 0.99732352 -0.06135725 -0.03976289 0.1862622 ] [ 0.06054508 0.99793778 -0.02131864 -0.16621766] [ 0.04098895 0.01885413 0.9989817 -0.12545104] [ 0. 0. 0. 1. ]] SLAMing on 1.090385723 meters Centerline goodness : 0.194545 with order 2 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:-0.14 [[ 0.99687874 -0.06417927 -0.04597599 0.18257274] [ 0.06323051 0.99776076 -0.02180281 -0.18184684] [ 0.04727232 0.01882767 0.99870458 -0.1372404 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1503857229999999 meters Centerline goodness : 0.102580 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.19, Z:-0.15 [[ 0.9962997 -0.06787083 -0.05273001 0.18108716] [ 0.06643856 0.99738461 -0.02845815 -0.1939943 ] [ 0.05452358 0.02484954 0.99820323 -0.14917515] [ 0. 0. 0. 1. ]] SLAMing on 1.210385723 meters Centerline goodness : 0.217900 with order 2 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.21, Z:-0.16 [[ 0.99656144 -0.0666963 -0.04916204 0.1786649 ] [ 0.06566294 0.99759165 -0.02234471 -0.20611041] [ 0.05053394 0.01903975 0.99854084 -0.15697225] [ 0. 0. 0. 1. ]] SLAMing on 1.270385723 meters Centerline goodness : 0.202077 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.21, Z:-0.16 [[ 0.99659119 -0.06667702 -0.04858156 0.18016599] [ 0.06586987 0.99766528 -0.01803179 -0.21444039] [ 0.04967044 0.01477026 0.99865644 -0.16085537] [ 0. 0. 0. 1. ]] SLAMing on 1.3303857229999998 meters SLAMing on 1.3903857229999999 meters SLAMing on 1.450385723 meters Centerline goodness : 0.226407 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.22, Z:-0.18 [[ 0.99585827 -0.0684922 -0.05979239 0.19875442] [ 0.0675643 0.99756306 -0.01740728 -0.22403843] [ 0.06083894 0.01329535 0.99805904 -0.17994787] [ 0. 0. 0. 1. ]] SLAMing on 1.510385723 meters Centerline goodness : 0.235314 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.23, Z:-0.19 [[ 0.99525687 -0.07417227 -0.06294623 0.20961356] [ 0.07308889 0.99713778 -0.01934582 -0.23200804] [ 0.06420099 0.01465339 0.9978294 -0.18850055] [ 0. 0. 0. 1. ]] SLAMing on 1.570385723 meters Centerline goodness : 0.631264 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.24, Z:-0.19 [[ 0.99552076 -0.06823676 -0.06543828 0.21836637] [ 0.06699481 0.99753248 -0.02099164 -0.24148196] [ 0.06670921 0.01651359 0.9976358 -0.19233668] [ 0. 0. 0. 1. ]] SLAMing on 1.6303857229999998 meters Centerline goodness : 0.213718 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.24, Z:-0.19 [[ 0.99593203 -0.06928438 -0.05761138 0.22680749] [ 0.06816199 0.99744843 -0.02122647 -0.24230574] [ 0.05893505 0.01721322 0.9981134 -0.19039723] [ 0. 0. 0. 1. ]] SLAMing on 1.690385723 meters Centerline goodness : 0.622004 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.24, Z:-0.19 [[ 0.99555096 -0.08310953 -0.04439699 0.25787501] [ 0.08206417 0.99631659 -0.02487418 -0.2380221 ] [ 0.04630074 0.02112011 0.99870425 -0.18503762] [ 0. 0. 0. 1. ]] SLAMing on 1.750385723 meters Centerline goodness : 0.630868 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.24, Z:-0.18 [[ 0.99425904 -0.10080644 -0.03587525 0.27083302] [ 0.09966073 0.99449347 -0.0324111 -0.2376315 ] [ 0.03894495 0.02864967 0.99883056 -0.18390798] [ 0. 0. 0. 1. ]] SLAMing on 1.8103857229999998 meters Centerline goodness : 0.636043 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:-0.18 [[ 0.99246105 -0.11723808 -0.03572531 0.29986599] [ 0.11620785 0.9927816 -0.0296721 -0.23250845] [ 0.03894613 0.02529684 0.99892105 -0.18447409] [ 0. 0. 0. 1. ]] SLAMing on 1.8703857229999998 meters Centerline goodness : 0.640267 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.23, Z:-0.18 [[ 0.99203413 -0.12202587 -0.03127248 0.31652258] [ 0.12120329 0.992261 -0.02697923 -0.22956871] [ 0.03432263 0.02297399 0.99914671 -0.18350971] [ 0. 0. 0. 1. ]] SLAMing on 1.9303857229999999 meters Centerline goodness : 0.655379 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.18 [[ 0.99285524 -0.11536579 -0.03048289 0.31177369] [ 0.11474955 0.99316711 -0.0212517 -0.23481861] [ 0.03272632 0.01760196 0.99930934 -0.18048758] [ 0. 0. 0. 1. ]] SLAMing on 1.990385723 meters Centerline goodness : 0.660477 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.18 [[ 0.99509245 -0.09402787 -0.03081834 0.3058295 ] [ 0.09349165 0.99544994 -0.0184047 -0.24204966] [ 0.03240867 0.01543312 0.99935554 -0.18232717] [ 0. 0. 0. 1. ]] SLAMing on 2.050385723 meters Centerline goodness : 0.633219 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.18 [[ 0.99586291 -0.08527515 -0.03138816 0.30633029] [ 0.0848895 0.99629995 -0.01342315 -0.24328473] [ 0.03241668 0.01070309 0.99941713 -0.18401889] [ 0. 0. 0. 1. ]] SLAMing on 2.1103857230000003 meters Centerline goodness : 0.621358 with order 3 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.25, Z:-0.18 [[ 0.99603788 -0.08329458 -0.03115388 0.30433804] [ 0.08302571 0.99649893 -0.00982883 -0.25142326] [ 0.0318635 0.00720331 0.99946627 -0.18165988] [ 0. 0. 0. 1. ]] SLAMing on 2.1703857230000003 meters Centerline goodness : 0.667416 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.26, Z:-0.18 [[ 0.99579082 -0.08621634 -0.03110283 0.30388412] [ 0.08594697 0.99625054 -0.00989877 -0.26068605] [ 0.03183965 0.00718391 0.99946717 -0.17948378] [ 0. 0. 0. 1. ]] SLAMing on 2.230385723 meters Centerline goodness : 0.672851 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.27, Z:-0.18 [[ 0.99524479 -0.09146776 -0.03348809 0.31065839] [ 0.09117936 0.99578384 -0.0100434 -0.26712298] [ 0.03426555 0.00694222 0.99938865 -0.18015295] [ 0. 0. 0. 1. ]] SLAMing on 2.290385723 meters Centerline goodness : 0.680052 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.28, Z:-0.18 [[ 0.99467438 -0.09663234 -0.03584774 0.31703978] [ 0.09639658 0.9953088 -0.00825165 -0.27820333] [ 0.03647695 0.0047521 0.9993232 -0.17998191] [ 0. 0. 0. 1. ]] SLAMing on 2.350385723 meters Centerline goodness : 0.692890 with order 3 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.29, Z:-0.18 [[ 9.94230203e-01 -1.00091854e-01 -3.85736209e-02 3.22383805e-01] [ 1.00144526e-01 9.94972738e-01 -5.69114603e-04 -2.89395457e-01] [ 3.84366650e-02 -3.29710607e-03 9.99255599e-01 -1.76425520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.410385723 meters Centerline goodness : 0.703709 with order 3 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.30, Z:-0.18 [[ 0.99405405 -0.1015589 -0.03927268 0.32510056] [ 0.1015591 0.99482751 -0.00199527 -0.29559464] [ 0.03927218 -0.00200509 0.99922654 -0.17624078] [ 0. 0. 0. 1. ]] SLAMing on 2.470385723 meters Centerline goodness : 0.716727 with order 2 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.30, Z:-0.18 [[ 0.99448323 -0.09673104 -0.04057365 0.32865586] [ 0.09694797 0.99528361 0.00340892 -0.29861422] [ 0.04005254 -0.00732365 0.99917074 -0.17725599] [ 0. 0. 0. 1. ]] SLAMing on 2.530385723 meters Centerline goodness : 0.723712 with order 2 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.30, Z:-0.18 [[ 0.99506596 -0.08938926 -0.04304998 0.33200954] [ 0.09004276 0.99584661 0.0134842 -0.29874943] [ 0.04166583 -0.01729401 0.99898192 -0.17564958] [ 0. 0. 0. 1. ]] SLAMing on 2.5903857230000003 meters Centerline goodness : 0.734827 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.29, Z:-0.18 [[ 0.99526551 -0.08625469 -0.04479622 0.33725505] [ 0.08703625 0.9960799 0.01579637 -0.29348524] [ 0.0432581 -0.01962048 0.99887125 -0.17840585] [ 0. 0. 0. 1. ]] SLAMing on 2.650385723 meters Centerline goodness : 0.743722 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.28, Z:-0.18 [[ 0.9949318 -0.08808188 -0.04850046 0.34806807] [ 0.08903722 0.99586747 0.01789836 -0.28422644] [ 0.04672351 -0.02212599 0.99866278 -0.18145783] [ 0. 0. 0. 1. ]] SLAMing on 2.710385723 meters Centerline goodness : 0.743839 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.28, Z:-0.18 [[ 0.99475562 -0.0893999 -0.04968818 0.35235393] [ 0.09034712 0.99576264 0.01715134 -0.28185671] [ 0.0479443 -0.02155058 0.9986175 -0.18353423] [ 0. 0. 0. 1. ]] SLAMing on 2.770385723 meters Centerline goodness : 0.761281 with order 2 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.27, Z:-0.19 [[ 0.99390973 -0.09655629 -0.05310684 0.36768137] [ 0.09788361 0.99493248 0.02298172 -0.26687292] [ 0.05061869 -0.02804005 0.99832435 -0.18578093] [ 0. 0. 0. 1. ]] SLAMing on 2.830385723 meters Centerline goodness : 0.777288 with order 2 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.25, Z:-0.19 [[ 0.99331901 -0.10023707 -0.05718278 0.37803814] [ 0.10198149 0.99437959 0.0284432 -0.25301585] [ 0.05401033 -0.03408476 0.99795847 -0.18533736] [ 0. 0. 0. 1. ]] SLAMing on 2.890385723 meters Centerline goodness : 0.792162 with order 2 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.25, Z:-0.19 [[ 0.99145372 -0.11947305 -0.05239958 0.39106102] [ 0.12113043 0.99219296 0.02967395 -0.25182458] [ 0.04844525 -0.03576753 0.99818522 -0.18629722] [ 0. 0. 0. 1. ]] SLAMing on 2.950385723 meters Centerline goodness : 0.804548 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.18 [[ 0.98931367 -0.13627847 -0.0518328 0.40195857] [ 0.13814745 0.98981573 0.03435256 -0.24948211] [ 0.04662341 -0.04114603 0.99806476 -0.18274102] [ 0. 0. 0. 1. ]] SLAMing on 3.010385723 meters Centerline goodness : 0.823636 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.18 [[ 0.98972817 -0.1334537 -0.05126656 0.40006816] [ 0.13545363 0.99006491 0.03773312 -0.25020026] [ 0.0457216 -0.04428977 0.99797192 -0.18135309] [ 0. 0. 0. 1. ]] SLAMing on 3.0703857230000002 meters Centerline goodness : 0.836003 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.18 [[ 0.9905486 -0.12754295 -0.05046053 0.3991334 ] [ 0.12960488 0.99076105 0.03993904 -0.24943382] [ 0.04490038 -0.04610149 0.99792716 -0.1835106 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1303857230000003 meters Centerline goodness : 0.845367 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.19 [[ 0.99069323 -0.12608794 -0.05127135 0.40429706] [ 0.12816376 0.99096878 0.03943253 -0.24967148] [ 0.04583634 -0.04563667 0.99790597 -0.18788117] [ 0. 0. 0. 1. ]] SLAMing on 3.190385723 meters Centerline goodness : 0.856614 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.19 [[ 0.99074497 -0.12570742 -0.051206 0.40882666] [ 0.1275552 0.99122908 0.0345628 -0.25038278] [ 0.04641207 -0.04077451 0.99808986 -0.19321791] [ 0. 0. 0. 1. ]] SLAMing on 3.250385723 meters Centerline goodness : 0.861954 with order 2 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.20 [[ 0.99153934 -0.11964136 -0.05035548 0.4084637 ] [ 0.12159443 0.99186419 0.03768586 -0.25274256] [ 0.04543701 -0.04348996 0.99802009 -0.19578852] [ 0. 0. 0. 1. ]] SLAMing on 3.310385723 meters Centerline goodness : 0.881382 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.20 [[ 0.99238026 -0.1126251 -0.04997004 0.40975622] [ 0.11467596 0.99258664 0.04026395 -0.25331261] [ 0.04506486 -0.04568752 0.99793878 -0.20002656] [ 0. 0. 0. 1. ]] SLAMing on 3.370385723 meters Centerline goodness : 0.893708 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.20 [[ 0.99290879 -0.10880113 -0.04790037 0.40555666] [ 0.11074726 0.99304178 0.04003842 -0.25373077] [ 0.04321085 -0.04505934 0.99804934 -0.19986333] [ 0. 0. 0. 1. ]] SLAMing on 3.430385723 meters Centerline goodness : 0.899971 with order 3 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.20 [[ 0.99258357 -0.11231406 -0.0465124 0.40245057] [ 0.11400688 0.99284578 0.03549205 -0.25229225] [ 0.04219338 -0.04053156 0.99828699 -0.19752997] [ 0. 0. 0. 1. ]] SLAMing on 3.490385723 meters Centerline goodness : 0.906170 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.20 [[ 0.99164741 -0.11967708 -0.04809167 0.40718182] [ 0.12129785 0.99208986 0.03231928 -0.25172813] [ 0.04384339 -0.03788274 0.99831992 -0.19745277] [ 0. 0. 0. 1. ]] SLAMing on 3.550385723 meters Centerline goodness : 0.924324 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.20 [[ 0.99053761 -0.12781864 -0.04997639 0.41181194] [ 0.12935884 0.99117685 0.02889187 -0.25011979] [ 0.04584252 -0.03508337 0.99833242 -0.1961415 ] [ 0. 0. 0. 1. ]] SLAMing on 3.610385723 meters Centerline goodness : 0.138133 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.19 [[ 0.98951673 -0.13435004 -0.05297834 0.41774399] [ 0.13592842 0.99033989 0.02739301 -0.2471514 ] [ 0.04878631 -0.0343071 0.99821987 -0.194766 ] [ 0. 0. 0. 1. ]] SLAMing on 3.670385723 meters Centerline goodness : 0.128702 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.19 [[ 0.98898545 -0.13724123 -0.05543127 0.42179895] [ 0.13892389 0.98991503 0.02771992 -0.24400537] [ 0.05106793 -0.03511532 0.99807764 -0.1934044 ] [ 0. 0. 0. 1. ]] SLAMing on 3.730385723 meters Centerline goodness : 0.940813 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.19 [[ 0.98810552 -0.14324208 -0.05593923 0.4243361 ] [ 0.1447677 0.98916908 0.02422495 -0.24379123] [ 0.05186332 -0.032035 0.99814025 -0.19327478] [ 0. 0. 0. 1. ]] SLAMing on 3.790385723 meters Centerline goodness : 0.132132 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.24, Z:-0.19 [[ 0.9879231 -0.14432288 -0.05638134 0.42544695] [ 0.14583808 0.98902378 0.02373212 -0.24384092] [ 0.05233739 -0.03166806 0.99812721 -0.19324534] [ 0. 0. 0. 1. ]] SLAMing on 3.850385723 meters Centerline goodness : 0.951283 with order 2 Centerline is valid? [False, True] Translation: X:0.43, Y:-0.24, Z:-0.19 [[ 0.98780526 -0.14467528 -0.05753113 0.42737304] [ 0.14615695 0.98900739 0.02241726 -0.24083515] [ 0.05365549 -0.03055246 0.998092 -0.19315415] [ 0. 0. 0. 1. ]] SLAMing on 3.910385723 meters Centerline goodness : 0.957998 with order 1 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.22, Z:-0.17 [[ 0.98694623 -0.15197694 -0.05329296 0.44050157] [ 0.15188275 0.98838128 -0.00583664 -0.21725306] [ 0.0535608 -0.00233383 0.99856186 -0.16755905] [ 0. 0. 0. 1. ]] SLAMing on 3.970385723 meters Centerline goodness : 0.958435 with order 1 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.19, Z:-0.17 [[ 9.89381853e-01 -1.35358678e-01 -5.29299331e-02 4.99460229e-01] [ 1.35114289e-01 9.90796211e-01 -8.18516472e-03 -1.93822191e-01] [ 5.35507103e-02 9.46663177e-04 9.98564683e-01 -1.66276587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030385722999999 meters Centerline goodness : 0.961934 with order 1 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.18, Z:-0.16 [[ 0.99084713 -0.12417851 -0.05293068 0.55993002] [ 0.12391842 0.99225869 -0.0081803 -0.18483038] [ 0.05353675 0.00154634 0.99856468 -0.16156123] [ 0. 0. 0. 1. ]] SLAMing on 4.090385723 meters Centerline goodness : 0.974773 with order 1 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.19, Z:-0.15 [[ 0.99364812 -0.09930624 -0.05293101 0.62306168] [ 0.09901097 0.99505273 -0.00817821 -0.19235937] [ 0.05348129 0.00288551 0.99856468 -0.1515127 ] [ 0. 0. 0. 1. ]] SLAMing on 4.150385722999999 meters Centerline goodness : 0.979396 with order 1 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.19, Z:-0.15 [[ 0.99398715 -0.09585271 -0.05293201 0.68454245] [ 0.09555291 0.99539081 -0.00817172 -0.18750027] [ 0.05347132 0.00306478 0.99856468 -0.14683195] [ 0. 0. 0. 1. ]] SLAMing on 4.210385723 meters Centerline goodness : 0.984651 with order 1 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.18, Z:-0.14 [[ 0.99389684 -0.09678443 -0.05293238 0.74582559] [ 0.09648607 0.99530081 -0.00816929 -0.18488874] [ 0.05347431 0.00301219 0.99856468 -0.14222147] [ 0. 0. 0. 1. ]] SLAMing on 4.2703857229999995 meters Centerline goodness : 0.988422 with order 1 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.18, Z:-0.14 [[ 0.99328784 -0.10284648 -0.05293275 0.80718606] [ 0.10255682 0.99469362 -0.00816689 -0.18038134] [ 0.05349181 0.00268346 0.99856468 -0.13898848] [ 0. 0. 0. 1. ]] SLAMing on 4.330385723 meters Centerline goodness : 0.989570 with order 1 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.17, Z:-0.14 [[ 0.99245758 -0.11057119 -0.05293351 0.86886975] [ 0.11029274 0.99386563 -0.00816197 -0.17368199] [ 0.05351128 0.00226223 0.99856468 -0.1414398 ] [ 0. 0. 0. 1. ]] SLAMing on 4.390385723 meters Centerline goodness : 0.993417 with order 1 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.16, Z:-0.11 [[ 9.89522864e-01 -1.34322402e-01 -5.29338689e-02 9.27944314e-01] [ 1.34077895e-01 9.90937202e-01 -8.15966606e-03 -1.61628781e-01] [ 5.35501659e-02 9.76914434e-04 9.98564683e-01 -1.10483181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.450385722999999 meters Centerline goodness : 0.994643 with order 1 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.15, Z:-0.10 [[ 9.88074646e-01 -1.44590617e-01 -5.29343744e-02 9.87345014e-01] [ 1.44360986e-01 9.89491475e-01 -8.15638529e-03 -1.47739337e-01] [ 5.35574490e-02 4.17459040e-04 9.98564683e-01 -9.99646288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510385723 meters Centerline goodness : 0.995685 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.13, Z:-0.09 [[ 9.86515138e-01 -1.54873423e-01 -5.29349127e-02 1.04508638e+00] [ 1.54658747e-01 9.87934311e-01 -8.15289062e-03 -1.31515633e-01] [ 5.35588825e-02 -1.43897269e-04 9.98564683e-01 -8.53388848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570385722999999 meters Centerline goodness : 0.993291 with order 1 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.10, Z:-0.10 [[ 9.85260509e-01 -1.62664149e-01 -5.29349048e-02 1.10375102e+00] [ 1.62460692e-01 9.86681333e-01 -8.15294167e-03 -9.77922368e-02] [ 5.35560737e-02 -5.67069815e-04 9.98564683e-01 -9.51169492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630385723 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.09, Z:-0.07 [[ 9.84628050e-01 -1.66449515e-01 -5.29354437e-02 1.16337006e+00] [ 1.66251709e-01 9.86049672e-01 -8.14944120e-03 -9.22453343e-02] [ 5.35534474e-02 -7.76439562e-04 9.98564683e-01 -7.22313356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6903857229999995 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.08, Z:-0.08 [[ 9.84563808e-01 -1.66829081e-01 -5.29354911e-02 1.22473455e+00] [ 1.66631839e-01 9.85985508e-01 -8.14913342e-03 -8.37356597e-02] [ 5.35531395e-02 -7.97396407e-04 9.98564683e-01 -8.10500815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750385723 meters Centerline goodness : 0.998040 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.09, Z:-0.09 [[ 9.87263231e-01 -1.50030399e-01 -5.29357274e-02 1.28889125e+00] [ 1.49809046e-01 9.88681378e-01 -8.14759793e-03 -8.76698650e-02] [ 5.35589553e-02 1.13573048e-04 9.98564683e-01 -9.18296760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810385723 meters Centerline goodness : 0.998444 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.08, Z:-0.09 [[ 9.88143919e-01 -1.44115693e-01 -5.29364034e-02 1.35043162e+00] [ 1.43886087e-01 9.89560752e-01 -8.14320375e-03 -8.22514051e-02] [ 5.35573506e-02 4.29845345e-04 9.98564683e-01 -9.47001008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870385722999999 meters Centerline goodness : 0.996357 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.07, Z:-0.09 [[ 9.88458528e-01 -1.41941354e-01 -5.29376121e-02 1.41171482e+00] [ 1.41709052e-01 9.89874922e-01 -8.13533843e-03 -7.40711569e-02] [ 5.35563556e-02 5.39705826e-04 9.98564683e-01 -9.45940533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930385723 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.06, Z:-0.09 [[ 9.89460766e-01 -1.34777311e-01 -5.29383510e-02 1.47113479e+00] [ 1.34535013e-01 9.90875484e-01 -8.13052707e-03 -6.16662433e-02] [ 5.35511248e-02 9.22775822e-04 9.98564683e-01 -8.63457444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990385722999999 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.06, Z:-0.09 [[ 9.90890896e-01 -1.23825299e-01 -5.29389063e-02 1.53353079e+00] [ 1.23567561e-01 9.92302883e-01 -8.12691001e-03 -5.83662056e-02] [ 5.35377464e-02 1.51134961e-03 9.98564683e-01 -8.74300590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050385723 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.05, Z:-0.09 [[ 0.99202009 -0.11442697 -0.05293963 1.59347989] [ 0.11415611 0.99342962 -0.00812222 -0.04772219] [ 0.05352119 0.00201402 0.99856468 -0.08512174] [ 0. 0. 0. 1. ]] SLAMing on 5.110385722999999 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.04, Z:-0.08 [[ 0.99297649 -0.10580655 -0.05294015 1.65527407] [ 0.10552364 0.99438365 -0.00811883 -0.03912186] [ 0.05350184 0.00247537 0.99856468 -0.07655542] [ 0. 0. 0. 1. ]] SLAMing on 5.170385723 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.03, Z:-0.08 [[ 0.994387 -0.09160649 -0.05294099 1.71574177] [ 0.09130379 0.99579003 -0.00811331 -0.0305536 ] [ 0.05346134 0.00323406 0.99856468 -0.07879377] [ 0. 0. 0. 1. ]] SLAMing on 5.2303857229999995 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.02, Z:-0.08 [[ 0.99405974 -0.09509172 -0.05294149 1.77574994] [ 0.09479412 0.99546386 -0.00811008 -0.01804944] [ 0.05347254 0.00304336 0.99856468 -0.08064802] [ 0. 0. 0. 1. ]] SLAMing on 5.290385722999999 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.02, Z:-0.07 [[ 0.99423497 -0.09324147 -0.05294197 1.83903522] [ 0.09294142 0.99563857 -0.0081069 -0.02151756] [ 0.05346697 0.00313966 0.99856468 -0.06950635] [ 0. 0. 0. 1. ]] SLAMing on 5.350385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.00, Z:-0.08 [[ 0.99402646 -0.09543818 -0.05294281 1.8995496 ] [ 0.09514152 0.99543079 -0.00810141 -0.00365046] [ 0.05347409 0.00301595 0.99856468 -0.07806696] [ 0. 0. 0. 1. ]] SLAMing on 5.410385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.96, Y:0.01, Z:-0.07 [[ 0.99386792 -0.09707497 -0.05294349 1.95883922] [ 0.09678086 0.99527278 -0.00809697 0.00800104] [ 0.05347923 0.0029234 0.99856468 -0.06938355] [ 0. 0. 0. 1. ]] SLAMing on 5.470385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:2.02, Y:0.02, Z:-0.06 [[ 0.99365519 -0.09922863 -0.05294376 2.01935708] [ 0.09893766 0.99506071 -0.00809524 0.0191443 ] [ 0.05348553 0.00280575 0.99856468 -0.06110382] [ 0. 0. 0. 1. ]] SLAMing on 5.530385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.08, Y:0.03, Z:-0.06 [[ 0.99346016 -0.10116192 -0.05294504 2.08227942] [ 0.10087413 0.99486633 -0.00808681 0.02527217] [ 0.05349132 0.00269314 0.99856468 -0.06381842] [ 0. 0. 0. 1. ]] SLAMing on 5.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.14, Y:0.04, Z:-0.06 [[ 0.99316786 -0.10399199 -0.05294583 2.14290732] [ 0.10370848 0.9945749 -0.00808166 0.03630606] [ 0.05349902 0.00253551 0.99856468 -0.06149616] [ 0. 0. 0. 1. ]] SLAMing on 5.650385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.20, Y:0.05, Z:-0.05 [[ 9.92080108e-01 -1.13902121e-01 -5.29468210e-02 2.20330779e+00] [ 1.13633022e-01 9.93489974e-01 -8.07516790e-03 5.15323459e-02] [ 5.35219145e-02 1.99470614e-03 9.98564683e-01 -4.88239075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:0.06, Z:-0.05 [[ 9.92118896e-01 -1.13563531e-01 -5.29473394e-02 2.26406411e+00] [ 1.13294132e-01 9.93528704e-01 -8.07176695e-03 6.00929957e-02] [ 5.35213599e-02 2.00952965e-03 9.98564683e-01 -4.97061395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7703857229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.33, Y:0.07, Z:-0.05 [[ 9.91142579e-01 -1.21790247e-01 -5.29483178e-02 2.32611884e+00] [ 1.21532896e-01 9.92554636e-01 -8.06534404e-03 6.73311716e-02] [ 5.35363785e-02 1.55894347e-03 9.98564683e-01 -5.34407236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.39, Y:0.08, Z:-0.05 [[ 9.90830566e-01 -1.24302879e-01 -5.29488797e-02 2.38870920e+00] [ 1.24049306e-01 9.92243307e-01 -8.06165365e-03 7.61693731e-02] [ 5.35402582e-02 1.41946108e-03 9.98564683e-01 -5.03899782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:0.08, Z:-0.04 [[ 9.91224778e-01 -1.21118812e-01 -5.29497259e-02 2.45014406e+00] [ 1.20860998e-01 9.92636750e-01 -8.05609197e-03 8.46827148e-02] [ 5.35355881e-02 1.58584124e-03 9.98564683e-01 -4.29988769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:0.09, Z:-0.03 [[ 9.92299839e-01 -1.11970071e-01 -5.29502778e-02 2.51125237e+00] [ 1.11699436e-01 9.93709411e-01 -8.05246272e-03 9.45533062e-02] [ 5.35188242e-02 2.07594128e-03 9.98564683e-01 -3.34095196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:0.11, Z:-0.03 [[ 9.92530900e-01 -1.09902713e-01 -5.29509718e-02 2.57207493e+00] [ 1.09629386e-01 9.93939952e-01 -8.04789636e-03 1.07731916e-01] [ 5.35145720e-02 2.18280331e-03 9.98564683e-01 -2.53744566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:0.11, Z:-0.03 [[ 9.93253756e-01 -1.03165229e-01 -5.29519811e-02 2.63517596e+00] [ 1.02882701e-01 9.94660992e-01 -8.04125008e-03 1.14252574e-01] [ 5.34988474e-02 2.53915902e-03 9.98564683e-01 -2.62847164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:0.12, Z:-0.03 [[ 0.99438941 -0.0915734 -0.0529529 2.69799218] [ 0.0912748 0.99579333 -0.00803519 0.11969818] [ 0.05346595 0.00315684 0.99856468 -0.03052938] [ 0. 0. 0. 1. ]] SLAMing on 6.1903857229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:0.13, Z:-0.02 [[ 0.99410244 -0.09463756 -0.05295353 2.75920656] [ 0.0943435 0.99550731 -0.00803107 0.13011672] [ 0.05347566 0.00298789 0.99856468 -0.01962634] [ 0. 0. 0. 1. ]] SLAMing on 6.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:0.13, Z:-0.02 [[ 0.99403789 -0.09531233 -0.05295496 2.82097256] [ 0.09501973 0.99544307 -0.00802161 0.13483669] [ 0.0534782 0.00294202 0.99856468 -0.01783608] [ 0. 0. 0. 1. ]] SLAMing on 6.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:0.14, Z:-0.03 [[ 0.99439816 -0.09147688 -0.05295553 2.88503859] [ 0.09117907 0.99580224 -0.00801785 0.13813748] [ 0.05346668 0.0031445 0.99856468 -0.02766637] [ 0. 0. 0. 1. ]] SLAMing on 6.370385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:0.15, Z:-0.01 [[ 9.93653231e-01 -9.92415182e-02 -5.29563745e-02 2.94485098e+00] [ 9.89549753e-02 9.95059655e-01 -8.01225406e-03 1.51968580e-01] [ 5.34899000e-02 2.72110541e-03 9.98564683e-01 -1.29328416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:0.16, Z:-0.01 [[ 9.92985430e-01 -1.05714166e-01 -5.29570685e-02 3.00692150e+00] [ 1.05437037e-01 9.94393739e-01 -8.00766451e-03 1.58402865e-01] [ 5.35067009e-02 2.36785778e-03 9.98564683e-01 -9.99949410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:0.17, Z:-0.00 [[ 9.92967604e-01 -1.05881194e-01 -5.29576242e-02 3.06773304e+00] [ 1.05604499e-01 9.94375998e-01 -8.00398780e-03 1.71011972e-01] [ 5.35072622e-02 2.35513724e-03 9.98564683e-01 -2.50357071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:0.18, Z:0.01 [[ 9.92524669e-01 -1.09955435e-01 -5.29583110e-02 3.12845364e+00] [ 1.09684764e-01 9.93934234e-01 -7.99944074e-03 1.84795361e-01] [ 5.35166603e-02 2.13092241e-03 9.98564683e-01 6.89900955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:0.19, Z:0.01 [[ 9.92350936e-01 -1.11512238e-01 -5.29588653e-02 3.18984982e+00] [ 1.11243974e-01 9.93760960e-01 -7.99576918e-03 1.94437980e-01] [ 5.35200790e-02 2.04325440e-03 9.98564683e-01 7.84056200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:0.20, Z:0.01 [[ 9.91799986e-01 -1.16309937e-01 -5.29602272e-02 3.25188521e+00] [ 1.16048977e-01 9.93211381e-01 -7.98673843e-03 2.03297815e-01] [ 5.35296375e-02 1.77526687e-03 9.98564683e-01 5.15924131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7303857229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:0.22, Z:0.01 [[ 9.91291432e-01 -1.20566888e-01 -5.29615252e-02 3.31197189e+00] [ 1.20312450e-01 9.92704016e-01 -7.97812217e-03 2.20553085e-01] [ 5.35370161e-02 1.53671330e-03 9.98564683e-01 1.11876455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:0.24, Z:0.03 [[ 9.90907740e-01 -1.23679934e-01 -5.29634293e-02 3.37219762e+00] [ 1.23430610e-01 9.92321236e-01 -7.96546136e-03 2.36134488e-01] [ 5.35419034e-02 1.35572892e-03 9.98564683e-01 2.62774834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:0.24, Z:0.02 [[ 9.91358344e-01 -1.20014400e-01 -5.29639364e-02 3.43555486e+00] [ 1.19760030e-01 9.92770941e-01 -7.96208827e-03 2.43667234e-01] [ 5.35366222e-02 1.55032004e-03 9.98564683e-01 2.05235368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:0.26, Z:0.02 [[ 9.92172693e-01 -1.13083655e-01 -5.29663431e-02 3.49671385e+00] [ 1.12820275e-01 9.93583638e-01 -7.94604610e-03 2.57349043e-01] [ 5.35250598e-02 1.90817257e-03 9.98564683e-01 2.29489695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.56, Y:0.27, Z:0.03 [[ 9.92564111e-01 -1.09593879e-01 -5.29685478e-02 3.55766536e+00] [ 1.09326324e-01 9.93974270e-01 -7.93132231e-03 2.67781020e-01] [ 5.35185980e-02 2.08148928e-03 9.98564683e-01 3.20822382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.62, Y:0.27, Z:0.03 [[ 9.92660254e-01 -1.08718558e-01 -5.29707098e-02 3.61938420e+00] [ 1.08450530e-01 9.94070322e-01 -7.91685663e-03 2.74908276e-01] [ 5.35173198e-02 2.11404736e-03 9.98564684e-01 3.30065371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.68, Y:0.28, Z:0.03 [[ 9.92475703e-01 -1.10389577e-01 -5.29728195e-02 3.68166373e+00] [ 1.10124677e-01 9.93886363e-01 -7.90271495e-03 2.77189015e-01] [ 5.35213403e-02 2.00963795e-03 9.98564684e-01 3.25357695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.74, Y:0.28, Z:0.04 [[ 9.92268899e-01 -1.12233031e-01 -5.29733813e-02 3.74267797e+00] [ 1.11970952e-01 9.93680086e-01 -7.89894734e-03 2.83984136e-01] [ 5.35251169e-02 1.90639983e-03 9.98564684e-01 4.13862747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:0.29, Z:0.04 [[ 9.91944576e-01 -1.15063408e-01 -5.29751795e-02 3.80536228e+00] [ 1.14806001e-01 9.93356623e-01 -7.88686927e-03 2.87537900e-01] [ 5.35307354e-02 1.74146872e-03 9.98564684e-01 4.24754866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2703857229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.87, Y:0.29, Z:0.04 [[ 9.91311081e-01 -1.20398341e-01 -5.29771587e-02 3.86824939e+00] [ 1.20149245e-01 9.92724617e-01 -7.87355187e-03 2.93379477e-01] [ 5.35396922e-02 1.43997359e-03 9.98564684e-01 4.47250612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.93, Y:0.30, Z:0.05 [[ 9.91140113e-01 -1.21796758e-01 -5.29794954e-02 3.92979240e+00] [ 1.21550499e-01 9.92554145e-01 -7.85779731e-03 3.00364446e-01] [ 5.35420720e-02 1.34849402e-03 9.98564684e-01 4.81191334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.99, Y:0.31, Z:0.05 [[ 9.91568039e-01 -1.18261443e-01 -5.29816463e-02 3.98959420e+00] [ 1.18010919e-01 9.92981322e-01 -7.84326811e-03 3.11169207e-01] [ 5.35373414e-02 1.52472123e-03 9.98564684e-01 5.20545949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.05, Y:0.32, Z:0.06 [[ 9.90849412e-01 -1.24137871e-01 -5.29833221e-02 4.05133473e+00] [ 1.23896335e-01 9.92264259e-01 -7.83193143e-03 3.22530052e-01] [ 5.35456961e-02 1.19582523e-03 9.98564684e-01 5.90007352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:4.11, Y:0.33, Z:0.05 [[ 9.90934105e-01 -1.23459647e-01 -5.29841051e-02 4.11266860e+00] [ 1.23217427e-01 9.92348835e-01 -7.82663081e-03 3.29238044e-01] [ 5.35449880e-02 1.22711032e-03 9.98564684e-01 5.34049212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.17, Y:0.34, Z:0.05 [[ 9.91300139e-01 -1.20484617e-01 -5.29857710e-02 4.17456473e+00] [ 1.20238754e-01 9.92714240e-01 -7.81533616e-03 3.40324314e-01] [ 5.35413572e-02 1.37640073e-03 9.98564684e-01 5.44526019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:0.35, Z:0.06 [[ 9.91566204e-01 -1.18273944e-01 -5.29880767e-02 4.23537854e+00] [ 1.18025765e-01 9.92979901e-01 -7.79967196e-03 3.53723030e-01] [ 5.35385932e-02 1.47993282e-03 9.98564684e-01 6.37934273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6903857229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.30, Y:0.37, Z:0.07 [[ 9.92190635e-01 -1.12914933e-01 -5.29901969e-02 4.29611750e+00] [ 1.12659889e-01 9.93603110e-01 -7.78524105e-03 3.65857044e-01] [ 5.35302944e-02 1.75457356e-03 9.98564684e-01 6.71988393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.36, Y:0.37, Z:0.07 [[ 9.92518678e-01 -1.09993503e-01 -5.29915421e-02 4.35718295e+00] [ 1.09734790e-01 9.93930485e-01 -7.77607377e-03 3.74661463e-01] [ 5.35252267e-02 1.90288269e-03 9.98564685e-01 7.03590606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.42, Y:0.39, Z:0.08 [[ 9.93171931e-01 -1.03929568e-01 -5.29920700e-02 4.41873714e+00] [ 1.03662430e-01 9.94582168e-01 -7.77247460e-03 3.85266677e-01] [ 5.35127578e-02 2.22611684e-03 9.98564685e-01 7.62913664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.48, Y:0.39, Z:0.08 [[ 9.93424364e-01 -1.01488010e-01 -5.29926120e-02 4.47911163e+00] [ 1.01217603e-01 9.94833978e-01 -7.76877776e-03 3.91767027e-01] [ 5.35072888e-02 2.35390797e-03 9.98564685e-01 7.90215311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.54, Y:0.40, Z:0.08 [[ 9.93353753e-01 -1.02176621e-01 -5.29930132e-02 4.54051550e+00] [ 1.01907337e-01 9.94763582e-01 -7.76604022e-03 3.99946007e-01] [ 5.35090273e-02 2.31404836e-03 9.98564685e-01 8.07640018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990385722999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.60, Y:0.40, Z:0.08 [[ 9.93192614e-01 -1.03730982e-01 -5.29935389e-02 4.60356268e+00] [ 1.03464095e-01 9.94602898e-01 -7.76245130e-03 4.03597442e-01] [ 5.35127340e-02 2.22668074e-03 9.98564685e-01 8.07471499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.67, Y:0.41, Z:0.09 [[ 9.92617709e-01 -1.09094850e-01 -5.29943153e-02 4.66588966e+00] [ 1.08835868e-01 9.94029467e-01 -7.75714703e-03 4.07077718e-01] [ 5.35241758e-02 1.93219919e-03 9.98564685e-01 8.59586143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.73, Y:0.42, Z:0.09 [[ 9.91214077e-01 -1.21186637e-01 -5.29948263e-02 4.72689610e+00] [ 1.20945071e-01 9.92628919e-01 -7.75365450e-03 4.15692812e-01] [ 5.35438364e-02 1.27606845e-03 9.98564685e-01 9.37446714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:0.42, Z:0.09 [[ 9.90482839e-01 -1.27024516e-01 -5.29954583e-02 4.78871881e+00] [ 1.26791521e-01 9.91899117e-01 -7.74933245e-03 4.22894828e-01] [ 5.35505035e-02 9.56206029e-04 9.98564685e-01 9.40574994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.85, Y:0.43, Z:0.10 [[ 9.89104928e-01 -1.37342153e-01 -5.29959779e-02 4.85051928e+00] [ 1.37124124e-01 9.90523588e-01 -7.74577729e-03 4.32035756e-01] [ 5.35575879e-02 3.94359438e-04 9.98564685e-01 9.81488932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.91, Y:0.44, Z:0.10 [[ 9.88891898e-01 -1.38867495e-01 -5.29965300e-02 4.91193708e+00] [ 1.38651857e-01 9.90310923e-01 -7.74199778e-03 4.44807313e-01] [ 5.35581544e-02 3.07931581e-04 9.98564685e-01 9.97460831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.97, Y:0.46, Z:0.10 [[ 9.88860795e-01 -1.39088027e-01 -5.29985655e-02 4.97218639e+00] [ 1.38873454e-01 9.90279981e-01 -7.72803875e-03 4.60138704e-01] [ 5.35582961e-02 2.81860713e-04 9.98564685e-01 1.03672412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410385723000001 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:5.03, Y:0.46, Z:0.11 [[ 9.89381833e-01 -1.35331684e-01 -5.29992751e-02 5.03495375e+00] [ 1.35111983e-01 9.90800234e-01 -7.72316903e-03 4.61541163e-01] [ 5.35568837e-02 4.80325956e-04 9.98564685e-01 1.09163591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.09, Y:0.49, Z:0.11 [[ 9.87832019e-01 -1.46215212e-01 -5.30001296e-02 5.09409286e+00] [ 1.46011454e-01 9.89252798e-01 -7.71730058e-03 4.85382957e-01] [ 5.35589133e-02 -1.15229366e-04 9.98564685e-01 1.10178269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:0.50, Z:0.11 [[ 9.87392173e-01 -1.49155663e-01 -5.30026890e-02 5.15568492e+00] [ 1.48957081e-01 9.88813685e-01 -7.69968236e-03 4.98774584e-01] [ 5.35582354e-02 -2.92519768e-04 9.98564685e-01 1.12134435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.51, Z:0.11 [[ 9.87474694e-01 -1.48607591e-01 -5.30048442e-02 5.21617888e+00] [ 1.48409019e-01 9.88896206e-01 -7.68481710e-03 5.10769131e-01] [ 5.35583115e-02 -2.77834531e-04 9.98564685e-01 1.11400293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650385723000001 meters Centerline goodness : 0.998491 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.51, Z:0.12 [[ 9.89104247e-01 -1.37342974e-01 -5.30065660e-02 5.27853779e+00] [ 1.37128850e-01 9.90523500e-01 -7.67292285e-03 5.14003670e-01] [ 5.35580713e-02 3.20591147e-04 9.98564685e-01 1.18357879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710385723 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:0.53, Z:0.13 [[ 9.90230588e-01 -1.28971389e-01 -5.30072060e-02 5.33950059e+00] [ 1.28745505e-01 9.91648017e-01 -7.66849870e-03 5.27290175e-01] [ 5.35535077e-02 7.69142488e-04 9.98564685e-01 1.27481102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770385723 meters Centerline goodness : 0.997488 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:0.53, Z:0.13 [[ 9.91213814e-01 -1.21183097e-01 -5.30078515e-02 5.40240579e+00] [ 1.20946316e-01 9.92629463e-01 -7.66403460e-03 5.33892589e-01] [ 5.35459066e-02 1.18559263e-03 9.98564685e-01 1.32128119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:0.55, Z:0.13 [[ 9.91464589e-01 -1.19113464e-01 -5.30089694e-02 5.46446327e+00] [ 1.18874141e-01 9.92879811e-01 -7.65629435e-03 5.47404556e-01] [ 5.35435033e-02 1.28954902e-03 9.98564685e-01 1.33485708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:0.56, Z:0.14 [[ 9.92887602e-01 -1.06602799e-01 -5.30099293e-02 5.52667079e+00] [ 1.06346005e-01 9.94299759e-01 -7.64964258e-03 5.55268680e-01] [ 5.35232332e-02 1.95784106e-03 9.98564685e-01 1.36218804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:0.56, Z:0.13 [[ 9.93711711e-01 -9.86242551e-02 -5.30121855e-02 5.58914830e+00] [ 9.83569612e-02 9.95121917e-01 -7.63397530e-03 5.60044371e-01] [ 5.35064828e-02 2.37185319e-03 9.98564685e-01 1.34887561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:0.56, Z:0.13 [[ 9.93371984e-01 -1.01988192e-01 -5.30142363e-02 5.65160305e+00] [ 1.01726435e-01 9.94783229e-01 -7.61970632e-03 5.62217481e-01] [ 5.35147933e-02 2.17625354e-03 9.98564685e-01 1.33865872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070385723000001 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:0.57, Z:0.15 [[ 9.92837972e-01 -1.07061597e-01 -5.30148569e-02 5.71302000e+00] [ 1.06807283e-01 9.94250577e-01 -7.61538596e-03 5.74279615e-01] [ 5.35253675e-02 1.89847153e-03 9.98564685e-01 1.45474659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:0.58, Z:0.15 [[ 9.92029434e-01 -1.14310707e-01 -5.30156934e-02 5.77432405e+00] [ 1.14067029e-01 9.93443913e-01 -7.60955814e-03 5.78496029e-01] [ 5.35379719e-02 1.50156300e-03 9.98564685e-01 1.54214170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.84, Y:0.58, Z:0.15 [[ 9.90457269e-01 -1.27215083e-01 -5.30162381e-02 5.83676997e+00] [ 1.26990042e-01 9.91874832e-01 -7.60576173e-03 5.84840633e-01] [ 5.35530398e-02 8.00647670e-04 9.98564685e-01 1.52558996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.90, Y:0.60, Z:0.15 [[ 9.88172943e-01 -1.43886983e-01 -5.30167086e-02 5.89855777e+00] [ 1.43686037e-01 9.89594121e-01 -7.60248062e-03 5.95017180e-01] [ 5.35589211e-02 -1.05195081e-04 9.98564685e-01 1.48837089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.96, Y:0.60, Z:0.16 [[ 9.87926516e-01 -1.45568606e-01 -5.30186683e-02 5.96000449e+00] [ 1.45370813e-01 9.89348137e-01 -7.58878888e-03 6.02544995e-01] [ 5.35586102e-02 -2.10201177e-04 9.98564685e-01 1.57402797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:6.02, Y:0.62, Z:0.16 [[ 9.88273073e-01 -1.43196138e-01 -5.30207382e-02 6.02164063e+00] [ 1.42995711e-01 9.89694325e-01 -7.57429998e-03 6.18754242e-01] [ 5.35589342e-02 -9.62614236e-05 9.98564686e-01 1.58999293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:0.63, Z:0.16 [[ 9.88605964e-01 -1.40878816e-01 -5.30227068e-02 6.08200149e+00] [ 1.40675797e-01 9.90026848e-01 -7.56049373e-03 6.28894965e-01] [ 5.35590167e-02 1.53376534e-05 9.98564686e-01 1.57415141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:0.64, Z:0.17 [[ 9.89709431e-01 -1.32904732e-01 -5.30242768e-02 6.14301098e+00] [ 1.32690856e-01 9.91128721e-01 -7.54946676e-03 6.39280695e-01] [ 5.35572435e-02 4.35941754e-04 9.98564686e-01 1.68031910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:0.65, Z:0.17 [[ 9.90752958e-01 -1.24887761e-01 -5.30247505e-02 6.20433794e+00] [ 1.24662581e-01 9.92170498e-01 -7.54613800e-03 6.52639223e-01] [ 5.35520134e-02 8.66156307e-04 9.98564686e-01 1.72927758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.27, Y:0.66, Z:0.18 [[ 9.90849024e-01 -1.24122974e-01 -5.30254518e-02 6.26592185e+00] [ 1.23896962e-01 9.92266432e-01 -7.54120712e-03 6.63590645e-01] [ 5.35514129e-02 9.02505309e-04 9.98564686e-01 1.78066553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.33, Y:0.67, Z:0.18 [[ 9.91464077e-01 -1.19110077e-01 -5.30261666e-02 6.32680252e+00] [ 1.18877169e-01 9.92880368e-01 -7.53617765e-03 6.70716439e-01] [ 5.35462745e-02 1.16824884e-03 9.98564686e-01 1.81349699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.39, Y:0.68, Z:0.17 [[ 9.91844656e-01 -1.15897420e-01 -5.30279814e-02 6.38889650e+00] [ 1.15660609e-01 9.93260299e-01 -7.52338582e-03 6.79400548e-01] [ 5.35425297e-02 1.32878142e-03 9.98564686e-01 1.73902416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:0.69, Z:0.19 [[ 9.92840425e-01 -1.07031671e-01 -5.30293424e-02 6.44975747e+00] [ 1.06782734e-01 9.94253987e-01 -7.51378103e-03 6.89372234e-01] [ 5.35288476e-02 1.79736739e-03 9.98564686e-01 1.90222777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:0.69, Z:0.18 [[ 9.93110356e-01 -1.04497145e-01 -5.30298757e-02 6.51263696e+00] [ 1.04244801e-01 9.94523313e-01 -7.51001491e-03 6.86751025e-01] [ 5.35242228e-02 1.93018472e-03 9.98564686e-01 1.84243275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:0.70, Z:0.20 [[ 9.92574304e-01 -1.09471018e-01 -5.30315664e-02 6.57411403e+00] [ 1.09226394e-01 9.93988619e-01 -7.49805694e-03 6.95378305e-01] [ 5.35335934e-02 1.64993185e-03 9.98564686e-01 1.95595807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:0.70, Z:0.20 [[ 9.92154364e-01 -1.13213587e-01 -5.30320840e-02 6.63582512e+00] [ 1.12974494e-01 9.93569624e-01 -7.49439483e-03 7.01210512e-01] [ 5.35395350e-02 1.44432368e-03 9.98564686e-01 1.97019154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:0.70, Z:0.20 [[ 9.91246478e-01 -1.20904154e-01 -5.30339967e-02 6.69923574e+00] [ 1.20676769e-01 9.92663666e-01 -7.48083473e-03 7.03238883e-01] [ 5.35493856e-02 1.01537972e-03 9.98564686e-01 2.01907676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:0.71, Z:0.20 [[ 9.90184418e-01 -1.29314097e-01 -5.30347383e-02 6.76229486e+00] [ 1.29099031e-01 9.91603528e-01 -7.47557384e-03 7.07343648e-01] [ 5.35561306e-02 5.55463380e-04 9.98564686e-01 2.03902292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.82, Y:0.72, Z:0.21 [[ 9.89675909e-01 -1.33149085e-01 -5.30369265e-02 6.82421696e+00] [ 1.32940352e-01 9.91095965e-01 -7.46001689e-03 7.15110534e-01] [ 5.35579782e-02 3.32251308e-04 9.98564686e-01 2.08993528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.89, Y:0.72, Z:0.21 [[ 9.90160521e-01 -1.29495222e-01 -5.30389448e-02 6.88792403e+00] [ 1.29282019e-01 9.91579912e-01 -7.44563940e-03 7.18607253e-01] [ 5.35565269e-02 5.15396310e-04 9.98564686e-01 2.08081687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:0.73, Z:0.22 [[ 9.90494628e-01 -1.26914078e-01 -5.30396835e-02 6.94803506e+00] [ 1.26697458e-01 9.91913502e-01 -7.44037341e-03 7.33339195e-01] [ 5.35550663e-02 6.49656800e-04 9.98564686e-01 2.15790125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:0.74, Z:0.22 [[ 9.90585543e-01 -1.26201752e-01 -5.30414920e-02 7.01060148e+00] [ 1.25984804e-01 9.92004366e-01 -7.42745841e-03 7.42004043e-01] [ 5.35547499e-02 6.75110941e-04 9.98564686e-01 2.18314078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.07, Y:0.75, Z:0.22 [[ 9.90691781e-01 -1.25364722e-01 -5.30422545e-02 7.07243213e+00] [ 1.25146867e-01 9.92110465e-01 -7.42200911e-03 7.48337035e-01] [ 5.35542339e-02 7.14851461e-04 9.98564686e-01 2.19469249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.13, Y:0.76, Z:0.22 [[ 9.90830626e-01 -1.24261786e-01 -5.30441280e-02 7.13343835e+00] [ 1.24043069e-01 9.92249177e-01 -7.40859511e-03 7.61819747e-01] [ 5.35535976e-02 7.60906482e-04 9.98564687e-01 2.24109123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:0.77, Z:0.23 [[ 9.91101813e-01 -1.22079742e-01 -5.30446239e-02 7.19507410e+00] [ 1.21858093e-01 9.92519909e-01 -7.40504298e-03 7.69089150e-01] [ 5.35518511e-02 8.75234833e-04 9.98564687e-01 2.26081623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.26, Y:0.78, Z:0.22 [[ 9.90671428e-01 -1.25524253e-01 -5.30451121e-02 7.25805997e+00] [ 1.25307722e-01 9.92090314e-01 -7.40154409e-03 7.77646042e-01] [ 5.35546153e-02 6.85536080e-04 9.98564687e-01 2.20395309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.32, Y:0.79, Z:0.23 [[ 9.91138966e-01 -1.21777213e-01 -5.30458404e-02 7.31981406e+00] [ 1.21555597e-01 9.92557067e-01 -7.39632107e-03 7.89642027e-01] [ 5.35517271e-02 8.82763209e-04 9.98564687e-01 2.34443226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.38, Y:0.79, Z:0.23 [[ 9.90334127e-01 -1.28157626e-01 -5.30465820e-02 7.38263569e+00] [ 1.27945433e-01 9.91753669e-01 -7.39099802e-03 7.94919304e-01] [ 5.35563551e-02 5.32489691e-04 9.98564687e-01 2.34216220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.44, Y:0.80, Z:0.24 [[ 9.90046021e-01 -1.30364308e-01 -5.30473772e-02 7.44376424e+00] [ 1.30155585e-01 9.91466077e-01 -7.38528646e-03 8.04827201e-01] [ 5.35574527e-02 4.07361064e-04 9.98564687e-01 2.37112830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:0.82, Z:0.25 [[ 9.88898029e-01 -1.38803663e-01 -5.30493270e-02 7.50553977e+00] [ 1.38607812e-01 9.90319918e-01 -7.37125438e-03 8.17332242e-01] [ 5.35589622e-02 -6.36322035e-05 9.98564687e-01 2.45303961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:0.83, Z:0.25 [[ 9.88186939e-01 -1.43778064e-01 -5.30513128e-02 7.56745109e+00] [ 1.43590139e-01 9.89609897e-01 -7.35693489e-03 8.26172846e-01] [ 5.35578700e-02 -3.47618406e-04 9.98564687e-01 2.49877054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:0.84, Z:0.26 [[ 9.87785294e-01 -1.46511292e-01 -5.30533188e-02 7.62865965e+00] [ 1.46328082e-01 9.89208866e-01 -7.34244014e-03 8.40588957e-01] [ 5.35565637e-02 -5.10436008e-04 9.98564687e-01 2.57016632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:0.85, Z:0.25 [[ 9.87998884e-01 -1.45063208e-01 -5.30553585e-02 7.69032466e+00] [ 1.44878705e-01 9.89422289e-01 -7.32767197e-03 8.46882273e-01] [ 5.35571298e-02 -4.46859914e-04 9.98564687e-01 2.54954554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:0.86, Z:0.25 [[ 9.88381519e-01 -1.42432098e-01 -5.30572380e-02 7.75247846e+00] [ 1.42244538e-01 9.89804524e-01 -7.31403810e-03 8.58894223e-01] [ 5.35580480e-02 -3.18042192e-04 9.98564687e-01 2.52009722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:0.88, Z:0.26 [[ 9.88316786e-01 -1.42879842e-01 -5.30592302e-02 7.81169341e+00] [ 1.42693704e-01 9.89739978e-01 -7.29955714e-03 8.78443771e-01] [ 5.35578008e-02 -3.56943208e-04 9.98564687e-01 2.64692095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:0.88, Z:0.26 [[ 9.88395880e-01 -1.42330936e-01 -5.30611730e-02 7.87446667e+00] [ 1.42144768e-01 9.89819068e-01 -7.28540709e-03 8.83928263e-01] [ 5.35578996e-02 -3.41501741e-04 9.98564687e-01 2.62064208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.94, Y:0.89, Z:0.26 [[ 9.86994843e-01 -1.51741503e-01 -5.30631249e-02 7.93535654e+00] [ 1.51569668e-01 9.88419833e-01 -7.27116265e-03 8.91843011e-01] [ 5.35519822e-02 -8.66160174e-04 9.98564687e-01 2.64765559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.00, Y:0.90, Z:0.27 [[ 9.86286050e-01 -1.56281625e-01 -5.30648833e-02 7.99618606e+00] [ 1.56117040e-01 9.87711895e-01 -7.25830733e-03 9.00088051e-01] [ 5.35471565e-02 -1.12556525e-03 9.98564688e-01 2.71879028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:0.90, Z:0.27 [[ 9.87212751e-01 -1.50316082e-01 -5.30665661e-02 8.05942956e+00] [ 1.50143543e-01 9.88637655e-01 -7.24598267e-03 9.04775231e-01] [ 5.35527932e-02 -8.14275758e-04 9.98564688e-01 2.68663003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.12, Y:0.91, Z:0.27 [[ 9.87108066e-01 -1.51001318e-01 -5.30685275e-02 8.12150651e+00] [ 1.50830541e-01 9.88533182e-01 -7.23158939e-03 9.13420725e-01] [ 5.35519799e-02 -8.65994493e-04 9.98564688e-01 2.68056410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.18, Y:0.92, Z:0.28 [[ 9.87447042e-01 -1.48767899e-01 -5.30702455e-02 8.18324579e+00] [ 1.48594577e-01 9.88871851e-01 -7.21895957e-03 9.23126340e-01] [ 5.35536214e-02 -7.57610396e-04 9.98564688e-01 2.75387528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.24, Y:0.93, Z:0.29 [[ 9.89547699e-01 -1.34084610e-01 -5.30722927e-02 8.24387059e+00] [ 1.33890953e-01 9.90969887e-01 -7.20387741e-03 9.31282868e-01] [ 5.35589730e-02 2.26804401e-05 9.98564688e-01 2.93090423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.31, Y:0.94, Z:0.29 [[ 9.89556566e-01 -1.34018343e-01 -5.30743445e-02 8.30584249e+00] [ 1.33825403e-01 9.90978851e-01 -7.18872932e-03 9.43452889e-01] [ 5.35589745e-02 1.09587678e-05 9.98564688e-01 2.92244167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.37, Y:0.95, Z:0.29 [[ 9.89462438e-01 -1.34710713e-01 -5.30764235e-02 8.36809363e+00] [ 1.34519594e-01 9.90884969e-01 -7.17334654e-03 9.49063000e-01] [ 5.35589569e-02 -4.20619795e-05 9.98564688e-01 2.92606270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.43, Y:0.96, Z:0.29 [[ 9.89994789e-01 -1.30740511e-01 -5.30776451e-02 8.42980857e+00] [ 1.30544172e-01 9.91416609e-01 -7.16429576e-03 9.56783951e-01] [ 5.35587226e-02 1.63638232e-04 9.98564688e-01 2.89077034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.49, Y:0.96, Z:0.30 [[ 9.91201135e-01 -1.21255498e-01 -5.30793236e-02 8.49066405e+00] [ 1.21046221e-01 9.92621108e-01 -7.15183880e-03 9.59352013e-01] [ 5.35548567e-02 6.63859209e-04 9.98564688e-01 3.01987977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.55, Y:0.98, Z:0.31 [[ 9.90877992e-01 -1.23867732e-01 -5.30809808e-02 8.55109583e+00] [ 1.23662859e-01 9.92298607e-01 -7.13951804e-03 9.76711824e-01] [ 5.35565391e-02 5.10245462e-04 9.98564688e-01 3.07098945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:0.97, Z:0.31 [[ 9.91354013e-01 -1.19997689e-01 -5.30827184e-02 8.61366673e+00] [ 1.19787963e-01 9.92773920e-01 -7.12657477e-03 9.74805674e-01] [ 5.35543110e-02 7.06287775e-04 9.98564688e-01 3.08375944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:0.99, Z:0.31 [[ 9.90854840e-01 -1.24051840e-01 -5.30832123e-02 8.67418363e+00] [ 1.23848121e-01 9.92275621e-01 -7.12289459e-03 9.91536865e-01] [ 5.35567856e-02 4.83498494e-04 9.98564688e-01 3.09180036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:1.01, Z:0.32 [[ 9.90296284e-01 -1.28433825e-01 -5.30850491e-02 8.73551302e+00] [ 1.28237129e-01 9.91718054e-01 -7.10917874e-03 1.00737227e+00] [ 5.35584606e-02 2.32719023e-04 9.98564689e-01 3.18826090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.80, Y:1.01, Z:0.32 [[ 9.90565230e-01 -1.26341992e-01 -5.30869617e-02 8.79854513e+00] [ 1.26143060e-01 9.91986689e-01 -7.09486806e-03 1.01193892e+00] [ 5.35579391e-02 3.31377813e-04 9.98564689e-01 3.17988159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.86, Y:1.02, Z:0.32 [[ 9.90717040e-01 -1.25145181e-01 -5.30888906e-02 8.86197660e+00] [ 1.24945307e-01 9.92138366e-01 -7.08040472e-03 1.01661517e+00] [ 5.35576038e-02 3.81469890e-04 9.98564689e-01 3.16442379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:8.92, Y:1.03, Z:0.33 [[ 9.89934685e-01 -1.31189505e-01 -5.30907955e-02 8.92178664e+00] [ 1.30999077e-01 9.91357308e-01 -7.06609299e-03 1.03195625e+00] [ 5.35589453e-02 4.01253610e-05 9.98564689e-01 3.25683227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250385723 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:8.98, Y:1.04, Z:0.33 [[ 9.90344757e-01 -1.28056413e-01 -5.30925387e-02 8.98456195e+00] [ 1.27862188e-01 9.91766866e-01 -7.05297055e-03 1.03786118e+00] [ 5.35585988e-02 1.96344234e-04 9.98564689e-01 3.29111763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.05, Y:1.05, Z:0.34 [[ 9.89939103e-01 -1.31154657e-01 -5.30945236e-02 9.04501373e+00] [ 1.30965686e-01 9.91361920e-01 -7.03799638e-03 1.04906314e+00] [ 5.35589549e-02 1.36271396e-05 9.98564689e-01 3.36401024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370385723 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:9.11, Y:1.05, Z:0.33 [[ 9.90664566e-01 -1.25557005e-01 -5.30957348e-02 9.10842232e+00] [ 1.25360485e-01 9.92086359e-01 -7.02884730e-03 1.05221274e+00] [ 5.35580752e-02 3.07122889e-04 9.98564689e-01 3.33494838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.17, Y:1.07, Z:0.34 [[ 9.90447150e-01 -1.27259876e-01 -5.30977059e-02 9.16747880e+00] [ 1.27066600e-01 9.91869389e-01 -7.01392508e-03 1.06758166e+00] [ 5.35585804e-02 1.99977141e-04 9.98564689e-01 3.43528974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490385723000001 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:9.23, Y:1.07, Z:0.35 [[ 9.90987616e-01 -1.22979717e-01 -5.30992768e-02 9.22983354e+00] [ 1.22780937e-01 9.92409096e-01 -7.00201245e-03 1.07067205e+00] [ 5.35573108e-02 4.19328678e-04 9.98564689e-01 3.47012814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:9.29, Y:1.08, Z:0.35 [[ 9.91324383e-01 -1.20234115e-01 -5.31010913e-02 9.29145714e+00] [ 1.20032136e-01 9.92745411e-01 -6.98822504e-03 1.07846737e+00] [ 5.35560877e-02 5.53760446e-04 9.98564689e-01 3.48885078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.35, Y:1.09, Z:0.35 [[ 9.91228477e-01 -1.21021396e-01 -5.31029931e-02 9.35385489e+00] [ 1.20821321e-01 9.92649775e-01 -6.97374335e-03 1.08636677e+00] [ 5.35566463e-02 4.96599212e-04 9.98564689e-01 3.50050752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670385723 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:1.10, Z:0.36 [[ 9.91051279e-01 -1.22463189e-01 -5.31048879e-02 9.41519106e+00] [ 1.22265958e-01 9.92472974e-01 -6.95928411e-03 1.09570973e+00] [ 5.35574222e-02 4.04087444e-04 9.98564690e-01 3.57791819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:1.10, Z:0.36 [[ 9.90737296e-01 -1.24977172e-01 -5.31066562e-02 9.47847654e+00] [ 1.24784273e-01 9.92159585e-01 -6.94576433e-03 1.10158339e+00] [ 5.35583399e-02 2.54552284e-04 9.98564690e-01 3.57830390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:1.11, Z:0.36 [[ 9.90413390e-01 -1.27517772e-01 -5.31087164e-02 9.53971848e+00] [ 1.27329367e-01 9.91836281e-01 -6.92997545e-03 1.11199792e+00] [ 5.35588468e-02 1.01241199e-04 9.98564690e-01 3.59324039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:1.11, Z:0.36 [[ 9.90668996e-01 -1.25515749e-01 -5.31106036e-02 9.60313710e+00] [ 1.25325246e-01 9.92091608e-01 -6.91548212e-03 1.11405331e+00] [ 5.35585860e-02 1.94854270e-04 9.98564690e-01 3.61726503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:1.13, Z:0.37 [[ 9.91036386e-01 -1.22580289e-01 -5.31126607e-02 9.66329143e+00] [ 1.22386421e-01 9.92458543e-01 -6.89964718e-03 1.13027396e+00] [ 5.35578745e-02 3.37532946e-04 9.98564690e-01 3.70644220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:1.13, Z:0.37 [[ 9.90980579e-01 -1.23029820e-01 -5.31145536e-02 9.72651687e+00] [ 1.22837380e-01 9.92402929e-01 -6.88504436e-03 1.13417892e+00] [ 5.35581043e-02 2.98492636e-04 9.98564690e-01 3.73637927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:1.14, Z:0.37 [[ 9.90513318e-01 -1.26735940e-01 -5.31165463e-02 9.78897446e+00] [ 1.26549648e-01 9.91936487e-01 -6.86963645e-03 1.13914047e+00] [ 5.35588702e-02 8.25861560e-05 9.98564690e-01 3.72568840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.85, Y:1.15, Z:0.38 [[ 9.90318349e-01 -1.28249773e-01 -5.31183919e-02 9.85112249e+00] [ 1.28066424e-01 9.91741900e-01 -6.85533601e-03 1.15023283e+00] [ 5.35589302e-02 -1.37174600e-05 9.98564690e-01 3.77622244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.91, Y:1.16, Z:0.38 [[ 9.90555483e-01 -1.26404287e-01 -5.31205317e-02 9.91209935e+00] [ 1.26219176e-01 9.91978806e-01 -6.83871466e-03 1.15917677e+00] [ 5.35588845e-02 6.92965519e-05 9.98564690e-01 3.81218702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.97, Y:1.17, Z:0.39 [[ 9.90391580e-01 -1.27681318e-01 -5.31224847e-02 9.97345907e+00] [ 1.27498858e-01 9.91815245e-01 -6.82351068e-03 1.16838118e+00] [ 5.35589250e-02 -1.51086151e-05 9.98564691e-01 3.86344637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:1.18, Z:0.39 [[ 9.90219532e-01 -1.29008173e-01 -5.31241027e-02 1.00359793e+01] [ 1.28828298e-01 9.91643525e-01 -6.81088992e-03 1.17846452e+00] [ 5.35588330e-02 -9.96115286e-05 9.98564691e-01 3.86941948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:1.18, Z:0.39 [[ 9.89513356e-01 -1.34316532e-01 -5.31261383e-02 1.00966564e+01] [ 1.34145150e-01 9.90938397e-01 -6.79497511e-03 1.18478156e+00] [ 5.35574078e-02 -4.02895185e-04 9.98564691e-01 3.90468644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:1.19, Z:0.39 [[ 9.88600211e-01 -1.40879850e-01 -5.31271170e-02 1.01576020e+01] [ 1.40718340e-01 9.90026404e-01 -6.78731438e-03 1.19311124e+00] [ 5.35534444e-02 -7.66019285e-04 9.98564691e-01 3.93970487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:1.20, Z:0.40 [[ 9.87771614e-01 -1.46576195e-01 -5.31286979e-02 1.02195908e+01] [ 1.46423575e-01 9.89198785e-01 -6.77491675e-03 1.20042256e+00] [ 5.35478850e-02 -1.08722345e-03 9.98564691e-01 3.98675876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:1.21, Z:0.40 [[ 9.86990180e-01 -1.51748299e-01 -5.31303848e-02 1.02807358e+01] [ 1.51603871e-01 9.88418204e-01 -6.76166247e-03 1.20914090e+00] [ 5.35411103e-02 -1.38107752e-03 9.98564691e-01 4.00928554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:1.22, Z:0.40 [[ 9.87510090e-01 -1.48326946e-01 -5.31313493e-02 1.03431869e+01] [ 1.48177977e-01 9.88937647e-01 -6.75407458e-03 1.21702965e+00] [ 5.35454028e-02 -1.20317908e-03 9.98564691e-01 3.97364837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.41, Y:1.22, Z:0.40 [[ 9.88866917e-01 -1.38993077e-01 -5.31332738e-02 1.04051329e+01] [ 1.38831447e-01 9.90293096e-01 -6.73890118e-03 1.21901901e+00] [ 5.35541748e-02 -7.12692853e-04 9.98564691e-01 4.00268019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690385723 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:10.46, Y:1.23, Z:0.42 [[ 9.89270806e-01 -1.36088051e-01 -5.31348731e-02 1.04646421e+01] [ 1.35922911e-01 9.90696583e-01 -6.72626694e-03 1.23073621e+00] [ 5.35559018e-02 -5.68147123e-04 9.98564691e-01 4.15398758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750385723 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:10.53, Y:1.23, Z:0.41 [[ 9.90130424e-01 -1.29685284e-01 -5.31363337e-02 1.05267849e+01] [ 1.29511544e-01 9.91555179e-01 -6.71470885e-03 1.23314020e+00] [ 5.35584058e-02 -2.33331101e-04 9.98564691e-01 4.14481196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.59, Y:1.25, Z:0.41 [[ 9.90951578e-01 -1.23253085e-01 -5.31379967e-02 1.05891384e+01] [ 1.23070804e-01 9.92375265e-01 -6.70152255e-03 1.24620743e+00] [ 5.35588169e-02 1.01148373e-04 9.98564691e-01 4.12722385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.65, Y:1.25, Z:0.42 [[ 9.92586037e-01 -1.09312069e-01 -5.31397223e-02 1.06504692e+01] [ 1.09110528e-01 9.94007126e-01 -6.68781124e-03 1.25179904e+00] [ 5.35523211e-02 8.40124893e-04 9.98564691e-01 4.21115032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:1.26, Z:0.42 [[ 9.92795577e-01 -1.07392052e-01 -5.31402868e-02 1.07127526e+01] [ 1.07188004e-01 9.94216307e-01 -6.68332304e-03 1.25703702e+00] [ 5.35506755e-02 9.39172286e-04 9.98564692e-01 4.15084120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:1.26, Z:0.42 [[ 9.92999348e-01 -1.05491001e-01 -5.31407937e-02 1.07750344e+01] [ 1.05284449e-01 9.94419716e-01 -6.67929020e-03 1.26354998e+00] [ 5.35488580e-02 1.03763166e-03 9.98564692e-01 4.15956607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:1.27, Z:0.42 [[ 9.93534070e-01 -1.00329726e-01 -5.31412923e-02 1.08366618e+01] [ 1.00116008e-01 9.94953378e-01 -6.67532098e-03 1.27219662e+00] [ 5.35428414e-02 1.31186481e-03 9.98564692e-01 4.24762721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:1.27, Z:0.43 [[ 9.93693246e-01 -9.87404846e-02 -5.31417875e-02 1.08984589e+01] [ 9.85247072e-02 9.95112242e-01 -6.67137592e-03 1.27295546e+00] [ 5.35407782e-02 1.39352214e-03 9.98564692e-01 4.31268906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:10.96, Y:1.28, Z:0.43 [[ 9.93430938e-01 -1.01345305e-01 -5.31422759e-02 1.09609846e+01] [ 1.01133456e-01 9.94850526e-01 -6.66748381e-03 1.27769275e+00] [ 5.35443393e-02 1.24922266e-03 9.98564692e-01 4.30150977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:11.02, Y:1.28, Z:0.43 [[ 9.93058679e-01 -1.04930009e-01 -5.31427713e-02 1.10228825e+01] [ 1.04723497e-01 9.94479053e-01 -6.66353264e-03 1.28064210e+00] [ 5.35485774e-02 1.05198207e-03 9.98564692e-01 4.31429406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:1.28, Z:0.43 [[ 9.92531410e-01 -1.09805253e-01 -5.31432636e-02 1.10845674e+01] [ 1.09605928e-01 9.93952811e-01 -6.65960416e-03 1.28043299e+00] [ 5.35531557e-02 7.85049559e-04 9.98564692e-01 4.34439927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:1.28, Z:0.44 [[ 9.92327106e-01 -1.11635745e-01 -5.31448561e-02 1.11469354e+01] [ 1.11439724e-01 9.93748966e-01 -6.64687147e-03 1.27957080e+00] [ 5.35546742e-02 6.73422613e-04 9.98564692e-01 4.43940042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:1.29, Z:0.44 [[ 9.92033763e-01 -1.14212917e-01 -5.31453027e-02 1.12089822e+01] [ 1.14020782e-01 9.93456153e-01 -6.64329891e-03 1.28735928e+00] [ 5.35562785e-02 5.30707852e-04 9.98564692e-01 4.38228226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:1.29, Z:0.45 [[ 9.91664219e-01 -1.17378025e-01 -5.31457917e-02 1.12694923e+01] [ 1.17190640e-01 9.93087243e-01 -6.63938467e-03 1.28974612e+00] [ 5.35577256e-02 3.55850887e-04 9.98564692e-01 4.51481181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:1.30, Z:0.45 [[ 9.91292459e-01 -1.20477104e-01 -5.31462880e-02 1.13317222e+01] [ 1.20294380e-01 9.92716089e-01 -6.63540941e-03 1.29875384e+00] [ 5.35585901e-02 1.84431531e-04 9.98564692e-01 4.47688349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:1.30, Z:0.45 [[ 9.90845575e-01 -1.24098630e-01 -5.31467398e-02 1.13941591e+01] [ 1.23921304e-01 9.92269888e-01 -6.63178854e-03 1.30246225e+00] [ 5.35589054e-02 -1.49349717e-05 9.98564692e-01 4.48363777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.46, Y:1.31, Z:0.46 [[ 9.89822793e-01 -1.32008371e-01 -5.31472307e-02 1.14559132e+01] [ 1.31842638e-01 9.91248501e-01 -6.62785207e-03 1.30938321e+00] [ 5.35570447e-02 -4.46672041e-04 9.98564692e-01 4.55291661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.52, Y:1.31, Z:0.46 [[ 9.89383001e-01 -1.35264866e-01 -5.31478401e-02 1.15174543e+01] [ 1.35104088e-01 9.90809276e-01 -6.62296185e-03 1.30900561e+00] [ 5.35552270e-02 -6.27844576e-04 9.98564692e-01 4.64137163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.58, Y:1.32, Z:0.46 [[ 9.89078492e-01 -1.37473182e-01 -5.31494190e-02 1.15797810e+01] [ 1.37316270e-01 9.90505197e-01 -6.61026653e-03 1.31905112e+00] [ 5.35535102e-02 -7.60207541e-04 9.98564692e-01 4.58424834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830385723000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.64, Y:1.33, Z:0.46 [[ 9.89146664e-01 -1.36981575e-01 -5.31500237e-02 1.16411746e+01] [ 1.36824216e-01 9.90573320e-01 -6.60540081e-03 1.32877909e+00] [ 5.35538137e-02 -7.38500142e-04 9.98564692e-01 4.63670317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.70, Y:1.34, Z:0.48 [[ 9.89888671e-01 -1.31512083e-01 -5.31506495e-02 1.17016592e+01] [ 1.31347111e-01 9.91314467e-01 -6.60036177e-03 1.33712879e+00] [ 5.35570351e-02 -4.47560900e-04 9.98564692e-01 4.75910921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:1.35, Z:0.48 [[ 9.90541719e-01 -1.26498768e-01 -5.31522707e-02 1.17644629e+01] [ 1.26327281e-01 9.91966746e-01 -6.58728071e-03 1.34529164e+00] [ 5.35585679e-02 -1.89605487e-04 9.98564692e-01 4.76238840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:1.36, Z:0.47 [[ 9.91015956e-01 -1.22727902e-01 -5.31529552e-02 1.18249414e+01] [ 1.22551289e-01 9.92440357e-01 -6.58175223e-03 1.36208334e+00] [ 5.35589025e-02 8.65830222e-06 9.98564692e-01 4.72150494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:1.37, Z:0.48 [[ 9.91712649e-01 -1.16964674e-01 -5.31534335e-02 1.18864188e+01] [ 1.16779991e-01 9.93136025e-01 -6.57788795e-03 1.37398873e+00] [ 5.35579702e-02 3.16117199e-04 9.98564692e-01 4.78124744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.95, Y:1.39, Z:0.48 [[ 9.92544692e-01 -1.09679904e-01 -5.31540428e-02 1.19472151e+01] [ 1.09485038e-01 9.93966711e-01 -6.57296044e-03 1.38803209e+00] [ 5.35542708e-02 7.04384592e-04 9.98564692e-01 4.84058415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.01, Y:1.39, Z:0.49 [[ 9.93316349e-01 -1.02455973e-01 -5.31545298e-02 1.20088272e+01] [ 1.02250978e-01 9.94736943e-01 -6.56901958e-03 1.39144783e+00] [ 5.35478098e-02 1.09001188e-03 9.98564692e-01 4.88186784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.07, Y:1.40, Z:0.49 [[ 9.93621506e-01 -9.94525084e-02 -5.31554503e-02 1.20708855e+01] [ 9.92436183e-02 9.95041532e-01 -6.56156298e-03 1.40042564e+00] [ 5.35444446e-02 1.24437087e-03 9.98564692e-01 4.90022105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.13, Y:1.41, Z:0.50 [[ 9.94052998e-01 -9.50424224e-02 -5.31561304e-02 1.21313330e+01] [ 9.48275277e-02 9.95472128e-01 -6.55604875e-03 1.41275235e+00] [ 5.35385490e-02 1.47639550e-03 9.98564692e-01 4.97899321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370385723 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:1.42, Z:0.50 [[ 9.94443405e-01 -9.08661719e-02 -5.31568693e-02 1.21931019e+01] [ 9.06456385e-02 9.95861670e-01 -6.55005199e-03 1.41756202e+00] [ 5.35320668e-02 1.69521764e-03 9.98564692e-01 4.98323698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430385723 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:1.42, Z:0.50 [[ 9.94192955e-01 -9.35662776e-02 -5.31575077e-02 1.22541902e+01] [ 9.33498733e-02 9.95611855e-01 -6.54486690e-03 1.42445792e+00] [ 5.35366237e-02 1.54461395e-03 9.98564692e-01 5.00644449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.32, Y:1.43, Z:0.50 [[ 9.94021086e-01 -9.53746276e-02 -5.31578917e-02 1.23161317e+01] [ 9.51609716e-02 9.95440403e-01 -6.54174620e-03 1.43163334e+00] [ 5.35394298e-02 1.44407704e-03 9.98564692e-01 5.03256210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:1.43, Z:0.50 [[ 9.94109279e-01 -9.44506647e-02 -5.31583867e-02 1.23782395e+01] [ 9.42359046e-02 9.95528429e-01 -6.53772189e-03 1.43420150e+00] [ 5.35381773e-02 1.48978134e-03 9.98564692e-01 4.96070413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:1.45, Z:0.51 [[ 9.93261499e-01 -1.02984234e-01 -5.31586597e-02 1.24380234e+01] [ 1.02781788e-01 9.94682458e-01 -6.53550133e-03 1.44539707e+00] [ 5.35490398e-02 1.02771976e-03 9.98564692e-01 5.07732474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:1.45, Z:0.51 [[ 9.92286972e-01 -1.11985122e-01 -5.31591663e-02 1.25006435e+01] [ 1.11795788e-01 9.93709738e-01 -6.53137757e-03 1.45289793e+00] [ 5.35561984e-02 5.38029979e-04 9.98564692e-01 5.13022791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:1.46, Z:0.51 [[ 9.90868042e-01 -1.23913457e-01 -5.31599239e-02 1.25632446e+01] [ 1.23741583e-01 9.92293022e-01 -6.52520612e-03 1.46251864e+00] [ 5.35587824e-02 -1.12474896e-04 9.98564692e-01 5.12700093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:1.47, Z:0.52 [[ 9.89696910e-01 -1.32943009e-01 -5.31618568e-02 1.26257202e+01] [ 1.32784982e-01 9.91123492e-01 -6.50941972e-03 1.46901949e+00] [ 5.35553470e-02 -6.16743631e-04 9.98564692e-01 5.16308438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:1.48, Z:0.52 [[ 9.88378843e-01 -1.42410930e-01 -5.31637918e-02 1.26880145e+01] [ 1.42267418e-01 9.89806959e-01 -6.49357778e-03 1.47600598e+00] [ 5.35466475e-02 -1.14536052e-03 9.98564692e-01 5.19737510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:1.48, Z:0.52 [[ 9.87768716e-01 -1.46582310e-01 -5.31656886e-02 1.27507526e+01] [ 1.46445666e-01 9.89197504e-01 -6.47801065e-03 1.48329354e+00] [ 5.35409283e-02 -1.38710841e-03 9.98564692e-01 5.24184816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.81, Y:1.49, Z:0.52 [[ 9.88424651e-01 -1.42091207e-01 -5.31676391e-02 1.28118682e+01] [ 1.41948933e-01 9.89852890e-01 -6.46196235e-03 1.48991284e+00] [ 5.35463293e-02 -1.15992677e-03 9.98564693e-01 5.19210836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:1.50, Z:0.52 [[ 9.88015372e-01 -1.44909148e-01 -5.31691952e-02 1.28726381e+01] [ 1.44771637e-01 9.89444077e-01 -6.44913365e-03 1.49777344e+00] [ 5.35424837e-02 -1.32554826e-03 9.98564693e-01 5.23377187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:1.51, Z:0.53 [[ 9.87732486e-01 -1.46824466e-01 -5.31706024e-02 1.29335934e+01] [ 1.46690351e-01 9.89161513e-01 -6.43751107e-03 1.51241297e+00] [ 5.35394976e-02 -1.44107552e-03 9.98564693e-01 5.34947424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:1.53, Z:0.54 [[ 9.88438939e-01 -1.41989958e-01 -5.31725034e-02 1.29957880e+01] [ 1.41849699e-01 9.89867377e-01 -6.42177016e-03 1.52564816e+00] [ 5.35455534e-02 -1.19497590e-03 9.98564693e-01 5.40993767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:1.53, Z:0.54 [[ 9.89330594e-01 -1.35637230e-01 -5.31743994e-02 1.30578101e+01] [ 1.35488643e-01 9.90758190e-01 -6.40603277e-03 1.53137062e+00] [ 5.35518682e-02 -8.66842984e-04 9.98564693e-01 5.37248999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:1.54, Z:0.55 [[ 9.89963208e-01 -1.30939456e-01 -5.31761680e-02 1.31191541e+01] [ 1.30784885e-01 9.91390168e-01 -6.39131732e-03 1.54318847e+00] [ 5.35552058e-02 -6.27470002e-04 9.98564693e-01 5.46987176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:1.55, Z:0.55 [[ 9.91196050e-01 -1.21253818e-01 -5.31780125e-02 1.31812342e+01] [ 1.21086127e-01 9.92621528e-01 -6.37593413e-03 1.54651932e+00] [ 5.35587463e-02 -1.19318844e-04 9.98564693e-01 5.45413525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:1.55, Z:0.55 [[ 9.92460605e-01 -1.10425839e-01 -5.31797158e-02 1.32432888e+01] [ 1.10243359e-01 9.93884264e-01 -6.36169517e-03 1.55240318e+00] [ 5.35569783e-02 4.51021331e-04 9.98564693e-01 5.46311064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:1.55, Z:0.55 [[ 9.93269628e-01 -1.02894068e-01 -5.31813595e-02 1.33068680e+01] [ 1.02701530e-01 9.94691962e-01 -6.34792457e-03 1.55207450e+00] [ 5.35522347e-02 8.43393670e-04 9.98564693e-01 5.48922656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:1.56, Z:0.56 [[ 9.93814937e-01 -9.74860998e-02 -5.31820615e-02 1.33685744e+01] [ 9.72861382e-02 9.95236246e-01 -6.34203802e-03 1.55883968e+00] [ 5.35469758e-02 1.12893472e-03 9.98564693e-01 5.56954325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:1.57, Z:0.56 [[ 9.94194176e-01 -9.35390148e-02 -5.31826347e-02 1.34300482e+01] [ 9.33336681e-02 9.95614718e-01 -6.33722788e-03 1.56554003e+00] [ 5.35421919e-02 1.33670468e-03 9.98564693e-01 5.61078147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:1.55, Z:0.55 [[ 9.94311369e-01 -9.22846929e-02 -5.31830585e-02 1.34951689e+01] [ 9.20777446e-02 9.95731678e-01 -6.33366927e-03 1.55464290e+00] [ 5.35405568e-02 1.40066329e-03 9.98564693e-01 5.52337913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.56, Y:1.57, Z:0.57 [[ 9.93754217e-01 -9.81022028e-02 -5.31837751e-02 1.35552585e+01] [ 9.79038924e-02 9.95175758e-01 -6.32764619e-03 1.56801964e+00] [ 5.35479597e-02 1.08122649e-03 9.98564693e-01 5.65733206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:1.56, Z:0.56 [[ 9.94081544e-01 -9.47275406e-02 -5.31843626e-02 1.36185335e+01] [ 9.45246689e-02 9.95502441e-01 -6.32270425e-03 1.56283511e+00] [ 5.35440970e-02 1.25804934e-03 9.98564693e-01 5.63841431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:1.57, Z:0.57 [[ 9.93564242e-01 -1.00007359e-01 -5.31848263e-02 1.36798789e+01] [ 9.98122482e-02 9.94986225e-01 -6.31880190e-03 1.57169675e+00] [ 5.35500962e-02 9.69638537e-04 9.98564693e-01 5.69362458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:1.58, Z:0.57 [[ 9.93062459e-01 -1.04872676e-01 -5.31852881e-02 1.37410682e+01] [ 1.04684741e-01 9.94485408e-01 -6.31491250e-03 1.58050466e+00] [ 5.35542547e-02 7.03414451e-04 9.98564693e-01 5.74520838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930385722999997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:1.58, Z:0.57 [[ 9.93069422e-01 -1.04806425e-01 -5.31858591e-02 1.38054648e+01] [ 1.04618652e-01 9.94492393e-01 -6.31009947e-03 1.57690189e+00] [ 5.35542713e-02 7.02133960e-04 9.98564693e-01 5.70321350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990385723 meters Centerline goodness : 0.995410 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:1.59, Z:0.59 [[ 9.93703630e-01 -9.86117870e-02 -5.31865751e-02 1.38648139e+01] [ 9.84154675e-02 9.95125447e-01 -6.30405868e-03 1.58766105e+00] [ 5.35489688e-02 1.02998434e-03 9.98564693e-01 5.85166926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:1.60, Z:0.58 [[ 9.93551020e-01 -1.00137457e-01 -5.31870272e-02 1.39258141e+01] [ 9.99435248e-02 9.94973165e-01 -6.30024155e-03 1.59510819e+00] [ 5.35505550e-02 9.43912440e-04 9.98564693e-01 5.76309813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.99, Y:1.60, Z:0.58 [[ 9.93665946e-01 -9.89900142e-02 -5.31880141e-02 1.39887021e+01] [ 9.87948865e-02 9.95087927e-01 -6.29189923e-03 1.60029146e+00] [ 5.35495859e-02 9.97342188e-04 9.98564694e-01 5.84009312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:1.61, Z:0.59 [[ 9.93670329e-01 -9.89456251e-02 -5.31887169e-02 1.40494436e+01] [ 9.87507521e-02 9.95092345e-01 -6.28595265e-03 1.60939272e+00] [ 5.35496525e-02 9.93738848e-04 9.98564694e-01 5.91553182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:1.61, Z:0.59 [[ 9.93474050e-01 -1.00897039e-01 -5.31892837e-02 1.41116012e+01] [ 1.00705216e-01 9.94896480e-01 -6.28115314e-03 1.60821981e+00] [ 5.35515809e-02 8.83724337e-04 9.98564694e-01 5.94734423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:1.61, Z:0.60 [[ 9.93850341e-01 -9.71202542e-02 -5.31898193e-02 1.41741955e+01] [ 9.69232691e-02 9.95272065e-01 -6.27661362e-03 1.61498510e+00] [ 5.35479277e-02 1.08268341e-03 9.98564694e-01 6.00705073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.24, Y:1.62, Z:0.60 [[ 9.93889875e-01 -9.67144522e-02 -5.31905106e-02 1.42362087e+01] [ 9.65172003e-02 9.95311563e-01 -6.27075019e-03 1.61718669e+00] [ 5.35476024e-02 1.09863596e-03 9.98564694e-01 5.98582000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.30, Y:1.62, Z:0.60 [[ 9.93901384e-01 -9.65959243e-02 -5.31908503e-02 1.42980585e+01] [ 9.63986571e-02 9.95323070e-01 -6.26786726e-03 1.62052582e+00] [ 5.35475308e-02 1.10211540e-03 9.98564694e-01 6.01691086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:1.63, Z:0.61 [[ 9.93719816e-01 -9.84459390e-02 -5.31913947e-02 1.43597767e+01] [ 9.82515661e-02 9.95141900e-01 -6.26324366e-03 1.62848152e+00] [ 5.35495765e-02 9.97771503e-04 9.98564694e-01 6.09086073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:1.63, Z:0.61 [[ 9.93642769e-01 -9.92202660e-02 -5.31919709e-02 1.44211015e+01] [ 9.90272633e-02 9.95065040e-01 -6.25834673e-03 1.62819077e+00] [ 5.35504255e-02 9.51105671e-04 9.98564694e-01 6.07536073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:1.64, Z:0.61 [[ 9.93222207e-01 -1.03345175e-01 -5.31923174e-02 1.44822331e+01] [ 1.03158238e-01 9.94645288e-01 -6.25539998e-03 1.63812005e+00] [ 5.35539533e-02 7.25776455e-04 9.98564694e-01 6.13674914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.54, Y:1.64, Z:0.62 [[ 9.93816133e-01 -9.74679655e-02 -5.31929534e-02 1.45446528e+01] [ 9.72729024e-02 9.95238122e-01 -6.24998696e-03 1.63677382e+00] [ 5.35488286e-02 1.03710490e-03 9.98564694e-01 6.18180010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:1.64, Z:0.62 [[ 9.93740115e-01 -9.82397008e-02 -5.31934736e-02 1.46062839e+01] [ 9.80459791e-02 9.95162288e-01 -6.24555704e-03 1.63828425e+00] [ 5.35497005e-02 9.91054368e-04 9.98564694e-01 6.16786419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:1.65, Z:0.62 [[ 9.93062122e-01 -1.04871536e-01 -5.31938213e-02 1.46675989e+01] [ 1.04687472e-01 9.94485577e-01 -6.24259384e-03 1.64629838e+00] [ 5.35551585e-02 6.30556825e-04 9.98564694e-01 6.22100698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:1.65, Z:0.62 [[ 9.92832491e-01 -1.07023417e-01 -5.31942914e-02 1.47300172e+01] [ 1.06842653e-01 9.94256369e-01 -6.23858595e-03 1.64528085e+00] [ 5.35564378e-02 5.10451635e-04 9.98564694e-01 6.19229346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:1.66, Z:0.64 [[ 9.91391521e-01 -1.19637717e-01 -5.31946354e-02 1.47893702e+01] [ 1.19475228e-01 9.92817600e-01 -6.23565147e-03 1.65636688e+00] [ 5.35585893e-02 -1.73469202e-04 9.98564694e-01 6.35878911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:1.67, Z:0.63 [[ 9.91126592e-01 -1.21812812e-01 -5.31950967e-02 1.48521755e+01] [ 1.21653664e-01 9.92553047e-01 -6.23171361e-03 1.66549372e+00] [ 5.35580579e-02 -2.94961346e-04 9.98564694e-01 6.33009009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:1.67, Z:0.63 [[ 9.90977877e-01 -1.23016473e-01 -5.31958162e-02 1.49145181e+01] [ 1.22859388e-01 9.92404561e-01 -6.22556522e-03 1.66832538e+00] [ 5.35576177e-02 -3.66208015e-04 9.98564694e-01 6.32755003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:1.68, Z:0.64 [[ 9.90251671e-01 -1.28731164e-01 -5.31969421e-02 1.49753030e+01] [ 1.28582829e-01 9.91679292e-01 -6.21593007e-03 1.68318395e+00] [ 5.35544898e-02 -6.84878174e-04 9.98564694e-01 6.43602424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:1.68, Z:0.65 [[ 9.90095590e-01 -1.29925877e-01 -5.31976353e-02 1.50369307e+01] [ 1.29779583e-01 9.91523422e-01 -6.20999153e-03 1.68471791e+00] [ 5.35535400e-02 -7.55481698e-04 9.98564694e-01 6.45391619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:1.69, Z:0.65 [[ 9.90020490e-01 -1.30496763e-01 -5.31979742e-02 1.50994228e+01] [ 1.30351449e-01 9.91448421e-01 -6.20708697e-03 1.69361319e+00] [ 5.35530523e-02 -7.89289732e-04 9.98564694e-01 6.47726694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:1.72, Z:0.66 [[ 9.90550933e-01 -1.26407100e-01 -5.31986232e-02 1.51586860e+01] [ 1.26256189e-01 9.91978284e-01 -6.20151980e-03 1.71745934e+00] [ 5.35557951e-02 -5.73734216e-04 9.98564694e-01 6.56056443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:1.72, Z:0.66 [[ 9.91544386e-01 -1.18362110e-01 -5.31990781e-02 1.52212850e+01] [ 1.18199827e-01 9.92970488e-01 -6.19761472e-03 1.72483132e+00] [ 5.35586773e-02 -1.42911739e-04 9.98564694e-01 6.55066718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.28, Y:1.74, Z:0.66 [[ 9.92362161e-01 -1.11297470e-01 -5.31997694e-02 1.52811613e+01] [ 1.11125353e-01 9.93787110e-01 -6.19167535e-03 1.73789040e+00] [ 5.35583628e-02 2.32541167e-04 9.98564694e-01 6.60758871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.34, Y:1.75, Z:0.66 [[ 9.92946499e-01 -1.05957531e-01 -5.32001079e-02 1.53423199e+01] [ 1.05777907e-01 9.94370521e-01 -6.18876539e-03 1.75418364e+00] [ 5.35563653e-02 5.17716874e-04 9.98564694e-01 6.61900827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.40, Y:1.77, Z:0.66 [[ 9.93622154e-01 -9.94219010e-02 -5.32005712e-02 1.54029870e+01] [ 9.92331244e-02 9.95044992e-01 -6.18477993e-03 1.76955751e+00] [ 5.35518645e-02 8.66075457e-04 9.98564694e-01 6.62914645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.46, Y:1.79, Z:0.67 [[ 9.93554882e-01 -1.00091688e-01 -5.32010301e-02 1.54624210e+01] [ 9.99040823e-02 9.94977875e-01 -6.18083048e-03 1.78892819e+00] [ 5.35524976e-02 8.25994213e-04 9.98564694e-01 6.70606821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.52, Y:1.80, Z:0.67 [[ 9.93166980e-01 -1.03869943e-01 -5.32013685e-02 1.55237735e+01] [ 1.03687907e-01 9.94590695e-01 -6.17791640e-03 1.79777133e+00] [ 5.35552859e-02 6.19364019e-04 9.98564694e-01 6.71387197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:1.81, Z:0.67 [[ 9.92990598e-01 -1.05542592e-01 -5.32018173e-02 1.55850848e+01] [ 1.05363161e-01 9.94414645e-01 -6.17404860e-03 1.80804789e+00] [ 5.35562913e-02 5.25260567e-04 9.98564694e-01 6.72893972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:1.83, Z:0.68 [[ 9.91754766e-01 -1.16584665e-01 -5.32024454e-02 1.56454444e+01] [ 1.16421380e-01 9.93180754e-01 -6.16863180e-03 1.82916173e+00] [ 5.35588127e-02 -7.61321343e-05 9.98564694e-01 6.77616308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:1.84, Z:0.68 [[ 9.90475137e-01 -1.26997768e-01 -5.32030945e-02 1.57079190e+01] [ 1.26849776e-01 9.91902793e-01 -6.16302807e-03 1.83994559e+00] [ 5.35549889e-02 -6.44474523e-04 9.98564694e-01 6.83215417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.77, Y:1.85, Z:0.69 [[ 9.89094434e-01 -1.37336964e-01 -5.32048762e-02 1.57709703e+01] [ 1.37204721e-01 9.90523635e-01 -6.14760806e-03 1.84647365e+00] [ 5.35449812e-02 -1.21939531e-03 9.98564694e-01 6.85478572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.83, Y:1.85, Z:0.69 [[ 9.88459810e-01 -1.41831771e-01 -5.32066931e-02 1.58338262e+01] [ 1.41706875e-01 9.89889672e-01 -6.13184293e-03 1.85109232e+00] [ 5.35384461e-02 -1.47867390e-03 9.98564694e-01 6.86147520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:1.86, Z:0.69 [[ 9.87827894e-01 -1.46167393e-01 -5.32085002e-02 1.58962625e+01] [ 1.46049618e-01 9.89258360e-01 -6.11612169e-03 1.86241872e+00] [ 5.35309312e-02 -1.72940549e-03 9.98564694e-01 6.91693051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:1.87, Z:0.69 [[ 9.88502007e-01 -1.41536027e-01 -5.32102976e-02 1.59595262e+01] [ 1.41412391e-01 9.89931978e-01 -6.10044410e-03 1.86772903e+00] [ 5.35380078e-02 -1.49429418e-03 9.98564694e-01 6.91512039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:1.87, Z:0.69 [[ 9.89211543e-01 -1.36488059e-01 -5.32121565e-02 1.60226991e+01] [ 1.36358000e-01 9.90640943e-01 -6.08418660e-03 1.87447494e+00] [ 5.35445597e-02 -1.23735560e-03 9.98564694e-01 6.92382521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.08, Y:1.88, Z:0.70 [[ 9.90269550e-01 -1.28586504e-01 -5.32139975e-02 1.60844114e+01] [ 1.28445904e-01 9.91697952e-01 -6.06804184e-03 1.88140277e+00] [ 5.35524806e-02 -8.26122971e-04 9.98564695e-01 6.98383772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:1.88, Z:0.70 [[ 9.91783457e-01 -1.16334288e-01 -5.32156773e-02 1.61482360e+01] [ 1.16176832e-01 9.93210099e-01 -6.05327388e-03 1.88046568e+00] [ 5.35585515e-02 -1.78891934e-04 9.98564695e-01 6.96520231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:1.89, Z:0.70 [[ 9.92532646e-01 -1.09758140e-01 -5.32174533e-02 1.62087281e+01] [ 1.09592071e-01 9.93958312e-01 -6.03762020e-03 1.89269175e+00] [ 5.35586080e-02 1.60324207e-04 9.98564695e-01 7.03875577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:1.90, Z:0.71 [[ 9.93490261e-01 -1.00722179e-01 -5.32178925e-02 1.62708719e+01] [ 1.00543352e-01 9.94914382e-01 -6.03374628e-03 1.90226073e+00] [ 5.35549787e-02 6.43762876e-04 9.98564695e-01 7.10405485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:1.90, Z:0.71 [[ 9.94125433e-01 -9.42465358e-02 -5.32185475e-02 1.63354345e+01] [ 9.40587428e-02 9.95548400e-01 -6.02796395e-03 1.89831988e+00] [ 5.35497545e-02 9.86882608e-04 9.98564695e-01 7.07561806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:1.91, Z:0.72 [[ 9.94137371e-01 -9.41201487e-02 -5.32192182e-02 1.63957213e+01] [ 9.39324920e-02 9.95560356e-01 -6.02203667e-03 1.91113427e+00] [ 5.35497388e-02 9.87717917e-04 9.98564695e-01 7.17592377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:1.91, Z:0.73 [[ 9.94258140e-01 -9.28354393e-02 -5.32196569e-02 1.64569184e+01] [ 9.26461515e-02 9.95680909e-01 -6.01815723e-03 1.91342067e+00] [ 5.35484946e-02 1.05300543e-03 9.98564695e-01 7.25427848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:1.91, Z:0.72 [[ 9.93563439e-01 -9.99963637e-02 -5.32204900e-02 1.65209942e+01] [ 9.98177265e-02 9.94987584e-01 -6.01078021e-03 1.91051224e+00] [ 5.35547829e-02 6.59743139e-04 9.98564695e-01 7.22101298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:1.92, Z:0.73 [[ 9.92303721e-01 -1.11807131e-01 -5.32211538e-02 1.65809570e+01] [ 1.11645762e-01 9.93729926e-01 -6.00489761e-03 1.92316648e+00] [ 5.35588435e-02 1.67659833e-05 9.98564695e-01 7.32067499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:1.92, Z:0.73 [[ 9.91341558e-01 -1.20038882e-01 -5.32220103e-02 1.66432563e+01] [ 1.19889763e-01 9.92769096e-01 -5.99729635e-03 1.92331994e+00] [ 5.35570758e-02 -4.35405070e-04 9.98564695e-01 7.32386373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:1.93, Z:0.73 [[ 9.90468060e-01 -1.27044603e-01 -5.32230275e-02 1.67063422e+01] [ 1.26906066e-01 9.91896664e-01 -5.98825607e-03 1.92909558e+00] [ 5.35525190e-02 -8.23148648e-04 9.98564695e-01 7.34826535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:1.94, Z:0.74 [[ 9.89342514e-01 -1.35530480e-01 -5.32247901e-02 1.67685470e+01] [ 1.35405039e-01 9.90772327e-01 -5.97254809e-03 1.94212183e+00] [ 5.35431115e-02 -1.29800901e-03 9.98564695e-01 7.40461552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:1.94, Z:0.74 [[ 9.88607728e-01 -1.40789518e-01 -5.32266010e-02 1.68306277e+01] [ 1.40672552e-01 9.90038259e-01 -5.95636554e-03 1.94241138e+00] [ 5.35349653e-02 -1.59901281e-03 9.98564695e-01 7.43272740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:1.95, Z:0.75 [[ 9.88283350e-01 -1.43048191e-01 -5.32281506e-02 1.68933870e+01] [ 1.42935241e-01 9.89714203e-01 -5.94248622e-03 1.95167198e+00] [ 5.35307185e-02 -1.73531834e-03 9.98564695e-01 7.45941278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.95, Y:1.96, Z:0.75 [[ 9.88464033e-01 -1.41793599e-01 -5.32299756e-02 1.69540156e+01] [ 1.41679714e-01 9.89894813e-01 -5.92609312e-03 1.96475033e+00] [ 5.35323588e-02 -1.68387783e-03 9.98564696e-01 7.54633560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050385722999998 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:1.97, Z:0.75 [[ 9.89105165e-01 -1.37249278e-01 -5.32316495e-02 1.70167564e+01] [ 1.37129630e-01 9.90535474e-01 -5.91101916e-03 1.96974008e+00] [ 5.35391202e-02 -1.45301680e-03 9.98564696e-01 7.51850600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:1.98, Z:0.76 [[ 9.89302901e-01 -1.35816456e-01 -5.32321302e-02 1.70775953e+01] [ 1.35694970e-01 9.90733055e-01 -5.90668712e-03 1.98035567e+00] [ 5.35410563e-02 -1.37982958e-03 9.98564696e-01 7.58262173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:2.00, Z:0.76 [[ 9.91347878e-01 -1.19981974e-01 -5.32326128e-02 1.71372767e+01] [ 1.19837872e-01 9.92775930e-01 -5.90233423e-03 1.99804906e+00] [ 5.35562304e-02 -5.28016498e-04 9.98564696e-01 7.57674469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:2.01, Z:0.77 [[ 9.91941294e-01 -1.14972658e-01 -5.32330404e-02 1.71978843e+01] [ 1.14821550e-01 9.93368622e-01 -5.89847486e-03 2.01009694e+00] [ 5.35581954e-02 -2.61359447e-04 9.98564696e-01 7.65768771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:2.02, Z:0.77 [[ 9.92719101e-01 -1.08050846e-01 -5.32334650e-02 1.72592986e+01] [ 1.07889992e-01 9.94145363e-01 -5.89464034e-03 2.01821242e+00] [ 5.35587233e-02 1.08363946e-04 9.98564696e-01 7.71865457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350385723 meters Centerline goodness : 0.998450 with order 1 Centerline is valid? [True, True] Translation: X:17.32, Y:2.03, Z:0.78 [[ 9.93118401e-01 -1.04316811e-01 -5.32338626e-02 1.73213310e+01] [ 1.04150787e-01 9.94544071e-01 -5.89104801e-03 2.02747040e+00] [ 5.35579578e-02 3.06159496e-04 9.98564696e-01 7.78624711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:2.03, Z:0.77 [[ 9.93237170e-01 -1.03179470e-01 -5.32345882e-02 1.73846021e+01] [ 1.03012164e-01 9.94662690e-01 -5.88448326e-03 2.03175863e+00] [ 5.35576166e-02 3.60877343e-04 9.98564696e-01 7.73569166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470385723 meters Centerline goodness : 0.998453 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:2.04, Z:0.78 [[ 9.93310939e-01 -1.02466465e-01 -5.32353406e-02 1.74464810e+01] [ 1.02298502e-01 9.94736382e-01 -5.87766945e-03 2.03715651e+00] [ 5.35573941e-02 3.92457763e-04 9.98564696e-01 7.79547923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:2.04, Z:0.79 [[ 9.93592758e-01 -9.96963627e-02 -5.32359515e-02 1.75071524e+01] [ 9.95247223e-02 9.95017763e-01 -5.87213048e-03 2.04420468e+00] [ 5.35561474e-02 5.36213025e-04 9.98564696e-01 7.87704180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.57, Y:2.05, Z:0.79 [[ 9.94544645e-01 -8.97042036e-02 -5.32363191e-02 1.75704603e+01] [ 8.95184268e-02 9.95967875e-01 -5.86879612e-03 2.04724423e+00] [ 5.35481193e-02 1.07114821e-03 9.98564696e-01 7.89907800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.63, Y:2.06, Z:0.80 [[ 9.94977220e-01 -8.47712223e-02 -5.32369298e-02 1.76318384e+01] [ 8.45786865e-02 9.96399552e-01 -5.86325157e-03 2.05503702e+00] [ 5.35422880e-02 1.33109216e-03 9.98564696e-01 7.95408929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710385722999998 meters Centerline goodness : 0.994349 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:2.06, Z:0.80 [[ 9.94766593e-01 -8.72078057e-02 -5.32374302e-02 1.76941367e+01] [ 8.70189973e-02 9.96189425e-01 -5.85870387e-03 2.05768536e+00] [ 5.35454897e-02 1.19537510e-03 9.98564696e-01 8.00382469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770385722999997 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:2.06, Z:0.80 [[ 9.94742405e-01 -8.74829057e-02 -5.32380401e-02 1.77572657e+01] [ 8.72947875e-02 9.96165328e-01 -5.85315657e-03 2.05630342e+00] [ 5.35459408e-02 1.17497965e-03 9.98564696e-01 8.02331959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:2.06, Z:0.81 [[ 9.93846407e-01 -9.71337945e-02 -5.32385685e-02 1.78190483e+01] [ 9.69597537e-02 9.95271120e-01 -5.84834617e-03 2.05903770e+00] [ 5.35548818e-02 6.50359336e-04 9.98564696e-01 8.06876506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:2.06, Z:0.81 [[ 9.93210087e-01 -1.03437543e-01 -5.32390594e-02 1.78828496e+01] [ 1.03272785e-01 9.94635904e-01 -5.84387419e-03 2.05831809e+00] [ 5.35579560e-02 3.06048859e-04 9.98564696e-01 8.09790868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:2.06, Z:0.80 [[ 9.92427599e-01 -1.10693262e-01 -5.32396629e-02 1.79449755e+01] [ 1.10539223e-01 9.93854614e-01 -5.83837086e-03 2.06146069e+00] [ 5.35587530e-02 -9.09105964e-05 9.98564696e-01 8.01829755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.01, Y:2.07, Z:0.81 [[ 9.91669212e-01 -1.17293143e-01 -5.32399599e-02 1.80069520e+01] [ 1.17148747e-01 9.93097234e-01 -5.83566190e-03 2.06606306e+00] [ 5.35569400e-02 -4.49948353e-04 9.98564696e-01 8.07480810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.07, Y:2.07, Z:0.81 [[ 9.91646902e-01 -1.17481388e-01 -5.32404480e-02 1.80686407e+01] [ 1.17337502e-01 9.93074976e-01 -5.83120510e-03 2.06876881e+00] [ 5.35568147e-02 -4.64604716e-04 9.98564696e-01 8.12506617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:2.08, Z:0.82 [[ 9.91893887e-01 -1.15377335e-01 -5.32408515e-02 1.81306566e+01] [ 1.15230618e-01 9.93321672e-01 -5.82751849e-03 2.08080851e+00] [ 5.35576552e-02 -3.54696263e-04 9.98564696e-01 8.15662000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:2.09, Z:0.82 [[ 9.92109851e-01 -1.13505023e-01 -5.32414544e-02 1.81936296e+01] [ 1.13355907e-01 9.93537389e-01 -5.82200491e-03 2.08610979e+00] [ 5.35582024e-02 -2.59164942e-04 9.98564696e-01 8.19831063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:2.09, Z:0.82 [[ 9.92416426e-01 -1.10792242e-01 -5.32420487e-02 1.82556814e+01] [ 1.10639516e-01 9.93843582e-01 -5.81656567e-03 2.08896230e+00] [ 5.35586987e-02 -1.18219173e-04 9.98564696e-01 8.18400816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:2.10, Z:0.83 [[ 9.92525441e-01 -1.09811145e-01 -5.32424696e-02 1.83152250e+01] [ 1.09657215e-01 9.93952468e-01 -5.81270973e-03 2.10312267e+00] [ 5.35587844e-02 -6.91586304e-05 9.98564696e-01 8.25204513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.38, Y:2.10, Z:0.83 [[ 9.92977116e-01 -1.05648721e-01 -5.32427818e-02 1.83770080e+01] [ 1.05488963e-01 9.94403502e-01 -5.80984917e-03 2.10449415e+00] [ 5.35586118e-02 1.52521450e-04 9.98564696e-01 8.25257589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:2.11, Z:0.83 [[ 9.93052923e-01 -1.04933566e-01 -5.32431992e-02 1.84377945e+01] [ 1.04772985e-01 9.94479216e-01 -5.80602124e-03 2.11448579e+00] [ 5.35585015e-02 1.87237453e-04 9.98564696e-01 8.31851886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:2.12, Z:0.84 [[ 9.92654709e-01 -1.08635840e-01 -5.32436182e-02 1.84995950e+01] [ 1.08480785e-01 9.94081613e-01 -5.80217584e-03 2.12230032e+00] [ 5.35588262e-02 -1.63523557e-05 9.98564696e-01 8.39999961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:2.13, Z:0.84 [[ 9.92173882e-01 -1.12942675e-01 -5.32441541e-02 1.85614318e+01] [ 1.12794078e-01 9.93601473e-01 -5.79725391e-03 2.12615592e+00] [ 5.35582274e-02 -2.53741375e-04 9.98564696e-01 8.40852763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:2.13, Z:0.85 [[ 9.92307589e-01 -1.11761472e-01 -5.32449306e-02 1.86228039e+01] [ 1.11611559e-01 9.93735042e-01 -5.79011397e-03 2.13330029e+00] [ 5.35584650e-02 -1.97175668e-04 9.98564696e-01 8.51335115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:2.14, Z:0.85 [[ 9.91612911e-01 -1.17765423e-01 -5.32460275e-02 1.86852469e+01] [ 1.17624695e-01 9.93041300e-01 -5.78000917e-03 2.13863869e+00] [ 5.35561896e-02 -5.31516040e-04 9.98564696e-01 8.45686953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730385722999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:2.15, Z:0.86 [[ 9.90824466e-01 -1.24224319e-01 -5.32465606e-02 1.87471026e+01] [ 1.24093166e-01 9.92253765e-01 -5.77509341e-03 2.15185058e+00] [ 5.35515073e-02 -8.85430430e-04 9.98564696e-01 8.57991157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.81, Y:2.16, Z:0.86 [[ 9.90641066e-01 -1.25677979e-01 -5.32477680e-02 1.88093589e+01] [ 1.25549522e-01 9.92070610e-01 -5.76393957e-03 2.15609264e+00] [ 5.35499460e-02 -9.75236586e-04 9.98564696e-01 8.56004265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:2.16, Z:0.86 [[ 9.90348743e-01 -1.27960900e-01 -5.32482449e-02 1.88708531e+01] [ 1.27835975e-01 9.91778600e-01 -5.75953095e-03 2.15976752e+00] [ 5.35474645e-02 -1.10309709e-03 9.98564696e-01 8.56458945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:2.17, Z:0.86 [[ 9.90033618e-01 -1.30376425e-01 -5.32486838e-02 1.89318769e+01] [ 1.30255207e-01 9.91463794e-01 -5.75547049e-03 2.17027519e+00] [ 5.35445197e-02 -1.23780906e-03 9.98564696e-01 8.60435142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:2.18, Z:0.86 [[ 9.90227396e-01 -1.28896212e-01 -5.32491337e-02 1.89940030e+01] [ 1.28773080e-01 9.91657409e-01 -5.75130515e-03 2.18013668e+00] [ 5.35462193e-02 -1.16195503e-03 9.98564696e-01 8.62896502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:2.19, Z:0.86 [[ 9.90753653e-01 -1.24786032e-01 -5.32507730e-02 1.90557434e+01] [ 1.24657784e-01 9.92183216e-01 -5.73608600e-03 2.18856377e+00] [ 5.35503067e-02 -9.55075207e-04 9.98564696e-01 8.63219666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:2.20, Z:0.88 [[ 9.91436713e-01 -1.19236905e-01 -5.32522761e-02 1.91164264e+01] [ 1.19101407e-01 9.92865606e-01 -5.72209763e-03 2.20052078e+00] [ 5.35546386e-02 -6.69323360e-04 9.98564696e-01 8.79225527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.18, Y:2.21, Z:0.87 [[ 9.92152201e-01 -1.13128901e-01 -5.32528174e-02 1.91778601e+01] [ 1.12984876e-01 9.93580260e-01 -5.71705620e-03 2.21322326e+00] [ 5.35577124e-02 -3.44573080e-04 9.98564696e-01 8.70956517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.24, Y:2.23, Z:0.88 [[ 9.92861603e-01 -1.06723597e-01 -5.32532658e-02 1.92398663e+01] [ 1.06570583e-01 9.94288728e-01 -5.71287565e-03 2.22691049e+00] [ 5.35588206e-02 -3.13671881e-06 9.98564696e-01 8.78819344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270385722999997 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:19.30, Y:2.23, Z:0.89 [[ 9.93724980e-01 -9.83599980e-02 -5.32538731e-02 1.92999308e+01] [ 9.81952771e-02 9.95150800e-01 -5.70720929e-03 2.23476851e+00] [ 5.35569955e-02 4.42117614e-04 9.98564696e-01 8.87263883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330385723 meters Centerline goodness : 0.998246 with order 1 Centerline is valid? [True, True] Translation: X:19.36, Y:2.25, Z:0.89 [[ 9.94042653e-01 -9.50956302e-02 -5.32543455e-02 1.93614750e+01] [ 9.49264634e-02 9.95467953e-01 -5.70279803e-03 2.24831786e+00] [ 5.35553054e-02 6.13577808e-04 9.98564696e-01 8.87978668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390385722999998 meters Centerline goodness : 0.998696 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:2.25, Z:0.89 [[ 9.94192094e-01 -9.35200765e-02 -5.32548163e-02 1.94234443e+01] [ 9.33488867e-02 9.95617152e-01 -5.69839795e-03 2.25449844e+00] [ 5.35543232e-02 6.94024372e-04 9.98564696e-01 8.94031875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450385722999997 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:2.26, Z:0.89 [[ 9.94009010e-01 -9.54461267e-02 -5.32552800e-02 1.94853345e+01] [ 9.52779305e-02 9.95434425e-01 -5.69406142e-03 2.25736680e+00] [ 5.35556151e-02 5.85895489e-04 9.98564696e-01 8.93801268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.55, Y:2.26, Z:0.89 [[ 9.94331798e-01 -9.20222724e-02 -5.32557594e-02 1.95471033e+01] [ 9.18494084e-02 9.95756654e-01 -5.68957423e-03 2.26404681e+00] [ 5.35533443e-02 7.65814588e-04 9.98564696e-01 8.85538799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.61, Y:2.27, Z:0.89 [[ 9.93945599e-01 -9.61037590e-02 -5.32561103e-02 1.96096997e+01] [ 9.59369224e-02 9.95371174e-01 -5.68628778e-03 2.26595267e+00] [ 5.35560706e-02 5.42633392e-04 9.98564696e-01 8.91638700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.67, Y:2.27, Z:0.89 [[ 9.93560102e-01 -1.00010125e-01 -5.32569090e-02 1.96701157e+01] [ 9.98492952e-02 9.94986366e-01 -5.67879709e-03 2.27231208e+00] [ 5.35578356e-02 3.24561388e-04 9.98564696e-01 8.94984093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.73, Y:2.28, Z:0.90 [[ 9.92888521e-01 -1.06470906e-01 -5.32572230e-02 1.97312438e+01] [ 1.06319515e-01 9.94315818e-01 -5.67585123e-03 2.28106600e+00] [ 5.35588122e-02 -2.67945931e-05 9.98564696e-01 9.00909725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.79, Y:2.28, Z:0.90 [[ 9.92810000e-01 -1.07200422e-01 -5.32576068e-02 1.97940421e+01] [ 1.07050273e-01 9.94237429e-01 -5.67224766e-03 2.28185333e+00] [ 5.35587733e-02 -6.97771258e-05 9.98564696e-01 9.00631631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.85, Y:2.29, Z:0.91 [[ 9.93165680e-01 -1.03853354e-01 -5.32579931e-02 1.98546401e+01] [ 1.03698589e-01 9.94592615e-01 -5.66861775e-03 2.29441808e+00] [ 5.35587116e-02 1.07097844e-04 9.98564696e-01 9.07464292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:2.30, Z:0.91 [[ 9.93307485e-01 -1.02487961e-01 -5.32584136e-02 1.99160876e+01] [ 1.02331446e-01 9.94734229e-01 -5.66466404e-03 2.30133238e+00] [ 5.35585269e-02 1.76742702e-04 9.98564696e-01 9.11519793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:2.31, Z:0.91 [[ 9.93931602e-01 -9.62469093e-02 -5.32588294e-02 1.99763865e+01] [ 9.60816461e-02 9.95357360e-01 -5.66075246e-03 2.30989233e+00] [ 5.35563977e-02 5.09204767e-04 9.98564696e-01 9.13530469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:2.32, Z:0.92 [[ 9.94250687e-01 -9.28926081e-02 -5.32591355e-02 2.00373599e+01] [ 9.27226893e-02 9.95675897e-01 -5.65787102e-03 2.32482775e+00] [ 5.35544119e-02 6.87011867e-04 9.98564696e-01 9.20798368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:2.32, Z:0.92 [[ 9.94376011e-01 -9.15410982e-02 -5.32595231e-02 2.01014896e+01] [ 9.13694379e-02 9.95801012e-01 -5.65422020e-03 2.32288924e+00] [ 5.35534805e-02 7.56128234e-04 9.98564696e-01 9.21115577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:2.34, Z:0.92 [[ 9.94116044e-01 -9.43220708e-02 -5.32600998e-02 2.01628033e+01] [ 9.41546883e-02 9.95541554e-01 -5.64878218e-03 2.33505283e+00] [ 5.35554474e-02 6.00856895e-04 9.98564696e-01 9.24695967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:2.34, Z:0.93 [[ 9.93820927e-01 -9.73821528e-02 -5.32605113e-02 2.02251360e+01] [ 9.72193678e-02 9.95246969e-01 -5.64489977e-03 2.34115925e+00] [ 5.35570750e-02 4.32066283e-04 9.98564696e-01 9.26804038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.29, Y:2.34, Z:0.93 [[ 9.93134018e-01 -1.04154196e-01 -5.32609297e-02 2.02878850e+01] [ 1.04001347e-01 9.94561159e-01 -5.64094930e-03 2.34327301e+00] [ 5.35587805e-02 6.30101896e-05 9.98564696e-01 9.27242152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:2.35, Z:0.93 [[ 9.92068149e-01 -1.13859637e-01 -5.32613405e-02 2.03486614e+01] [ 1.13720958e-01 9.93496737e-01 -5.63706849e-03 2.35093056e+00] [ 5.35568025e-02 -4.64574535e-04 9.98564696e-01 9.29247470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:2.36, Z:0.94 [[ 9.90488081e-01 -1.26871791e-01 -5.32626491e-02 2.04092217e+01] [ 1.26752542e-01 9.91918422e-01 -5.62467617e-03 2.36106524e+00] [ 5.35458156e-02 -1.18000144e-03 9.98564697e-01 9.42169161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410385722999997 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:2.36, Z:0.95 [[ 9.90280175e-01 -1.28483896e-01 -5.32640978e-02 2.04725272e+01] [ 1.28367714e-01 9.91710768e-01 -5.61092426e-03 2.36462096e+00] [ 5.35434927e-02 -1.28100339e-03 9.98564697e-01 9.45136219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:20.54, Y:2.37, Z:0.94 [[ 9.89495946e-01 -1.34389479e-01 -5.32657584e-02 2.05357619e+01] [ 1.34282685e-01 9.90927270e-01 -5.59511521e-03 2.36945706e+00] [ 5.35344172e-02 -1.61632521e-03 9.98564697e-01 9.39168015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.60, Y:2.38, Z:0.94 [[ 9.89500124e-01 -1.34358068e-01 -5.32673857e-02 2.05973282e+01] [ 1.34252063e-01 9.90931507e-01 -5.57957979e-03 2.37679312e+00] [ 5.35339923e-02 -1.63026155e-03 9.98564697e-01 9.43200761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590385722999997 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:20.66, Y:2.39, Z:0.95 [[ 9.89918919e-01 -1.31236270e-01 -5.32688877e-02 2.06590538e+01] [ 1.31126523e-01 9.91350021e-01 -5.56520290e-03 2.38883987e+00] [ 5.35384694e-02 -1.47586441e-03 9.98564697e-01 9.51038812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.72, Y:2.40, Z:0.96 [[ 9.90285066e-01 -1.28443419e-01 -5.32707886e-02 2.07196476e+01] [ 1.28330617e-01 9.91715929e-01 -5.54694759e-03 2.39520105e+00] [ 5.35419585e-02 -1.34321383e-03 9.98564697e-01 9.59204305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.78, Y:2.40, Z:0.96 [[ 9.90579915e-01 -1.26148955e-01 -5.32716984e-02 2.07828773e+01] [ 1.26033310e-01 9.92010551e-01 -5.53819637e-03 2.40041731e+00] [ 5.35447245e-02 -1.22798238e-03 9.98564697e-01 9.58617228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:2.41, Z:0.95 [[ 9.91154803e-01 -1.21548839e-01 -5.32732214e-02 2.08454492e+01] [ 1.21427342e-01 9.92584954e-01 -5.52350759e-03 2.40541054e+00] [ 5.35495739e-02 -9.94174609e-04 9.98564697e-01 9.54263835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.91, Y:2.42, Z:0.97 [[ 9.91167179e-01 -1.21447301e-01 -5.32745368e-02 2.09054389e+01] [ 1.21326341e-01 9.92597376e-01 -5.51079070e-03 2.41687667e+00] [ 5.35494361e-02 -1.00148974e-03 9.98564697e-01 9.69954049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:2.42, Z:0.97 [[ 9.91721943e-01 -1.16830148e-01 -5.32757358e-02 2.09694750e+01] [ 1.16703153e-01 9.93151616e-01 -5.49917494e-03 2.41749955e+00] [ 5.35533525e-02 -7.63793882e-04 9.98564697e-01 9.65496048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:2.42, Z:0.97 [[ 9.91924003e-01 -1.15101246e-01 -5.32773492e-02 2.10308859e+01] [ 1.14972601e-01 9.93353528e-01 -5.48349961e-03 2.42343637e+00] [ 5.35544004e-02 -6.86220540e-04 9.98564698e-01 9.69851545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:2.43, Z:0.97 [[ 9.92249020e-01 -1.12264199e-01 -5.32788199e-02 2.10931780e+01] [ 1.12132235e-01 9.93678243e-01 -5.46917216e-03 2.43425278e+00] [ 5.35559964e-02 -5.47492466e-04 9.98564698e-01 9.74175313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.15, Y:2.44, Z:0.97 [[ 9.92775930e-01 -1.07504176e-01 -5.32804380e-02 2.11544903e+01] [ 1.07366209e-01 9.94204586e-01 -5.45336285e-03 2.43511915e+00] [ 5.35579151e-02 -3.06551249e-04 9.98564698e-01 9.74196854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.22, Y:2.44, Z:0.98 [[ 9.92361709e-01 -1.11262288e-01 -5.32817280e-02 2.12168763e+01] [ 1.11130409e-01 9.93790939e-01 -5.44072995e-03 2.43764332e+00] [ 5.35562466e-02 -5.22048140e-04 9.98564698e-01 9.77268205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.28, Y:2.45, Z:0.99 [[ 9.91839055e-01 -1.15828769e-01 -5.32821292e-02 2.12767467e+01] [ 1.15703681e-01 9.93268896e-01 -5.43679845e-03 2.44890587e+00] [ 5.35532193e-02 -7.72509435e-04 9.98564698e-01 9.86986070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.34, Y:2.45, Z:0.98 [[ 9.91633800e-01 -1.17572714e-01 -5.32828715e-02 2.13405137e+01] [ 1.17450532e-01 9.93063892e-01 -5.42951380e-03 2.44645719e+00] [ 5.35516584e-02 -8.74012185e-04 9.98564698e-01 9.79448124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:2.45, Z:0.98 [[ 9.91659700e-01 -1.17353825e-01 -5.32833806e-02 2.14024368e+01] [ 1.17231595e-01 9.93089788e-01 -5.42451282e-03 2.45246525e+00] [ 5.35517685e-02 -8.67224944e-04 9.98564698e-01 9.81924453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:2.46, Z:0.99 [[ 9.91932311e-01 -1.15026647e-01 -5.32837834e-02 2.14638685e+01] [ 1.14901275e-01 9.93362127e-01 -5.42055333e-03 2.46101220e+00] [ 5.35536005e-02 -7.45552658e-04 9.98564698e-01 9.86209092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:2.47, Z:1.00 [[ 9.92272826e-01 -1.12051034e-01 -5.32841913e-02 2.15256233e+01] [ 1.11921590e-01 9.93702279e-01 -5.41654044e-03 2.46869423e+00] [ 5.35555513e-02 -5.88965528e-04 9.98564698e-01 9.95050349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.59, Y:2.48, Z:1.00 [[ 9.92179070e-01 -1.12878007e-01 -5.32845960e-02 2.15867684e+01] [ 1.12749968e-01 9.93608650e-01 -5.41255658e-03 2.47610546e+00] [ 5.35549941e-02 -6.37611146e-04 9.98564698e-01 9.97537139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550385722999998 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:21.65, Y:2.48, Z:1.00 [[ 9.91828940e-01 -1.15913623e-01 -5.32858822e-02 2.16500465e+01] [ 1.15790640e-01 9.93258964e-01 -5.39986425e-03 2.48244884e+00] [ 5.35525980e-02 -8.14264789e-04 9.98564698e-01 9.97328132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.71, Y:2.49, Z:1.00 [[ 9.91705137e-01 -1.16967373e-01 -5.32874739e-02 2.17118815e+01] [ 1.16846756e-01 9.93135362e-01 -5.38411154e-03 2.49104436e+00] [ 5.35514400e-02 -8.87017398e-04 9.98564698e-01 1.00246671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.77, Y:2.50, Z:1.01 [[ 9.91539703e-01 -1.18361304e-01 -5.32880763e-02 2.17740962e+01] [ 1.18243019e-01 9.92970122e-01 -5.37814278e-03 2.49772756e+00] [ 5.35500316e-02 -9.68300897e-04 9.98564698e-01 1.00716718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.84, Y:2.51, Z:1.01 [[ 9.91177558e-01 -1.21355913e-01 -5.32896929e-02 2.18369299e+01] [ 1.21242812e-01 9.92608396e-01 -5.36207653e-03 2.50507098e+00] [ 5.35465163e-02 -1.14622232e-03 9.98564698e-01 1.00975398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.90, Y:2.51, Z:1.01 [[ 9.91316884e-01 -1.20211762e-01 -5.32913410e-02 2.18988773e+01] [ 1.20097893e-01 9.92747662e-01 -5.34564685e-03 2.50655941e+00] [ 5.35474638e-02 -1.10094777e-03 9.98564698e-01 1.01370035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.96, Y:2.51, Z:1.02 [[ 9.91571034e-01 -1.18096384e-01 -5.32928522e-02 2.19602318e+01] [ 1.17980274e-01 9.93001632e-01 -5.33053760e-03 2.51310518e+00] [ 5.35494064e-02 -1.00189861e-03 9.98564699e-01 1.02047300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.02, Y:2.53, Z:1.03 [[ 9.92097667e-01 -1.13586934e-01 -5.32937939e-02 2.20222423e+01] [ 1.13464828e-01 9.93527764e-01 -5.32110645e-03 2.52576854e+00] [ 5.35532721e-02 -7.67913846e-04 9.98564699e-01 1.02784336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.08, Y:2.53, Z:1.02 [[ 9.92064964e-01 -1.13871946e-01 -5.32943471e-02 2.20847113e+01] [ 1.13750548e-01 9.93495122e-01 -5.31556041e-03 2.53030798e+00] [ 5.35529670e-02 -7.88879943e-04 9.98564699e-01 1.02155517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:2.53, Z:1.03 [[ 9.91846115e-01 -1.15762488e-01 -5.32947423e-02 2.21468390e+01] [ 1.15644029e-01 9.93276520e-01 -5.31159449e-03 2.53466389e+00] [ 5.35512996e-02 -8.94934387e-04 9.98564699e-01 1.02530529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:2.54, Z:1.03 [[ 9.91918210e-01 -1.15142860e-01 -5.32952821e-02 2.22079467e+01] [ 1.15023799e-01 9.93348564e-01 -5.30617316e-03 2.53670648e+00] [ 5.35517599e-02 -8.66936045e-04 9.98564699e-01 1.02967269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:2.54, Z:1.03 [[ 9.92100428e-01 -1.13561457e-01 -5.32966793e-02 2.22708776e+01] [ 1.13440871e-01 9.93530655e-01 -5.29210136e-03 2.54186893e+00] [ 5.35528635e-02 -7.95725714e-04 9.98564699e-01 1.03259614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210385722999998 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:22.33, Y:2.55, Z:1.03 [[ 9.92512856e-01 -1.09898305e-01 -5.32972099e-02 2.23327850e+01] [ 1.09772728e-01 9.93942653e-01 -5.28675316e-03 2.55069858e+00] [ 5.35553754e-02 -6.03409653e-04 9.98564699e-01 1.03464649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270385722999997 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:22.39, Y:2.56, Z:1.04 [[ 9.92884368e-01 -1.06489395e-01 -5.32976602e-02 2.23947668e+01] [ 1.06359153e-01 9.94313748e-01 -5.28220909e-03 2.55821124e+00] [ 5.35570955e-02 -4.24071142e-04 9.98564699e-01 1.03979388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.46, Y:2.56, Z:1.04 [[ 9.92629834e-01 -1.08836114e-01 -5.32983391e-02 2.24558227e+01] [ 1.08709619e-01 9.94059550e-01 -5.27535034e-03 2.56168574e+00] [ 5.35558716e-02 -5.57572023e-04 9.98564699e-01 1.04303619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.52, Y:2.57, Z:1.04 [[ 9.93024618e-01 -1.05172723e-01 -5.32992227e-02 2.25186083e+01] [ 1.05041433e-01 9.94453902e-01 -5.26640716e-03 2.56535496e+00] [ 5.35575024e-02 -3.68954792e-04 9.98564699e-01 1.04103559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.58, Y:2.57, Z:1.05 [[ 9.92554061e-01 -1.09524381e-01 -5.32995866e-02 2.25815743e+01] [ 1.09399556e-01 9.93983924e-01 -5.26272173e-03 2.56816386e+00] [ 5.35553286e-02 -6.07415268e-04 9.98564699e-01 1.05369165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.64, Y:2.57, Z:1.05 [[ 9.92263050e-01 -1.12129994e-01 -5.33001294e-02 2.26436613e+01] [ 1.12009219e-01 9.93693261e-01 -5.25721877e-03 2.57270236e+00] [ 5.35534713e-02 -7.53561928e-04 9.98564699e-01 1.04887772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.70, Y:2.58, Z:1.06 [[ 9.91999216e-01 -1.14440416e-01 -5.33005226e-02 2.27044815e+01] [ 1.14323186e-01 9.93429722e-01 -5.25322978e-03 2.57910874e+00] [ 5.35515051e-02 -8.82285709e-04 9.98564699e-01 1.06037843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630385722999996 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:2.59, Z:1.06 [[ 9.91789130e-01 -1.16246467e-01 -5.33017799e-02 2.27669735e+01] [ 1.16132529e-01 9.93219902e-01 -5.24044152e-03 2.58799964e+00] [ 5.35495714e-02 -9.92657551e-04 9.98564699e-01 1.06023498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.83, Y:2.59, Z:1.07 [[ 9.91666260e-01 -1.17289760e-01 -5.33023623e-02 2.28292521e+01] [ 1.17177645e-01 9.93097175e-01 -5.23451010e-03 2.58895528e+00] [ 5.35483799e-02 -1.05495826e-03 9.98564699e-01 1.06660535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.89, Y:2.60, Z:1.07 [[ 9.91429065e-01 -1.19277465e-01 -5.33038028e-02 2.28918815e+01] [ 1.19169010e-01 9.92860262e-01 -5.21980073e-03 2.59621861e+00] [ 5.35458322e-02 -1.17709924e-03 9.98564699e-01 1.07119086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.95, Y:2.60, Z:1.07 [[ 9.91300152e-01 -1.20343900e-01 -5.33043484e-02 2.29535788e+01] [ 1.20237285e-01 9.92731488e-01 -5.21422250e-03 2.60195715e+00] [ 5.35444050e-02 -1.24031056e-03 9.98564699e-01 1.06962666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.02, Y:2.61, Z:1.07 [[ 9.91398187e-01 -1.19533378e-01 -5.33048474e-02 2.30150064e+01] [ 1.19425867e-01 9.92829455e-01 -5.20911715e-03 2.60545215e+00] [ 5.35452859e-02 -1.20166830e-03 9.98564699e-01 1.07174750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.08, Y:2.61, Z:1.08 [[ 9.91467441e-01 -1.18957451e-01 -5.33051474e-02 2.30759740e+01] [ 1.18849273e-01 9.92898659e-01 -5.20604463e-03 2.61372348e+00] [ 5.35459072e-02 -1.17365429e-03 9.98564699e-01 1.08064912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.14, Y:2.62, Z:1.08 [[ 9.91538646e-01 -1.18362287e-01 -5.33055532e-02 2.31372561e+01] [ 1.18253474e-01 9.92969816e-01 -5.20188679e-03 2.62265699e+00] [ 5.35465126e-02 -1.14569505e-03 9.98564699e-01 1.08432754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.20, Y:2.63, Z:1.09 [[ 9.91435706e-01 -1.19220868e-01 -5.33068990e-02 2.31999191e+01] [ 1.19114037e-01 9.92867025e-01 -5.18805911e-03 2.62927658e+00] [ 5.35451871e-02 -1.20597288e-03 9.98564699e-01 1.08819852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.26, Y:2.63, Z:1.09 [[ 9.91386176e-01 -1.19631792e-01 -5.33074440e-02 2.32620732e+01] [ 1.19525856e-01 9.92817562e-01 -5.18245236e-03 2.63411130e+00] [ 5.35445527e-02 -1.23380622e-03 9.98564699e-01 1.08944432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.32, Y:2.64, Z:1.09 [[ 9.91464622e-01 -1.18979320e-01 -5.33087639e-02 2.33242014e+01] [ 1.18873173e-01 9.92895992e-01 -5.16883971e-03 2.64010205e+00] [ 5.35450431e-02 -1.21226023e-03 9.98564699e-01 1.09344765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:2.65, Z:1.10 [[ 9.91614082e-01 -1.17727011e-01 -5.33091254e-02 2.33864108e+01] [ 1.17619257e-01 9.93045332e-01 -5.16510934e-03 2.64555659e+00] [ 5.35464510e-02 -1.14838455e-03 9.98564699e-01 1.09684135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:2.65, Z:1.10 [[ 9.91855453e-01 -1.15675222e-01 -5.33104520e-02 2.34484056e+01] [ 1.15565245e-01 9.93286533e-01 -5.15138080e-03 2.64936623e+00] [ 5.35484411e-02 -1.05141028e-03 9.98564699e-01 1.10114096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:2.65, Z:1.11 [[ 9.92117715e-01 -1.13403697e-01 -5.33108021e-02 2.35108828e+01] [ 1.13290637e-01 9.93548556e-01 -5.14775490e-03 2.65477576e+00] [ 5.35506448e-02 -9.32435895e-04 9.98564699e-01 1.10569921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:2.66, Z:1.11 [[ 9.92238613e-01 -1.12340724e-01 -5.33113227e-02 2.35731966e+01] [ 1.12226421e-01 9.93669355e-01 -5.14235766e-03 2.66059255e+00] [ 5.35515238e-02 -8.80493135e-04 9.98564699e-01 1.10692224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.64, Y:2.67, Z:1.11 [[ 9.92340869e-01 -1.11433684e-01 -5.33116607e-02 2.36358345e+01] [ 1.11318262e-01 9.93771521e-01 -5.13885137e-03 2.66829232e+00] [ 5.35522513e-02 -8.35069192e-04 9.98564699e-01 1.11167646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.70, Y:2.67, Z:1.11 [[ 9.92466330e-01 -1.10310437e-01 -5.33122008e-02 2.36975797e+01] [ 1.10193697e-01 9.93896875e-01 -5.13324183e-03 2.67286993e+00] [ 5.35530799e-02 -7.80098807e-04 9.98564699e-01 1.11191337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.76, Y:2.68, Z:1.12 [[ 9.92113887e-01 -1.13435901e-01 -5.33135181e-02 2.37594896e+01] [ 1.13324405e-01 9.93544850e-01 -5.11952418e-03 2.68250593e+00] [ 5.35501092e-02 -9.62571654e-04 9.98564700e-01 1.11847591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.82, Y:2.68, Z:1.12 [[ 9.91502002e-01 -1.18665045e-01 -5.33140372e-02 2.38229107e+01] [ 1.18561385e-01 9.92933555e-01 -5.11411215e-03 2.68431207e+00] [ 5.35441628e-02 -1.25033368e-03 9.98564700e-01 1.11890084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710385722999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.88, Y:2.69, Z:1.12 [[ 9.91092459e-01 -1.22038083e-01 -5.33145833e-02 2.38844686e+01] [ 1.21939601e-01 9.92524376e-01 -5.10841320e-03 2.69007421e+00] [ 5.35394445e-02 -1.43824922e-03 9.98564700e-01 1.12300392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770385722999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.95, Y:2.70, Z:1.13 [[ 9.91225072e-01 -1.20956078e-01 -5.33149422e-02 2.39466363e+01] [ 1.20856235e-01 9.92656896e-01 -5.10466394e-03 2.69577735e+00] [ 5.35408852e-02 -1.38357230e-03 9.98564700e-01 1.12605011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:24.01, Y:2.70, Z:1.13 [[ 9.91311847e-01 -1.20242249e-01 -5.33162593e-02 2.40095310e+01] [ 1.20142116e-01 9.92743650e-01 -5.09087023e-03 2.70196061e+00] [ 5.35415156e-02 -1.35888825e-03 9.98564700e-01 1.13173759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.07, Y:2.71, Z:1.14 [[ 9.91359477e-01 -1.19848688e-01 -5.33167866e-02 2.40723662e+01] [ 1.19748284e-01 9.92791261e-01 -5.08534157e-03 2.70838255e+00] [ 5.35419114e-02 -1.34319216e-03 9.98564700e-01 1.13554625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.14, Y:2.71, Z:1.13 [[ 9.91158331e-01 -1.21500728e-01 -5.33173173e-02 2.41351869e+01] [ 1.21403009e-01 9.92590301e-01 -5.07977165e-03 2.71160314e+00] [ 5.35394480e-02 -1.43802478e-03 9.98564700e-01 1.13252705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.20, Y:2.72, Z:1.14 [[ 9.91400313e-01 -1.19510023e-01 -5.33176643e-02 2.41976136e+01] [ 1.19409625e-01 9.92832098e-01 -5.07612675e-03 2.71609329e+00] [ 5.35421365e-02 -1.33416864e-03 9.98564700e-01 1.13542349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.26, Y:2.72, Z:1.14 [[ 9.91618481e-01 -1.17685841e-01 -5.33182075e-02 2.42592060e+01] [ 1.17583116e-01 9.93050100e-01 -5.07041491e-03 2.72146082e+00] [ 5.35443674e-02 -1.24140383e-03 9.98564700e-01 1.13877917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.32, Y:2.73, Z:1.14 [[ 9.91729392e-01 -1.16747272e-01 -5.33187438e-02 2.43202553e+01] [ 1.16643496e-01 9.93160935e-01 -5.06476923e-03 2.73110260e+00] [ 5.35453914e-02 -1.19640415e-03 9.98564700e-01 1.14309009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:24.38, Y:2.73, Z:1.15 [[ 9.91911829e-01 -1.15186789e-01 -5.33191042e-02 2.43820215e+01] [ 1.15080965e-01 9.93343223e-01 -5.06097229e-03 2.73045203e+00] [ 5.35471279e-02 -1.11597567e-03 9.98564700e-01 1.14742990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.44, Y:2.74, Z:1.15 [[ 9.91933221e-01 -1.15002121e-01 -5.33197715e-02 2.44435829e+01] [ 1.14896408e-01 9.93364622e-01 -5.05393164e-03 2.74071723e+00] [ 5.35471876e-02 -1.11308756e-03 9.98564700e-01 1.15053123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:2.74, Z:1.16 [[ 9.92423852e-01 -1.10688133e-01 -5.33201176e-02 2.45052569e+01] [ 1.10576393e-01 9.93854796e-01 -5.05027814e-03 2.74224507e+00] [ 5.35514605e-02 -8.83929800e-04 9.98564700e-01 1.15533672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:2.75, Z:1.15 [[ 9.92406282e-01 -1.10845380e-01 -5.33204685e-02 2.45673855e+01] [ 1.10734066e-01 9.93837260e-01 -5.04657020e-03 2.74732023e+00] [ 5.35512573e-02 -8.96144322e-04 9.98564700e-01 1.15426281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:2.76, Z:1.16 [[ 9.92160056e-01 -1.13027928e-01 -5.33208200e-02 2.46299645e+01] [ 1.12919962e-01 9.93591290e-01 -5.04285389e-03 2.75642452e+00] [ 5.35490857e-02 -1.01766679e-03 9.98564700e-01 1.16185934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:2.76, Z:1.17 [[ 9.92177137e-01 -1.12877394e-01 -5.33218742e-02 2.46911789e+01] [ 1.12769811e-01 9.93608400e-01 -5.03168250e-03 2.76313508e+00] [ 5.35490253e-02 -1.02077731e-03 9.98564700e-01 1.16568388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550385722999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:2.76, Z:1.16 [[ 9.92626194e-01 -1.08857631e-01 -5.33221755e-02 2.47544689e+01] [ 1.08744423e-01 9.94057023e-01 -5.02848723e-03 2.76275217e+00] [ 5.35526723e-02 -8.07081068e-04 9.98564700e-01 1.16094547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610385722999997 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:2.77, Z:1.17 [[ 9.92497657e-01 -1.10023205e-01 -5.33225658e-02 2.48149624e+01] [ 1.09911900e-01 9.93928634e-01 -5.02434515e-03 2.76737065e+00] [ 5.35516196e-02 -8.74133705e-04 9.98564700e-01 1.16582510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.88, Y:2.78, Z:1.17 [[ 9.92311661e-01 -1.11688150e-01 -5.33228268e-02 2.48756452e+01] [ 1.11579395e-01 9.93742835e-01 -5.02157349e-03 2.77916398e+00] [ 5.35500274e-02 -9.66762820e-04 9.98564700e-01 1.17038709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.94, Y:2.78, Z:1.17 [[ 9.92618755e-01 -1.08924915e-01 -5.33232582e-02 2.49383214e+01] [ 1.08812421e-01 9.94049640e-01 -5.01698858e-03 2.78083141e+00] [ 5.35524407e-02 -8.22275873e-04 9.98564700e-01 1.17309872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790385722999996 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:25.00, Y:2.79, Z:1.18 [[ 9.92359317e-01 -1.11263556e-01 -5.33236054e-02 2.50001085e+01] [ 1.11154633e-01 9.93790478e-01 -5.01329512e-03 2.78875620e+00] [ 5.35502884e-02 -9.52175686e-04 9.98564700e-01 1.18014419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.06, Y:2.79, Z:1.18 [[ 9.92708681e-01 -1.08101937e-01 -5.33239744e-02 2.50621796e+01] [ 1.07988666e-01 9.94139504e-01 -5.00936819e-03 2.79206292e+00] [ 5.35529918e-02 -7.85541585e-04 9.98564700e-01 1.17929484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.12, Y:2.79, Z:1.18 [[ 9.92452727e-01 -1.10426890e-01 -5.33243440e-02 2.51249530e+01] [ 1.10317183e-01 9.93883829e-01 -5.00542973e-03 2.79446052e+00] [ 5.35509373e-02 -9.14939042e-04 9.98564700e-01 1.17959612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.19, Y:2.81, Z:1.19 [[ 9.92462541e-01 -1.10338391e-01 -5.33248967e-02 2.51858931e+01] [ 1.10228873e-01 9.93893656e-01 -4.99953496e-03 2.80528724e+00] [ 5.35509172e-02 -9.16092079e-04 9.98564700e-01 1.19007925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.25, Y:2.81, Z:1.19 [[ 9.92512417e-01 -1.09888180e-01 -5.33262650e-02 2.52491445e+01] [ 1.09778799e-01 9.93943543e-01 -4.98489798e-03 2.81013335e+00] [ 5.35510781e-02 -9.06520188e-04 9.98564700e-01 1.19004142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090385722999997 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:25.31, Y:2.81, Z:1.19 [[ 9.92591044e-01 -1.09175419e-01 -5.33267996e-02 2.53129527e+01] [ 1.09065318e-01 9.94022115e-01 -4.97917200e-03 2.80959781e+00] [ 5.35516213e-02 -8.73822820e-04 9.98564700e-01 1.18697332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:2.82, Z:1.19 [[ 9.92759947e-01 -1.07628437e-01 -5.33273520e-02 2.53755601e+01] [ 1.07516423e-01 9.94190870e-01 -4.97324944e-03 2.81947391e+00] [ 5.35528295e-02 -7.96323295e-04 9.98564700e-01 1.19342158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.44, Y:2.82, Z:1.20 [[ 9.92866814e-01 -1.06637818e-01 -5.33279091e-02 2.54383521e+01] [ 1.06524698e-01 9.94297649e-01 -4.96726770e-03 2.82302927e+00] [ 5.35535133e-02 -7.48904182e-04 9.98564700e-01 1.19885026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.50, Y:2.83, Z:1.20 [[ 9.92719058e-01 -1.08004382e-01 -5.33284596e-02 2.54995461e+01] [ 1.07893550e-01 9.94150073e-01 -4.96135083e-03 2.83031055e+00] [ 5.35523396e-02 -8.28569294e-04 9.98564700e-01 1.20047339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.56, Y:2.83, Z:1.21 [[ 9.92879123e-01 -1.06522645e-01 -5.33289123e-02 2.55629285e+01] [ 1.06409938e-01 9.94309991e-01 -4.95648042e-03 2.82910553e+00] [ 5.35534477e-02 -7.53540343e-04 9.98564700e-01 1.20701136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.63, Y:2.84, Z:1.21 [[ 9.92741899e-01 -1.07793750e-01 -5.33294360e-02 2.56250285e+01] [ 1.07683178e-01 9.94172934e-01 -4.95083888e-03 2.84116253e+00] [ 5.35523513e-02 -8.27777982e-04 9.98564700e-01 1.20723375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.69, Y:2.85, Z:1.22 [[ 9.92723263e-01 -1.07964978e-01 -5.33299821e-02 2.56854448e+01] [ 1.07854970e-01 9.94154341e-01 -4.94494929e-03 2.85451417e+00] [ 5.35521145e-02 -8.42937414e-04 9.98564700e-01 1.21595423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.75, Y:2.85, Z:1.21 [[ 9.92874702e-01 -1.06563130e-01 -5.33303475e-02 2.57477782e+01] [ 1.06451313e-01 9.94305639e-01 -4.94100528e-03 2.85373711e+00] [ 5.35531943e-02 -7.71286392e-04 9.98564700e-01 1.21252945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.81, Y:2.86, Z:1.21 [[ 9.93044289e-01 -1.04970829e-01 -5.33307118e-02 2.58084200e+01] [ 1.04856929e-01 9.94475062e-01 -4.93707019e-03 2.85931865e+00] [ 5.35543113e-02 -6.89365279e-04 9.98564700e-01 1.21387614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.87, Y:2.87, Z:1.23 [[ 9.93205579e-01 -1.03433480e-01 -5.33309792e-02 2.58687077e+01] [ 1.03317521e-01 9.94636187e-01 -4.93417966e-03 2.87065010e+00] [ 5.35552812e-02 -6.09369782e-04 9.98564700e-01 1.22817534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.93, Y:2.87, Z:1.23 [[ 9.93568939e-01 -9.98825968e-02 -5.33313211e-02 2.59306639e+01] [ 9.97617225e-02 9.94999140e-01 -4.93048228e-03 2.87309293e+00] [ 5.35570880e-02 -4.21650400e-04 9.98564700e-01 1.22845303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:2.88, Z:1.23 [[ 9.93725084e-01 -9.83167843e-02 -5.33316655e-02 2.59929974e+01] [ 9.81938565e-02 9.95155110e-01 -4.92675379e-03 2.87724973e+00] [ 5.35576620e-02 -3.41003087e-04 9.98564700e-01 1.23228675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:2.89, Z:1.23 [[ 9.93649698e-01 -9.90753315e-02 -5.33325129e-02 2.60549751e+01] [ 9.89539886e-02 9.95079859e-01 -4.91756391e-03 2.88501342e+00] [ 5.35573186e-02 -3.91128978e-04 9.98564700e-01 1.23373908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.12, Y:2.89, Z:1.24 [[ 9.93356460e-01 -1.01973151e-01 -5.33331120e-02 2.61177354e+01] [ 1.01856329e-01 9.94786997e-01 -4.91105704e-03 2.88657158e+00] [ 5.35558823e-02 -5.53884792e-04 9.98564700e-01 1.23543748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:2.89, Z:1.24 [[ 9.93313808e-01 -1.02387599e-01 -5.33334557e-02 2.61802558e+01] [ 1.02271575e-01 9.94744411e-01 -4.90732151e-03 2.89196890e+00] [ 5.35556059e-02 -5.79986309e-04 9.98564700e-01 1.24076469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.24, Y:2.89, Z:1.24 [[ 9.93165593e-01 -1.03815180e-01 -5.33339771e-02 2.62424359e+01] [ 1.03701517e-01 9.94596385e-01 -4.90164897e-03 2.89246724e+00] [ 5.35546464e-02 -6.62665202e-04 9.98564700e-01 1.24025555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.30, Y:2.91, Z:1.25 [[ 9.92619902e-01 -1.08909006e-01 -5.33344022e-02 2.63040211e+01] [ 1.08802933e-01 9.94051277e-01 -4.89701874e-03 2.90520203e+00] [ 5.35504601e-02 -9.42061129e-04 9.98564700e-01 1.24755204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.36, Y:2.91, Z:1.25 [[ 9.92664892e-01 -1.08497923e-01 -5.33349180e-02 2.63649186e+01] [ 1.08391560e-01 9.94096245e-01 -4.89139469e-03 2.90759263e+00] [ 5.35507479e-02 -9.25539164e-04 9.98564700e-01 1.25008002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.43, Y:2.91, Z:1.25 [[ 9.92169888e-01 -1.12934820e-01 -5.33351719e-02 2.64286786e+01] [ 1.12835005e-01 9.93601712e-01 -4.88862492e-03 2.90705137e+00] [ 5.35460141e-02 -1.16772796e-03 9.98564700e-01 1.25297074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.49, Y:2.91, Z:1.26 [[ 9.92051328e-01 -1.13971254e-01 -5.33358775e-02 2.64911546e+01] [ 1.13873350e-01 9.93483285e-01 -4.88091430e-03 2.91417810e+00] [ 5.35445867e-02 -1.23141753e-03 9.98564700e-01 1.25908224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:2.91, Z:1.26 [[ 9.92120237e-01 -1.13369544e-01 -5.33364960e-02 2.65550585e+01] [ 1.13271135e-01 9.93552159e-01 -4.87414597e-03 2.91138213e+00] [ 5.35451705e-02 -1.20574657e-03 9.98564700e-01 1.25863813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:2.92, Z:1.27 [[ 9.92475712e-01 -1.10213973e-01 -5.33370450e-02 2.66174758e+01] [ 1.10111334e-01 9.93907337e-01 -4.86813151e-03 2.91565479e+00] [ 5.35486165e-02 -1.04151087e-03 9.98564700e-01 1.26656655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:2.92, Z:1.27 [[ 9.92742006e-01 -1.07788736e-01 -5.33375901e-02 2.66796663e+01] [ 1.07682921e-01 9.94173399e-01 -4.86215128e-03 2.92286373e+00] [ 5.35508984e-02 -9.16685664e-04 9.98564700e-01 1.26824116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:2.92, Z:1.27 [[ 9.93101730e-01 -1.04422204e-01 -5.33381312e-02 2.67431020e+01] [ 1.04311855e-01 9.94532782e-01 -4.85620818e-03 2.92195773e+00] [ 5.35536160e-02 -7.41090660e-04 9.98564700e-01 1.26537521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:2.93, Z:1.27 [[ 9.93414801e-01 -1.01400296e-01 -5.33386722e-02 2.68059466e+01] [ 1.01285913e-01 9.94845535e-01 -4.85025917e-03 2.92814962e+00] [ 5.35555576e-02 -5.84136878e-04 9.98564700e-01 1.27013660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.87, Y:2.94, Z:1.28 [[ 9.93649026e-01 -9.90784618e-02 -5.33392163e-02 2.68675073e+01] [ 9.89610575e-02 9.95079516e-01 -4.84426761e-03 2.93872980e+00] [ 5.35567241e-02 -4.65003458e-04 9.98564700e-01 1.28059297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:2.94, Z:1.28 [[ 9.93532652e-01 -1.00238413e-01 -5.33397666e-02 2.69304752e+01] [ 1.00123004e-01 9.94963304e-01 -4.83820065e-03 2.93884069e+00] [ 5.35560840e-02 -5.33627356e-04 9.98564701e-01 1.27997524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.99, Y:2.94, Z:1.28 [[ 9.93503902e-01 -1.00522673e-01 -5.33403205e-02 2.69925154e+01] [ 1.00408002e-01 9.94934613e-01 -4.83208673e-03 2.93991564e+00] [ 5.35558654e-02 -5.55097987e-04 9.98564701e-01 1.28467276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:2.95, Z:1.29 [[ 9.93436951e-01 -1.01181708e-01 -5.33412264e-02 2.70545098e+01] [ 1.01068524e-01 9.94867781e-01 -4.82206542e-03 2.94980877e+00] [ 5.35553724e-02 -6.00701079e-04 9.98564701e-01 1.28759145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:2.95, Z:1.29 [[ 9.93657725e-01 -9.89898017e-02 -5.33417638e-02 2.71174945e+01] [ 9.88737809e-02 9.95088328e-01 -4.81611349e-03 2.95203069e+00] [ 5.35565127e-02 -4.88533495e-04 9.98564701e-01 1.29036248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:2.96, Z:1.30 [[ 9.93671110e-01 -9.88550643e-02 -5.33423054e-02 2.71788762e+01] [ 9.87391720e-02 9.95101723e-01 -4.81010704e-03 2.96349860e+00] [ 5.35565235e-02 -4.87310666e-04 9.98564701e-01 1.29960043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.24, Y:2.97, Z:1.30 [[ 9.93763794e-01 -9.79186556e-02 -5.33428408e-02 2.72415565e+01] [ 9.78017343e-02 9.95194323e-01 -4.80416271e-03 2.96575890e+00] [ 5.35569095e-02 -4.42819381e-04 9.98564701e-01 1.29731406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.30, Y:2.97, Z:1.30 [[ 9.93465534e-01 -1.00899589e-01 -5.33432799e-02 2.73038266e+01] [ 1.00787221e-01 9.94896428e-01 -4.79928212e-03 2.96559704e+00] [ 5.35552842e-02 -6.08399592e-04 9.98564701e-01 1.29749152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:2.98, Z:1.31 [[ 9.93346064e-01 -1.02068866e-01 -5.33436412e-02 2.73647335e+01] [ 1.01958399e-01 9.94777106e-01 -4.79526343e-03 2.97795176e+00] [ 5.35544801e-02 -6.75476197e-04 9.98564701e-01 1.30769055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:2.98, Z:1.31 [[ 9.93616406e-01 -9.94024462e-02 -5.33440869e-02 2.74262542e+01] [ 9.92884053e-02 9.95047168e-01 -4.79029962e-03 2.97610720e+00] [ 5.35560501e-02 -5.36729031e-04 9.98564701e-01 1.30578374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.49, Y:2.98, Z:1.31 [[ 9.93686661e-01 -9.86975176e-02 -5.33443484e-02 2.74890581e+01] [ 9.85826180e-02 9.95117354e-01 -4.78738583e-03 2.98168906e+00] [ 5.35563899e-02 -5.01664085e-04 9.98564701e-01 1.31127344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.55, Y:2.98, Z:1.31 [[ 9.93579368e-01 -9.97715421e-02 -5.33449026e-02 2.75506815e+01] [ 9.96585210e-02 9.95010211e-01 -4.78120281e-03 2.98488700e+00] [ 5.35557507e-02 -5.65769630e-04 9.98564701e-01 1.31102861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.61, Y:2.99, Z:1.31 [[ 9.93081105e-01 -1.04614490e-01 -5.33453541e-02 2.76132802e+01] [ 1.04508717e-01 9.94512502e-01 -4.77616013e-03 2.98928107e+00] [ 5.35522771e-02 -8.31940116e-04 9.98564701e-01 1.31326359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:3.00, Z:1.32 [[ 9.92612920e-01 -1.08966990e-01 -5.33459022e-02 2.76746340e+01] [ 1.08867822e-01 9.94044790e-01 -4.77003042e-03 2.99686539e+00] [ 5.35479920e-02 -1.07285835e-03 9.98564701e-01 1.31659132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.74, Y:3.00, Z:1.33 [[ 9.92361335e-01 -1.11234648e-01 -5.33463494e-02 2.77367523e+01] [ 1.11139021e-01 9.93793446e-01 -4.76502375e-03 3.00208184e+00] [ 5.35452881e-02 -1.20023571e-03 9.98564701e-01 1.32568366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.80, Y:3.02, Z:1.33 [[ 9.91779699e-01 -1.16306243e-01 -5.33468524e-02 2.77983722e+01] [ 1.16218241e-01 9.93212298e-01 -4.75938564e-03 3.01903507e+00] [ 5.35382961e-02 -1.47961530e-03 9.98564701e-01 1.32965456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.86, Y:3.03, Z:1.33 [[ 9.91622609e-01 -1.17637761e-01 -5.33475311e-02 2.78594281e+01] [ 1.17552092e-01 9.93055349e-01 -4.75176571e-03 3.02871171e+00] [ 5.35360382e-02 -1.55915560e-03 9.98564701e-01 1.33307352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610385722999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:27.92, Y:3.04, Z:1.33 [[ 9.91324073e-01 -1.20127273e-01 -5.33481144e-02 2.79221111e+01] [ 1.20045555e-01 9.92757044e-01 -4.74520840e-03 3.03895944e+00] [ 5.35317453e-02 -1.70016468e-03 9.98564701e-01 1.33195223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:27.98, Y:3.05, Z:1.33 [[ 9.91432844e-01 -1.19225961e-01 -5.33487166e-02 2.79827731e+01] [ 1.19143305e-01 9.92865761e-01 -4.73842758e-03 3.04854896e+00] [ 5.35330578e-02 -1.65830969e-03 9.98564701e-01 1.33034868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.04, Y:3.06, Z:1.34 [[ 9.91314030e-01 -1.20209295e-01 -5.33499776e-02 2.80432285e+01] [ 1.20128826e-01 9.92747071e-01 -4.72418726e-03 3.06258860e+00] [ 5.35309253e-02 -1.72571708e-03 9.98564701e-01 1.34223853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.10, Y:3.07, Z:1.35 [[ 9.92092697e-01 -1.13603781e-01 -5.33503755e-02 2.81042217e+01] [ 1.13514010e-01 9.93525185e-01 -4.71968989e-03 3.07438679e+00] [ 5.35411163e-02 -1.37364517e-03 9.98564701e-01 1.34664918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:3.07, Z:1.35 [[ 9.92944505e-01 -1.05899901e-01 -5.33518538e-02 2.81666791e+01] [ 1.05799915e-01 9.94376317e-01 -4.70291956e-03 3.07153172e+00] [ 5.35498586e-02 -9.74883454e-04 9.98564701e-01 1.34605600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:3.08, Z:1.35 [[ 9.93168119e-01 -1.03781638e-01 -5.33522160e-02 2.82277413e+01] [ 1.03678818e-01 9.94599730e-01 -4.69880751e-03 3.07958865e+00] [ 5.35517496e-02 -8.64788900e-04 9.98564701e-01 1.35144029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:3.08, Z:1.35 [[ 9.93628941e-01 -9.92725196e-02 -5.33525463e-02 2.82910999e+01] [ 9.91634047e-02 9.95060086e-01 -4.69505406e-03 3.08233843e+00] [ 5.35550791e-02 -6.25478543e-04 9.98564701e-01 1.35334119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.35, Y:3.09, Z:1.36 [[ 9.94106369e-01 -9.43714959e-02 -5.33530466e-02 2.83518042e+01] [ 9.42556305e-02 9.95536984e-01 -4.68936175e-03 3.08715046e+00] [ 5.35574732e-02 -3.67100666e-04 9.98564701e-01 1.36002691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.41, Y:3.10, Z:1.36 [[ 9.93737914e-01 -9.81752699e-02 -5.33532953e-02 2.84135705e+01] [ 9.80650324e-02 9.95168974e-01 -4.68652976e-03 3.09947131e+00] [ 5.35556455e-02 -5.74910334e-04 9.98564701e-01 1.36208057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.48, Y:3.10, Z:1.36 [[ 9.93879042e-01 -9.67359326e-02 -5.33536220e-02 2.84753574e+01] [ 9.66238224e-02 9.95309956e-01 -4.68280773e-03 3.10206190e+00] [ 5.35563870e-02 -5.01086437e-04 9.98564701e-01 1.36495758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.54, Y:3.10, Z:1.37 [[ 9.93454419e-01 -1.01003323e-01 -5.33539776e-02 2.85377009e+01] [ 1.00897577e-01 9.94885817e-01 -4.67875285e-03 3.10277241e+00] [ 5.35536852e-02 -7.35159382e-04 9.98564701e-01 1.36745254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.60, Y:3.11, Z:1.37 [[ 9.93255029e-01 -1.02945435e-01 -5.33543383e-02 2.85988737e+01] [ 1.02842709e-01 9.94686647e-01 -4.67463644e-03 3.10945861e+00] [ 5.35520803e-02 -8.43998528e-04 9.98564701e-01 1.37279422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:28.66, Y:3.11, Z:1.38 [[ 9.92487359e-01 -1.10100021e-01 -5.33556622e-02 2.86617655e+01] [ 1.10008428e-01 9.93919733e-01 -4.65947606e-03 3.11470503e+00] [ 5.35442539e-02 -1.24510143e-03 9.98564701e-01 1.37679795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.72, Y:3.12, Z:1.38 [[ 9.91843626e-01 -1.15755510e-01 -5.33561927e-02 2.87236025e+01] [ 1.15672410e-01 9.93276517e-01 -4.65339307e-03 3.11788314e+00] [ 5.35361092e-02 -1.55640116e-03 9.98564701e-01 1.37841129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.79, Y:3.13, Z:1.39 [[ 9.91788395e-01 -1.16227181e-01 -5.33574891e-02 2.87850314e+01] [ 1.16145564e-01 9.93221371e-01 -4.63848052e-03 3.12849462e+00] [ 5.35349160e-02 -1.59684450e-03 9.98564701e-01 1.38653048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.85, Y:3.13, Z:1.39 [[ 9.92162516e-01 -1.12988430e-01 -5.33587597e-02 2.88469755e+01] [ 1.12902923e-01 9.93595265e-01 -4.62381773e-03 3.13326422e+00] [ 5.35394489e-02 -1.43678131e-03 9.98564701e-01 1.38809675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570385722999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.91, Y:3.14, Z:1.39 [[ 9.92246008e-01 -1.12252270e-01 -5.33599807e-02 2.89090233e+01] [ 1.12166460e-01 9.93678739e-01 -4.60968447e-03 3.14334165e+00] [ 5.35401259e-02 -1.41125911e-03 9.98564702e-01 1.39048126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:3.15, Z:1.40 [[ 9.92095728e-01 -1.13572593e-01 -5.33604036e-02 2.89711110e+01] [ 1.13488952e-01 9.93528587e-01 -4.60478368e-03 3.15094687e+00] [ 5.35380636e-02 -1.48743007e-03 9.98564702e-01 1.39521405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:3.15, Z:1.39 [[ 9.92158844e-01 -1.13019725e-01 -5.33607457e-02 2.90334897e+01] [ 1.12935499e-01 9.93591669e-01 -4.60081631e-03 3.15119502e+00] [ 5.35387754e-02 -1.46158184e-03 9.98564702e-01 1.39473334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:3.16, Z:1.40 [[ 9.92458552e-01 -1.10356769e-01 -5.33610839e-02 2.90955981e+01] [ 1.10268909e-01 9.93891159e-01 -4.59689003e-03 3.15756970e+00] [ 5.35424075e-02 -1.32184570e-03 9.98564702e-01 1.39995070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:3.16, Z:1.40 [[ 9.92895662e-01 -1.06352073e-01 -5.33614264e-02 2.91571589e+01] [ 1.06258648e-01 9.94327916e-01 -4.59291132e-03 3.16241761e+00] [ 5.35472215e-02 -1.10983130e-03 9.98564702e-01 1.40434464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:3.17, Z:1.40 [[ 9.92763936e-01 -1.07574124e-01 -5.33626795e-02 2.92196228e+01] [ 1.07483247e-01 9.94196354e-01 -4.57830513e-03 3.16697349e+00] [ 5.35454886e-02 -1.19041785e-03 9.98564702e-01 1.40444190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930385722999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:3.17, Z:1.41 [[ 9.92652288e-01 -1.08599385e-01 -5.33629910e-02 2.92815210e+01] [ 1.08510183e-01 9.94084812e-01 -4.57467134e-03 3.17177472e+00] [ 5.35441454e-02 -1.24936995e-03 9.98564702e-01 1.40738671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:3.18, Z:1.41 [[ 9.92835308e-01 -1.06913095e-01 -5.33633018e-02 2.93442802e+01] [ 1.06821655e-01 9.94267690e-01 -4.57104369e-03 3.17618470e+00] [ 5.35461112e-02 -1.16206261e-03 9.98564702e-01 1.40917784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:3.18, Z:1.41 [[ 9.92390453e-01 -1.10966139e-01 -5.33638872e-02 2.94054775e+01] [ 1.10880915e-01 9.93823219e-01 -4.56419920e-03 3.18327290e+00] [ 5.35407417e-02 -1.38756895e-03 9.98564702e-01 1.41360027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:3.19, Z:1.42 [[ 9.92371641e-01 -1.11134115e-01 -5.33641695e-02 2.94673063e+01] [ 1.11049311e-01 9.93804432e-01 -4.56089570e-03 3.19017053e+00] [ 5.35404193e-02 -1.39995072e-03 9.98564702e-01 1.42307925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.53, Y:3.19, Z:1.43 [[ 9.92685096e-01 -1.08298253e-01 -5.33646679e-02 2.95286708e+01] [ 1.08209670e-01 9.94117658e-01 -4.55505717e-03 3.19433062e+00] [ 5.35440634e-02 -1.25283573e-03 9.98564702e-01 1.42770128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.59, Y:3.20, Z:1.43 [[ 9.92300373e-01 -1.11767851e-01 -5.33658820e-02 2.95900991e+01] [ 1.11685043e-01 9.93733280e-01 -4.54078780e-03 3.20445257e+00] [ 5.35389671e-02 -1.45434543e-03 9.98564702e-01 1.43057971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.65, Y:3.20, Z:1.44 [[ 9.92774573e-01 -1.07474159e-01 -5.33662189e-02 2.96526272e+01] [ 1.07385366e-01 9.94207121e-01 -4.53682563e-03 3.20446601e+00] [ 5.35446664e-02 -1.22670583e-03 9.98564702e-01 1.43602611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.71, Y:3.22, Z:1.44 [[ 9.92334493e-01 -1.11463754e-01 -5.33674563e-02 2.97143213e+01] [ 1.11381505e-01 9.93767432e-01 -4.52222220e-03 3.21910998e+00] [ 5.35389039e-02 -1.45659053e-03 9.98564702e-01 1.43623593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.78, Y:3.23, Z:1.44 [[ 9.91896184e-01 -1.15298926e-01 -5.33677662e-02 2.97758832e+01] [ 1.15222413e-01 9.93329441e-01 -4.51856249e-03 3.22676012e+00] [ 5.35327588e-02 -1.66721794e-03 9.98564702e-01 1.44265615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.84, Y:3.23, Z:1.44 [[ 9.92063582e-01 -1.13849046e-01 -5.33689397e-02 2.98382204e+01] [ 1.13771185e-01 9.93496767e-01 -4.50465967e-03 3.22902116e+00] [ 5.35347202e-02 -1.60293873e-03 9.98564702e-01 1.44329077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.90, Y:3.23, Z:1.45 [[ 9.92412563e-01 -1.10765634e-01 -5.33692724e-02 2.99007704e+01] [ 1.10683533e-01 9.93845511e-01 -4.50071404e-03 3.23234312e+00] [ 5.35393363e-02 -1.44053445e-03 9.98564702e-01 1.44600892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.96, Y:3.24, Z:1.45 [[ 9.92912342e-01 -1.06192120e-01 -5.33696058e-02 2.99631542e+01] [ 1.06103630e-01 9.94344909e-01 -4.49675723e-03 3.23905315e+00] [ 5.35453161e-02 -1.19782317e-03 9.98564702e-01 1.45244184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:3.25, Z:1.46 [[ 9.93002493e-01 -1.05345534e-01 -5.33701004e-02 3.00257981e+01] [ 1.05256138e-01 9.94435004e-01 -4.49087972e-03 3.24713011e+00] [ 5.35461901e-02 -1.15807591e-03 9.98564702e-01 1.45801939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710385722999995 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:3.25, Z:1.46 [[ 9.93227713e-01 -1.03199786e-01 -5.33714731e-02 3.00872647e+01] [ 1.03108175e-01 9.94660084e-01 -4.47450636e-03 3.24853900e+00] [ 5.35482420e-02 -1.05883145e-03 9.98564702e-01 1.46251270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:3.25, Z:1.46 [[ 9.93238095e-01 -1.03099476e-01 -5.33721392e-02 3.01495581e+01] [ 1.03008148e-01 9.94670484e-01 -4.46654689e-03 3.25142263e+00] [ 5.35481902e-02 -1.06142070e-03 9.98564702e-01 1.46476416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:3.26, Z:1.47 [[ 9.93429795e-01 -1.01235491e-01 -5.33724448e-02 3.02113692e+01] [ 1.01141671e-01 9.94862023e-01 -4.46289164e-03 3.25745132e+00] [ 5.35500215e-02 -9.64608745e-04 9.98564702e-01 1.47103300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.27, Y:3.26, Z:1.47 [[ 9.93554253e-01 -1.00006479e-01 -5.33727554e-02 3.02732331e+01] [ 9.99110875e-02 9.94986377e-01 -4.45917513e-03 3.26214355e+00] [ 5.35511109e-02 -9.02097612e-04 9.98564702e-01 1.46743577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:3.27, Z:1.47 [[ 9.93731599e-01 -9.82284243e-02 -5.33730838e-02 3.03352586e+01] [ 9.81306814e-02 9.95163565e-01 -4.45524076e-03 3.26750522e+00] [ 5.35525796e-02 -8.10223557e-04 9.98564702e-01 1.47137332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:3.27, Z:1.48 [[ 9.93792623e-01 -9.76089240e-02 -5.33734134e-02 3.03967614e+01] [ 9.75105007e-02 9.95224542e-01 -4.45128798e-03 3.27429110e+00] [ 5.35530163e-02 -7.80811111e-04 9.98564702e-01 1.47722340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:3.28, Z:1.49 [[ 9.93430956e-01 -1.01223412e-01 -5.33737436e-02 3.04578820e+01] [ 1.01130411e-01 9.94863237e-01 -4.44732526e-03 3.27668073e+00] [ 5.35497488e-02 -9.79598055e-04 9.98564702e-01 1.48998336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.52, Y:3.28, Z:1.48 [[ 9.92701947e-01 -1.08138685e-01 -5.33747972e-02 3.05209600e+01] [ 1.08056342e-01 9.94134881e-01 -4.43464446e-03 3.27864277e+00] [ 5.35413043e-02 -1.36520514e-03 9.98564702e-01 1.48246501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:3.28, Z:1.49 [[ 9.92391736e-01 -1.10949263e-01 -5.33751165e-02 3.05811975e+01] [ 1.10871184e-01 9.93824908e-01 -4.43079811e-03 3.28289325e+00] [ 5.35371141e-02 -1.52067494e-03 9.98564702e-01 1.49430012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.64, Y:3.29, Z:1.50 [[ 9.92310689e-01 -1.11671698e-01 -5.33753537e-02 3.06432683e+01] [ 1.11594816e-01 9.93743926e-01 -4.42793944e-03 3.28978544e+00] [ 5.35359090e-02 -1.56252114e-03 9.98564702e-01 1.49871284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:3.29, Z:1.49 [[ 9.92525436e-01 -1.09746441e-01 -5.33758204e-02 3.07059601e+01] [ 1.09667082e-01 9.93958538e-01 -4.42230583e-03 3.28996260e+00] [ 5.35386847e-02 -1.46431945e-03 9.98564702e-01 1.49079283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:3.30, Z:1.51 [[ 9.92575080e-01 -1.09296369e-01 -5.33761513e-02 3.07654953e+01] [ 1.09216575e-01 9.94008158e-01 -4.41830897e-03 3.29790777e+00] [ 5.35392349e-02 -1.44405703e-03 9.98564702e-01 1.50538829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:3.31, Z:1.51 [[ 9.92833078e-01 -1.06927109e-01 -5.33767143e-02 3.08281755e+01] [ 1.06844260e-01 9.94265982e-01 -4.41149612e-03 3.30502259e+00] [ 5.35423598e-02 -1.32311627e-03 9.98564702e-01 1.50983086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:3.31, Z:1.51 [[ 9.92916889e-01 -1.06145794e-01 -5.33771652e-02 3.08893716e+01] [ 1.06062111e-01 9.94349745e-01 -4.40603381e-03 3.31480912e+00] [ 5.35432526e-02 -1.28646946e-03 9.98564703e-01 1.51116279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:3.32, Z:1.51 [[ 9.93563353e-01 -9.99134996e-02 -5.33774858e-02 3.09519075e+01] [ 9.98210367e-02 9.94995669e-01 -4.40214619e-03 3.31807064e+00] [ 5.35502011e-02 -9.54384840e-04 9.98564703e-01 1.51093248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.01, Y:3.32, Z:1.52 [[ 9.93687616e-01 -9.86693476e-02 -5.33786613e-02 3.10135238e+01] [ 9.85758592e-02 9.95119866e-01 -4.38784715e-03 3.31843617e+00] [ 5.35511122e-02 -9.01698021e-04 9.98564703e-01 1.51864349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.08, Y:3.33, Z:1.52 [[ 9.94224925e-01 -9.30993305e-02 -5.33789494e-02 3.10751567e+01] [ 9.29980057e-02 9.95656642e-01 -4.38433948e-03 3.32970715e+00] [ 5.35552845e-02 -6.05116248e-04 9.98564703e-01 1.52111772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.14, Y:3.34, Z:1.52 [[ 9.94550892e-01 -8.95498713e-02 -5.33792498e-02 3.11372518e+01] [ 8.94436332e-02 9.95982252e-01 -4.38067898e-03 3.33561531e+00] [ 5.35570746e-02 -4.17625851e-04 9.98564703e-01 1.52320241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:31.20, Y:3.34, Z:1.53 [[ 9.94955866e-01 -8.49319975e-02 -5.33795805e-02 3.11980477e+01] [ 8.48193322e-02 9.96386735e-01 -4.37664554e-03 3.33837626e+00] [ 5.35584232e-02 -1.73051219e-04 9.98564703e-01 1.52766578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850385722999995 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:31.26, Y:3.34, Z:1.53 [[ 9.95258038e-01 -8.13143990e-02 -5.33798269e-02 3.12603279e+01] [ 8.11966941e-02 9.96688501e-01 -4.37363790e-03 3.34400373e+00] [ 5.35586994e-02 1.86327998e-05 9.98564703e-01 1.53281971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.32, Y:3.35, Z:1.54 [[ 9.95671222e-01 -7.60879052e-02 -5.33802325e-02 3.13203580e+01] [ 7.59629573e-02 9.97101070e-01 -4.36868187e-03 3.34753574e+00] [ 5.35578908e-02 2.94850491e-04 9.98564703e-01 1.53914893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.38, Y:3.35, Z:1.55 [[ 9.95650376e-01 -7.63601455e-02 -5.33803123e-02 3.13821763e+01] [ 7.62356408e-02 9.97080263e-01 -4.36770647e-03 3.35287309e+00] [ 5.35579745e-02 2.79226271e-04 9.98564703e-01 1.54541488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.44, Y:3.36, Z:1.55 [[ 9.95425432e-01 -7.92383672e-02 -5.33806194e-02 3.14426546e+01] [ 7.91181984e-02 9.96855690e-01 -4.36395065e-03 3.35957552e+00] [ 5.35585665e-02 1.20609032e-04 9.98564703e-01 1.55469223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.50, Y:3.36, Z:1.55 [[ 9.95381251e-01 -7.97913393e-02 -5.33807707e-02 3.15045275e+01] [ 7.96720644e-02 9.96811584e-01 -4.36209873e-03 3.35551153e+00] [ 5.35586283e-02 8.89950958e-05 9.98564703e-01 1.54996935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:31.57, Y:3.36, Z:1.56 [[ 9.95354160e-01 -8.01285390e-02 -5.33808424e-02 3.15654822e+01] [ 8.00097957e-02 9.96784537e-01 -4.36122109e-03 3.36074827e+00] [ 5.35586565e-02 6.99692597e-05 9.98564703e-01 1.55595346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:3.36, Z:1.55 [[ 9.94899515e-01 -8.55886444e-02 -5.33810674e-02 3.16281150e+01] [ 8.54778989e-02 9.96330534e-01 -4.35846602e-03 3.36417988e+00] [ 5.35582225e-02 -2.26665743e-04 9.98564703e-01 1.55367737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.69, Y:3.37, Z:1.56 [[ 9.94514618e-01 -8.99505498e-02 -5.33813855e-02 3.16875687e+01] [ 8.98462899e-02 9.95946124e-01 -4.35456562e-03 3.36524441e+00] [ 5.35566796e-02 -4.65440272e-04 9.98564703e-01 1.56075136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.75, Y:3.37, Z:1.56 [[ 9.94521958e-01 -8.98694035e-02 -5.33813228e-02 3.17500329e+01] [ 8.97649855e-02 9.95953452e-01 -4.35533448e-03 3.36536536e+00] [ 5.35567240e-02 -4.60297893e-04 9.98564703e-01 1.55581236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:3.37, Z:1.55 [[ 9.94016902e-01 -9.52932769e-02 -5.33815493e-02 3.18120355e+01] [ 9.51968185e-02 9.95448954e-01 -4.35255704e-03 3.36663837e+00] [ 5.35533768e-02 -7.55238389e-04 9.98564703e-01 1.55382931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:3.37, Z:1.55 [[ 9.93772739e-01 -9.78065835e-02 -5.33817836e-02 3.18744137e+01] [ 9.77139011e-02 9.95205041e-01 -4.34968115e-03 3.36794963e+00] [ 5.35512476e-02 -8.93547773e-04 9.98564703e-01 1.55012716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.94, Y:3.37, Z:1.56 [[ 9.93794728e-01 -9.75827286e-02 -5.33821138e-02 3.19354515e+01] [ 9.74899414e-02 9.95227023e-01 -4.34562460e-03 3.36784827e+00] [ 5.35513801e-02 -8.85560338e-04 9.98564703e-01 1.55606710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.00, Y:3.37, Z:1.55 [[ 9.93438756e-01 -1.01142127e-01 -5.33826500e-02 3.19974603e+01] [ 1.01054825e-01 9.94871396e-01 -4.33902778e-03 3.36879073e+00] [ 5.35477301e-02 -1.08401600e-03 9.98564703e-01 1.55405030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.06, Y:3.37, Z:1.54 [[ 9.92928285e-01 -1.06036266e-01 -5.33828781e-02 3.20591917e+01] [ 1.05956176e-01 9.94361346e-01 -4.33621959e-03 3.37161114e+00] [ 5.35416671e-02 -1.35069057e-03 9.98564703e-01 1.54135463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.12, Y:3.37, Z:1.54 [[ 9.92278906e-01 -1.11949945e-01 -5.33833536e-02 3.21219700e+01] [ 1.11878709e-01 9.93712434e-01 -4.33035790e-03 3.37402148e+00] [ 5.35324856e-02 -1.67553788e-03 9.98564703e-01 1.54292789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.18, Y:3.38, Z:1.55 [[ 9.92263694e-01 -1.12084460e-01 -5.33838498e-02 3.21833086e+01] [ 1.12013748e-01 9.93697248e-01 -4.32423278e-03 3.37858827e+00] [ 5.35320639e-02 -1.68894588e-03 9.98564703e-01 1.54642200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:3.38, Z:1.55 [[ 9.92568734e-01 -1.09350033e-01 -5.33842551e-02 3.22458600e+01] [ 1.09275640e-01 9.94002102e-01 -4.31922256e-03 3.38137451e+00] [ 5.35363690e-02 -1.54647341e-03 9.98564703e-01 1.54908779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:3.38, Z:1.55 [[ 9.92648405e-01 -1.08624193e-01 -5.33847310e-02 3.23085556e+01] [ 1.08549069e-01 9.94081735e-01 -4.31333267e-03 3.38335459e+00] [ 5.35373183e-02 -1.51324003e-03 9.98564703e-01 1.54850449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:3.39, Z:1.55 [[ 9.92634963e-01 -1.08746803e-01 -5.33850455e-02 3.23700407e+01] [ 1.08672066e-01 9.94068313e-01 -4.30943743e-03 3.38855534e+00] [ 5.35370196e-02 -1.52376491e-03 9.98564703e-01 1.54780196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.43, Y:3.39, Z:1.55 [[ 9.92775425e-01 -1.07456816e-01 -5.33852772e-02 3.24311205e+01] [ 1.07380370e-01 9.94208685e-01 -4.30656529e-03 3.39272414e+00] [ 5.35388760e-02 -1.45707862e-03 9.98564703e-01 1.55247741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.49, Y:3.40, Z:1.55 [[ 9.92495503e-01 -1.10012152e-01 -5.33854273e-02 3.24921396e+01] [ 1.09939496e-01 9.93928960e-01 -4.30470315e-03 3.39866285e+00] [ 5.35348919e-02 -1.59676844e-03 9.98564703e-01 1.54881780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.55, Y:3.40, Z:1.55 [[ 9.92276568e-01 -1.11969405e-01 -5.33859960e-02 3.25542251e+01] [ 1.11899956e-01 9.93710184e-01 -4.29763907e-03 3.39969336e+00] [ 5.35314120e-02 -1.70944404e-03 9.98564703e-01 1.54980750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:3.41, Z:1.55 [[ 9.91791661e-01 -1.16186074e-01 -5.33862945e-02 3.26160923e+01] [ 1.16122919e-01 9.93225568e-01 -4.29392806e-03 3.40640002e+00] [ 5.35235273e-02 -1.94069031e-03 9.98564703e-01 1.55477273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:3.41, Z:1.56 [[ 9.91635031e-01 -1.17515230e-01 -5.33866625e-02 3.26773235e+01] [ 1.17454243e-01 9.93069032e-01 -4.28934788e-03 3.41050515e+00] [ 5.35207049e-02 -2.01702242e-03 9.98564703e-01 1.56417424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:3.40, Z:1.57 [[ 9.91818326e-01 -1.15957919e-01 -5.33869710e-02 3.27391927e+01] [ 1.15894887e-01 9.93252239e-01 -4.28550435e-03 3.40477048e+00] [ 5.35236666e-02 -1.93683522e-03 9.98564703e-01 1.56663781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:3.41, Z:1.57 [[ 9.91479881e-01 -1.18816891e-01 -5.33871983e-02 3.28010293e+01] [ 1.18758145e-01 9.92913975e-01 -4.28267055e-03 3.41398401e+00] [ 5.35177489e-02 -2.09398297e-03 9.98564703e-01 1.56902608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:3.42, Z:1.58 [[ 9.91245985e-01 -1.20752496e-01 -5.33875690e-02 3.28621396e+01] [ 1.20696799e-01 9.92680201e-01 -4.27804422e-03 3.42025071e+00] [ 5.35133673e-02 -2.20311452e-03 9.98564703e-01 1.57829312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:3.42, Z:1.58 [[ 9.91295363e-01 -1.20346314e-01 -5.33878932e-02 3.29247466e+01] [ 1.20290248e-01 9.92729565e-01 -4.27399443e-03 3.41961990e+00] [ 5.35140995e-02 -2.18525204e-03 9.98564703e-01 1.57642245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:3.42, Z:1.57 [[ 9.91523838e-01 -1.18449052e-01 -5.33882159e-02 3.29857839e+01] [ 1.18390458e-01 9.92957938e-01 -4.26996033e-03 3.42301747e+00] [ 5.35180255e-02 -2.08688788e-03 9.98564703e-01 1.57479139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:3.43, Z:1.59 [[ 9.91220995e-01 -1.20957071e-01 -5.33884536e-02 3.30463030e+01] [ 1.20902265e-01 9.92655245e-01 -4.26698630e-03 3.42880037e+00] [ 5.35124506e-02 -2.22525853e-03 9.98564703e-01 1.58893101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:3.43, Z:1.59 [[ 9.91030354e-01 -1.22509160e-01 -5.33886128e-02 3.31087459e+01] [ 1.22456707e-01 9.92464692e-01 -4.26499374e-03 3.42782124e+00] [ 5.35088139e-02 -2.31105545e-03 9.98564703e-01 1.59044458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.17, Y:3.43, Z:1.59 [[ 9.90611843e-01 -1.25848311e-01 -5.33889372e-02 3.31698869e+01] [ 1.25800911e-01 9.92046357e-01 -4.26092849e-03 3.43252254e+00] [ 5.35005313e-02 -2.49545071e-03 9.98564703e-01 1.59181222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.23, Y:3.44, Z:1.60 [[ 9.90264075e-01 -1.28556052e-01 -5.33891768e-02 3.32321743e+01] [ 1.28512735e-01 9.91698718e-01 -4.25792463e-03 3.43680876e+00] [ 5.34933601e-02 -2.64471933e-03 9.98564703e-01 1.59557578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.29, Y:3.45, Z:1.60 [[ 9.89827612e-01 -1.31874418e-01 -5.33894866e-02 3.32933000e+01] [ 1.31836119e-01 9.91262398e-01 -4.25403614e-03 3.44537872e+00] [ 5.34839890e-02 -2.82790029e-03 9.98564703e-01 1.60202804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.35, Y:3.45, Z:1.62 [[ 9.89694543e-01 -1.32869264e-01 -5.33897961e-02 3.33534850e+01] [ 1.32832616e-01 9.91129372e-01 -4.25014805e-03 3.44835830e+00] [ 5.34809091e-02 -2.88555797e-03 9.98564703e-01 1.61662699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.41, Y:3.46, Z:1.62 [[ 9.90208042e-01 -1.28986614e-01 -5.33899486e-02 3.34146921e+01] [ 1.28944442e-01 9.91642720e-01 -4.24823121e-03 3.45945871e+00] [ 5.34917188e-02 -2.67770443e-03 9.98564703e-01 1.62450758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:3.47, Z:1.63 [[ 9.90871154e-01 -1.23789493e-01 -5.33902463e-02 3.34757780e+01] [ 1.23739996e-01 9.92305597e-01 -4.24448670e-03 3.46953867e+00] [ 5.35048631e-02 -2.40076941e-03 9.98564703e-01 1.62909425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:3.48, Z:1.63 [[ 9.92060558e-01 -1.13865268e-01 -5.33905448e-02 3.35366856e+01] [ 1.13801617e-01 9.93494443e-01 -4.24072864e-03 3.47763493e+00] [ 5.35260813e-02 -1.86887074e-03 9.98564703e-01 1.63392983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:3.49, Z:1.64 [[ 9.92972804e-01 -1.05614562e-01 -5.33907656e-02 3.35981273e+01] [ 1.05539144e-01 9.94406119e-01 -4.23794751e-03 3.48581751e+00] [ 5.35396929e-02 -1.42664907e-03 9.98564703e-01 1.63845532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:3.50, Z:1.64 [[ 9.94207067e-01 -9.32829126e-02 -5.33910639e-02 3.36590628e+01] [ 9.31899135e-02 9.95639348e-01 -4.23418631e-03 3.49904284e+00] [ 5.35532213e-02 -7.65850669e-04 9.98564703e-01 1.64446131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:3.51, Z:1.64 [[ 9.95023921e-01 -8.41234774e-02 -5.33913602e-02 3.37210055e+01] [ 8.40174932e-02 9.96455300e-01 -4.23044673e-03 3.50844936e+00] [ 5.35579837e-02 -2.76412549e-04 9.98564703e-01 1.64186042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:3.52, Z:1.65 [[ 9.95161410e-01 -8.24808926e-02 -5.33916676e-02 3.37830656e+01] [ 8.23727542e-02 9.96592628e-01 -4.22656347e-03 3.51695940e+00] [ 5.35583530e-02 -1.91905845e-04 9.98564703e-01 1.64543460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:3.53, Z:1.65 [[ 9.95079622e-01 -8.34616208e-02 -5.33919751e-02 3.38443600e+01] [ 8.33551016e-02 9.96510961e-01 -4.22267522e-03 3.52963184e+00] [ 5.35581197e-02 -2.48595438e-04 9.98564703e-01 1.65456160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:3.53, Z:1.65 [[ 9.95050426e-01 -8.38087966e-02 -5.33922830e-02 3.39057366e+01] [ 8.37029859e-02 9.96481817e-01 -4.21877779e-03 3.53437929e+00] [ 5.35580099e-02 -2.71196877e-04 9.98564703e-01 1.65066983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.97, Y:3.54, Z:1.66 [[ 9.94596863e-01 -8.90298864e-02 -5.33925105e-02 3.39673276e+01] [ 8.89317441e-02 9.96028800e-01 -4.21589706e-03 3.54378104e+00] [ 5.35558190e-02 -5.55171096e-04 9.98564703e-01 1.66015204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.03, Y:3.56, Z:1.67 [[ 9.93738767e-01 -9.81451524e-02 -5.33928171e-02 3.40284340e+01] [ 9.80603517e-02 9.95171556e-01 -4.21200998e-03 3.55748853e+00] [ 5.35484013e-02 -1.05008083e-03 9.98564703e-01 1.67065697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.09, Y:3.56, Z:1.67 [[ 9.92894925e-01 -1.06343035e-01 -5.33931352e-02 3.40911695e+01] [ 1.06270279e-01 9.94328377e-01 -4.20797372e-03 3.55864249e+00] [ 5.35377982e-02 -1.49602764e-03 9.98564703e-01 1.66975754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:3.56, Z:1.68 [[ 9.92236711e-01 -1.12318103e-01 -5.33943105e-02 3.41525879e+01] [ 1.12254782e-01 9.93670611e-01 -4.19300834e-03 3.56424924e+00] [ 5.35273078e-02 -1.83330986e-03 9.98564703e-01 1.67621053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:3.57, Z:1.68 [[ 9.91990161e-01 -1.14475042e-01 -5.33946215e-02 3.42139253e+01] [ 1.14415051e-01 9.93424203e-01 -4.18904407e-03 3.57149995e+00] [ 5.35230503e-02 -1.95365784e-03 9.98564703e-01 1.68164350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:3.58, Z:1.68 [[ 9.92154051e-01 -1.13045653e-01 -5.33949317e-02 3.42756118e+01] [ 1.12983809e-01 9.93588015e-01 -4.18508582e-03 3.57812953e+00] [ 5.35256700e-02 -1.88051290e-03 9.98564703e-01 1.68311771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:3.58, Z:1.68 [[ 9.92611222e-01 -1.08958296e-01 -5.33952399e-02 3.43382216e+01] [ 1.08890757e-01 9.94044929e-01 -4.18114982e-03 3.58089912e+00] [ 5.35328385e-02 -1.66399189e-03 9.98564703e-01 1.68449276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:3.58, Z:1.69 [[ 9.93249452e-01 -1.02977870e-01 -5.33955488e-02 3.44009174e+01] [ 1.02901910e-01 9.94682737e-01 -4.17720224e-03 3.58330814e+00] [ 5.35417900e-02 -1.34550011e-03 9.98564703e-01 1.68565740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:3.59, Z:1.69 [[ 9.93674716e-01 -9.87898036e-02 -5.33960135e-02 3.44621247e+01] [ 9.87081215e-02 9.95107686e-01 -4.17125270e-03 3.59191794e+00] [ 5.35468607e-02 -1.12575186e-03 9.98564703e-01 1.69140804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.52, Y:3.60, Z:1.70 [[ 9.93837947e-01 -9.71337602e-02 -5.33963200e-02 3.45244604e+01] [ 9.70499012e-02 9.95270792e-01 -4.16732552e-03 3.59882952e+00] [ 5.35485858e-02 -1.04046134e-03 9.98564703e-01 1.69625792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:3.60, Z:1.69 [[ 9.94547555e-01 -8.95764640e-02 -5.33967954e-02 3.45862324e+01] [ 8.94820434e-02 9.95979743e-01 -4.16122636e-03 3.59935610e+00] [ 5.35548744e-02 -6.39516851e-04 9.98564703e-01 1.69478265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:3.60, Z:1.70 [[ 9.94884149e-01 -8.57571378e-02 -5.33970289e-02 3.46489356e+01] [ 8.56573798e-02 9.96315975e-01 -4.15822767e-03 3.60448407e+00] [ 5.35569106e-02 -4.36894785e-04 9.98564703e-01 1.70091505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:3.61, Z:1.71 [[ 9.95103113e-01 -8.31775434e-02 -5.33974871e-02 3.47098062e+01] [ 8.30743897e-02 9.96534698e-01 -4.15233568e-03 3.60974362e+00] [ 5.35578297e-02 -3.03961492e-04 9.98564703e-01 1.71027855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.77, Y:3.61, Z:1.72 [[ 9.95274197e-01 -8.11043553e-02 -5.33980875e-02 3.47711958e+01] [ 8.09986346e-02 9.96705595e-01 -4.14459972e-03 3.61145857e+00] [ 5.35583177e-02 -2.00159021e-04 9.98564703e-01 1.71582517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.83, Y:3.62, Z:1.72 [[ 9.95257707e-01 -8.13063256e-02 -5.33983009e-02 3.48327839e+01] [ 8.12010429e-02 9.96689137e-01 -4.14184847e-03 3.61610132e+00] [ 5.35582649e-02 -2.13791110e-04 9.98564703e-01 1.72195475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:3.62, Z:1.72 [[ 9.95059068e-01 -8.37020976e-02 -5.33985890e-02 3.48952195e+01] [ 8.36004609e-02 9.96490762e-01 -4.13813017e-03 3.62081055e+00] [ 5.35575709e-02 -3.46462703e-04 9.98564703e-01 1.72058309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:3.62, Z:1.73 [[ 9.94874677e-01 -8.58658064e-02 -5.33988839e-02 3.49576300e+01] [ 8.57674878e-02 9.96306602e-01 -4.13432197e-03 3.62374677e+00] [ 5.35566575e-02 -4.66755892e-04 9.98564703e-01 1.72640114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:3.62, Z:1.73 [[ 9.94693096e-01 -8.79441010e-02 -5.33992527e-02 3.50201993e+01] [ 8.78490301e-02 9.96125240e-01 -4.12955332e-03 3.62317282e+00] [ 5.35555133e-02 -5.83434379e-04 9.98564703e-01 1.73142920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:3.63, Z:1.74 [[ 9.94546926e-01 -8.95818106e-02 -5.33995423e-02 3.50804892e+01] [ 8.94892991e-02 9.95979238e-01 -4.12580508e-03 3.62817264e+00] [ 5.35544325e-02 -6.75380848e-04 9.98564703e-01 1.73748028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:3.63, Z:1.74 [[ 9.94469041e-01 -9.04420360e-02 -5.34000410e-02 3.51428595e+01] [ 9.03511106e-02 9.95901455e-01 -4.11933999e-03 3.62848376e+00] [ 5.35537400e-02 -7.28196919e-04 9.98564703e-01 1.73516683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:3.63, Z:1.74 [[ 9.94387273e-01 -9.13364952e-02 -5.34003448e-02 3.52044281e+01] [ 9.12470699e-02 9.95819781e-01 -4.11539763e-03 3.62846678e+00] [ 5.35530057e-02 -7.80325977e-04 9.98564703e-01 1.74000461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:3.63, Z:1.75 [[ 9.94558187e-01 -8.94560893e-02 -5.34005685e-02 3.52661500e+01] [ 8.93641114e-02 9.95990534e-01 -4.11249287e-03 3.63363293e+00] [ 5.35543483e-02 -6.81980905e-04 9.98564703e-01 1.74647272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:3.64, Z:1.75 [[ 9.94659184e-01 -8.83258524e-02 -5.34008513e-02 3.53287244e+01] [ 8.82324442e-02 9.96091438e-01 -4.10881795e-03 3.63592288e+00] [ 5.35550456e-02 -6.24814123e-04 9.98564703e-01 1.74683433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:3.64, Z:1.75 [[ 9.94500195e-01 -9.00981668e-02 -5.34011553e-02 3.53913953e+01] [ 9.00075234e-02 9.95932626e-01 -4.10486267e-03 3.63769390e+00] [ 5.35537935e-02 -7.24219010e-04 9.98564703e-01 1.75304004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:3.64, Z:1.76 [[ 9.94309884e-01 -9.21744178e-02 -5.34016122e-02 3.54521024e+01] [ 9.20870850e-02 9.95742521e-01 -4.09890993e-03 3.63923643e+00] [ 5.35520706e-02 -8.42012149e-04 9.98564703e-01 1.75597487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990385722999996 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:3.64, Z:1.76 [[ 9.94133693e-01 -9.40555398e-02 -5.34018357e-02 3.55147432e+01] [ 9.39710742e-02 9.95566502e-01 -4.09599671e-03 3.64274170e+00] [ 5.35503299e-02 -9.46259523e-04 9.98564703e-01 1.75647370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:3.65, Z:1.76 [[ 9.93931523e-01 -9.61681932e-02 -5.34023086e-02 3.55770811e+01] [ 9.60871046e-02 9.95364527e-01 -4.08982198e-03 3.64657686e+00] [ 5.35480744e-02 -1.06627022e-03 9.98564703e-01 1.76036294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:3.65, Z:1.76 [[ 9.93709050e-01 -9.84402381e-02 -5.34026599e-02 3.56389309e+01] [ 9.83626725e-02 9.95142249e-01 -4.08522873e-03 3.65013018e+00] [ 5.35453940e-02 -1.19329959e-03 9.98564703e-01 1.76132383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:3.66, Z:1.77 [[ 9.93630812e-01 -9.92266632e-02 -5.34029926e-02 3.57008952e+01] [ 9.91504657e-02 9.95064084e-01 -4.08087549e-03 3.65612192e+00] [ 5.35443316e-02 -1.24004797e-03 9.98564703e-01 1.76827293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:3.66, Z:1.77 [[ 9.93961770e-01 -9.58545107e-02 -5.34032951e-02 3.57640751e+01] [ 9.57736632e-02 9.95394788e-01 -4.07691274e-03 3.66021890e+00] [ 5.35481521e-02 -1.06233380e-03 9.98564703e-01 1.77080497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:3.66, Z:1.77 [[ 9.94345883e-01 -9.17840109e-02 -5.34037485e-02 3.58274595e+01] [ 9.16976160e-02 9.95778577e-01 -4.07096490e-03 3.66342680e+00] [ 5.35519582e-02 -8.49049239e-04 9.98564703e-01 1.77431424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:3.67, Z:1.78 [[ 9.94992284e-01 -8.44887284e-02 -5.34042028e-02 3.58900383e+01] [ 8.43921483e-02 9.96424328e-01 -4.06499753e-03 3.66842412e+00] [ 5.35566933e-02 -4.62254218e-04 9.98564703e-01 1.77881054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:3.67, Z:1.78 [[ 9.95689189e-01 -7.58352258e-02 -5.34046555e-02 3.59527280e+01] [ 7.57265189e-02 9.97120363e-01 -4.05904116e-03 3.66927818e+00] [ 5.35586878e-02 -2.60525041e-06 9.98564703e-01 1.77789774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:3.67, Z:1.78 [[ 9.95780033e-01 -7.46326852e-02 -5.34049545e-02 3.60137904e+01] [ 7.45224612e-02 9.97211090e-01 -4.05510274e-03 3.67096153e+00] [ 5.35586561e-02 5.81216814e-05 9.98564703e-01 1.78474563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:3.68, Z:1.79 [[ 9.96095432e-01 -7.02975566e-02 -5.34054694e-02 3.60760374e+01] [ 7.01814687e-02 9.97526026e-01 -4.04831001e-03 3.67518479e+00] [ 5.35579320e-02 2.84428825e-04 9.98564703e-01 1.78832045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:3.67, Z:1.79 [[ 9.96130378e-01 -6.98003930e-02 -5.34057673e-02 3.61369974e+01] [ 6.96838019e-02 9.97560931e-01 -4.04437706e-03 3.67492275e+00] [ 5.35578060e-02 3.07209939e-04 9.98564703e-01 1.79039244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:3.68, Z:1.79 [[ 9.95859401e-01 -7.35654663e-02 -5.34057673e-02 3.61958514e+01] [ 7.34542839e-02 9.97290385e-01 -4.04437706e-03 3.67545047e+00] [ 5.35585847e-02 1.04748525e-04 9.98564703e-01 1.79238667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:3.68, Z:1.80 [[ 9.95551083e-01 -7.76265555e-02 -5.34056033e-02 3.62561857e+01] [ 7.75210943e-02 9.96982500e-01 -4.04654174e-03 3.67788196e+00] [ 5.35585710e-02 -1.11521794e-04 9.98564703e-01 1.80237159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:3.67, Z:1.80 [[ 9.94891319e-01 -8.56685817e-02 -5.34056033e-02 3.63189362e+01] [ 8.55746905e-02 9.96323541e-01 -4.04654174e-03 3.67433955e+00] [ 5.35559212e-02 -5.44298721e-04 9.98564703e-01 1.80393059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:3.67, Z:1.81 [[ 9.93825910e-01 -9.72515875e-02 -5.34058888e-02 3.63801533e+01] [ 9.71745883e-02 9.95259140e-01 -4.04276936e-03 3.67205565e+00] [ 5.35458647e-02 -1.17188632e-03 9.98564703e-01 1.80632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890385722999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:3.68, Z:1.81 [[ 9.93539925e-01 -1.00130945e-01 -5.34061001e-02 3.64423533e+01] [ 1.00058249e-01 9.94973379e-01 -4.03997634e-03 3.67544405e+00] [ 5.35421745e-02 -1.32984306e-03 9.98564703e-01 1.80763410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:3.68, Z:1.81 [[ 9.92705723e-01 -1.08088365e-01 -5.34064950e-02 3.65046931e+01] [ 1.08027437e-01 9.94139725e-01 -4.03474901e-03 3.67617436e+00] [ 5.35296277e-02 -1.76404836e-03 9.98564704e-01 1.81127614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:3.68, Z:1.81 [[ 9.92589075e-01 -1.09154201e-01 -5.34068141e-02 3.65665579e+01] [ 1.09095041e-01 9.94023152e-01 -4.03052088e-03 3.67946768e+00] [ 5.35275580e-02 -1.82576759e-03 9.98564704e-01 1.81282255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:3.69, Z:1.82 [[ 9.92223877e-01 -1.12425303e-01 -5.34072044e-02 3.66278916e+01] [ 1.12371149e-01 9.93658151e-01 -4.02534226e-03 3.68535356e+00] [ 5.35210543e-02 -2.00738820e-03 9.98564704e-01 1.82112046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:3.69, Z:1.82 [[ 9.92011109e-01 -1.14287336e-01 -5.34075356e-02 3.66895629e+01] [ 1.14236109e-01 9.93445491e-01 -4.02094342e-03 3.68793970e+00] [ 5.35170183e-02 -2.11224854e-03 9.98564704e-01 1.82121088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:3.70, Z:1.82 [[ 9.92156806e-01 -1.13015415e-01 -5.34077496e-02 3.67515489e+01] [ 1.12962503e-01 9.93591127e-01 -4.01809851e-03 3.69693971e+00] [ 5.35195732e-02 -2.04648930e-03 9.98564704e-01 1.82121015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:3.70, Z:1.82 [[ 9.92562558e-01 -1.09394465e-01 -5.34080482e-02 3.68136534e+01] [ 1.09336533e-01 9.93996685e-01 -4.01412633e-03 3.70002658e+00] [ 5.35265460e-02 -1.85517931e-03 9.98564704e-01 1.82254049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:3.71, Z:1.83 [[ 9.92786406e-01 -1.07343838e-01 -5.34083465e-02 3.68749008e+01] [ 1.07283158e-01 9.94220420e-01 -4.01015369e-03 3.70858049e+00] [ 5.35301339e-02 -1.74858998e-03 9.98564704e-01 1.82952546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.94, Y:3.72, Z:1.84 [[ 9.93303295e-01 -1.02450151e-01 -5.34090791e-02 3.69367660e+01] [ 1.02382930e-01 9.94737017e-01 -4.00037199e-03 3.72232564e+00] [ 5.35378268e-02 -1.49459533e-03 9.98564704e-01 1.83516294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:3.73, Z:1.83 [[ 9.94021586e-01 -9.52287071e-02 -5.34095405e-02 3.69998323e+01] [ 9.51513995e-02 9.95454799e-01 -3.99420243e-03 3.72559691e+00] [ 5.35471462e-02 -1.11166909e-03 9.98564704e-01 1.83413140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:3.74, Z:1.84 [[ 9.94570977e-01 -8.93081431e-02 -5.34100007e-02 3.70607897e+01] [ 8.92226336e-02 9.96003723e-01 -3.98803911e-03 3.73828963e+00] [ 5.35527240e-02 -7.98992973e-04 9.98564704e-01 1.84103319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:3.75, Z:1.85 [[ 9.94856489e-01 -8.60691473e-02 -5.34103776e-02 3.71220433e+01] [ 8.59792443e-02 9.96288967e-01 -3.98298522e-03 3.75113227e+00] [ 5.35549821e-02 -6.29685214e-04 9.98564704e-01 1.84916979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:3.75, Z:1.85 [[ 9.94779921e-01 -8.69494558e-02 -5.34106737e-02 3.71833705e+01] [ 8.68610338e-02 9.96212492e-01 -3.97901067e-03 3.75301454e+00] [ 5.35543531e-02 -6.81066410e-04 9.98564704e-01 1.85292198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:3.77, Z:1.86 [[ 9.94742317e-01 -8.73784839e-02 -5.34108921e-02 3.72440945e+01] [ 8.72908373e-02 9.96174935e-01 -3.97607661e-03 3.76541400e+00] [ 5.35540155e-02 -7.07109832e-04 9.98564704e-01 1.85880874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:3.78, Z:1.86 [[ 9.94517446e-01 -8.99014916e-02 -5.34113483e-02 3.73052018e+01] [ 8.98178088e-02 9.95950300e-01 -3.96993992e-03 3.77774297e+00] [ 5.35519519e-02 -8.49115756e-04 9.98564704e-01 1.86394365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:3.78, Z:1.86 [[ 9.93990210e-01 -9.55544915e-02 -5.34116156e-02 3.73672993e+01] [ 9.54791500e-02 9.95423528e-01 -3.96633986e-03 3.78246213e+00] [ 5.35461804e-02 -1.15719266e-03 9.98564704e-01 1.86121378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:3.79, Z:1.86 [[ 9.92881479e-01 -1.06459089e-01 -5.34119059e-02 3.74291964e+01] [ 1.06399695e-01 9.94315546e-01 -3.96242632e-03 3.79255636e+00] [ 5.35301247e-02 -1.74879078e-03 9.98564704e-01 1.86406625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.49, Y:3.80, Z:1.87 [[ 9.92361306e-01 -1.11203108e-01 -5.34126189e-02 3.74899664e+01] [ 1.11151086e-01 9.93795659e-01 -3.95279204e-03 3.79942667e+00] [ 5.35207916e-02 -2.01427273e-03 9.98564704e-01 1.87178490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.55, Y:3.81, Z:1.88 [[ 9.92946679e-01 -1.05848597e-01 -5.34131728e-02 3.75520954e+01] [ 1.05789242e-01 9.94380748e-01 -3.94529345e-03 3.80641209e+00] [ 5.35306345e-02 -1.73307301e-03 9.98564704e-01 1.87539991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.61, Y:3.81, Z:1.88 [[ 9.93378807e-01 -1.01713069e-01 -5.34134497e-02 3.76123319e+01] [ 1.01647945e-01 9.94812625e-01 -3.94154036e-03 3.81399509e+00] [ 5.35372803e-02 -1.51392474e-03 9.98564704e-01 1.88094393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.67, Y:3.83, Z:1.88 [[ 9.93752319e-01 -9.79964811e-02 -5.34136544e-02 3.76746722e+01] [ 9.79261428e-02 9.95185891e-01 -3.93876510e-03 3.82516146e+00] [ 5.35425003e-02 -1.31643620e-03 9.98564704e-01 1.87877338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.74, Y:3.82, Z:1.88 [[ 9.93821584e-01 -9.72912935e-02 -5.34140814e-02 3.77359242e+01] [ 9.72202494e-02 9.95255120e-01 -3.93296642e-03 3.82480712e+00] [ 5.35432814e-02 -1.28426340e-03 9.98564704e-01 1.88450515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.80, Y:3.83, Z:1.89 [[ 9.93891316e-01 -9.65760286e-02 -5.34146313e-02 3.77969985e+01] [ 9.65043548e-02 9.95324821e-01 -3.92548315e-03 3.83260564e+00] [ 5.35440159e-02 -1.25324092e-03 9.98564704e-01 1.88585404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.86, Y:3.83, Z:1.89 [[ 9.93932817e-01 -9.61476645e-02 -5.34151774e-02 3.78591900e+01] [ 9.60757728e-02 9.95366312e-01 -3.91803863e-03 3.83445087e+00] [ 5.35443784e-02 -1.23763727e-03 9.98564704e-01 1.88533011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.92, Y:3.84, Z:1.89 [[ 9.94027010e-01 -9.51687605e-02 -5.34154456e-02 3.79206966e+01] [ 9.50956536e-02 9.95460443e-01 -3.91437897e-03 3.84139780e+00] [ 5.35454897e-02 -1.18857828e-03 9.98564704e-01 1.88924175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.98, Y:3.85, Z:1.89 [[ 9.94175438e-01 -9.36053456e-02 -5.34157088e-02 3.79815985e+01] [ 9.35301776e-02 9.95608764e-01 -3.91078362e-03 3.84768642e+00] [ 5.35472181e-02 -1.10797571e-03 9.98564704e-01 1.89488665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.04, Y:3.85, Z:1.90 [[ 9.94160482e-01 -9.37637751e-02 -5.34162051e-02 3.80434928e+01] [ 9.36892002e-02 9.95593839e-01 -3.90399251e-03 3.85002086e+00] [ 5.35468978e-02 -1.12332646e-03 9.98564704e-01 1.89907808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.11, Y:3.85, Z:1.91 [[ 9.94094831e-01 -9.44571196e-02 -5.34164782e-02 3.81055391e+01] [ 9.43837452e-02 9.95528250e-01 -3.90025270e-03 3.85485857e+00] [ 5.35460197e-02 -1.16442622e-03 9.98564704e-01 1.90591055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.17, Y:3.86, Z:1.91 [[ 9.93872105e-01 -9.67723524e-02 -5.34167556e-02 3.81674800e+01] [ 9.67025213e-02 9.95305702e-01 -3.89645039e-03 3.85719266e+00] [ 5.35430700e-02 -1.29296159e-03 9.98564704e-01 1.91059172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.23, Y:3.86, Z:1.91 [[ 9.93570450e-01 -9.98217463e-02 -5.34170359e-02 3.82292354e+01] [ 9.97565213e-02 9.95004263e-01 -3.89260307e-03 3.85851069e+00] [ 5.35387449e-02 -1.46112230e-03 9.98564704e-01 1.91273987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.29, Y:3.86, Z:1.92 [[ 9.93411373e-01 -1.01392260e-01 -5.34177231e-02 3.82912586e+01] [ 1.01329809e-01 9.94845310e-01 -3.88314998e-03 3.86259592e+00] [ 5.35360927e-02 -1.55524234e-03 9.98564704e-01 1.91507634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.35, Y:3.87, Z:1.92 [[ 9.92717058e-01 -1.07978517e-01 -5.34179931e-02 3.83524288e+01] [ 1.07925778e-01 9.94151385e-01 -3.87943184e-03 3.87185800e+00] [ 5.35244672e-02 -1.91400032e-03 9.98564704e-01 1.92090732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.41, Y:3.87, Z:1.92 [[ 9.93270044e-01 -1.02767244e-01 -5.34182818e-02 3.84135414e+01] [ 1.02707192e-01 9.94704083e-01 -3.87545326e-03 3.86899739e+00] [ 5.35336527e-02 -1.63707008e-03 9.98564704e-01 1.92291913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.47, Y:3.88, Z:1.93 [[ 9.92862973e-01 -1.06628093e-01 -5.34187783e-02 3.84749613e+01] [ 1.06573986e-01 9.94297249e-01 -3.86859689e-03 3.87824698e+00] [ 5.35266454e-02 -1.85206550e-03 9.98564704e-01 1.92540776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.54, Y:3.88, Z:1.93 [[ 9.93234724e-01 -1.03107648e-01 -5.34190658e-02 3.85374721e+01] [ 1.03048670e-01 9.94668807e-01 -3.86462345e-03 3.87666438e+00] [ 5.35327507e-02 -1.66628545e-03 9.98564704e-01 1.92824407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.60, Y:3.89, Z:1.93 [[ 9.93010699e-01 -1.05243132e-01 -5.34194231e-02 3.85989803e+01] [ 1.05187503e-01 9.94444917e-01 -3.85967796e-03 3.88551905e+00] [ 5.35288783e-02 -1.78635420e-03 9.98564704e-01 1.92911834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.66, Y:3.88, Z:1.93 [[ 9.93254036e-01 -1.02921105e-01 -5.34197097e-02 3.86606561e+01] [ 1.02862336e-01 9.94688129e-01 -3.85570665e-03 3.88389716e+00] [ 5.35327847e-02 -1.66517993e-03 9.98564704e-01 1.93482263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:3.89, Z:1.94 [[ 9.93375768e-01 -1.01739352e-01 -5.34199226e-02 3.87224979e+01] [ 1.01679036e-01 9.94809796e-01 -3.85275594e-03 3.89181697e+00] [ 5.35346391e-02 -1.60445181e-03 9.98564704e-01 1.93789440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:3.90, Z:1.94 [[ 9.93541866e-01 -1.00104165e-01 -5.34201989e-02 3.87838418e+01] [ 1.00041694e-01 9.94975801e-01 -3.84892055e-03 3.89500168e+00] [ 5.35370982e-02 -1.52018351e-03 9.98564704e-01 1.93895873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.85, Y:3.90, Z:1.94 [[ 9.93492045e-01 -1.00597301e-01 -5.34204027e-02 3.88465763e+01] [ 1.00535695e-01 9.94926018e-01 -3.84609029e-03 3.89691006e+00] [ 5.35362548e-02 -1.54959718e-03 9.98564704e-01 1.94342843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.91, Y:3.90, Z:1.95 [[ 9.93705169e-01 -9.84695532e-02 -5.34208252e-02 3.89070510e+01] [ 9.84051916e-02 9.95139021e-01 -3.84021222e-03 3.90140733e+00] [ 5.35392917e-02 -1.44084781e-03 9.98564704e-01 1.95009759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.97, Y:3.91, Z:1.95 [[ 9.93667722e-01 -9.88466088e-02 -5.34210298e-02 3.89687731e+01] [ 9.87829443e-02 9.95101605e-01 -3.83736392e-03 3.91015141e+00] [ 5.35386629e-02 -1.46402194e-03 9.98564704e-01 1.95140250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.03, Y:3.91, Z:1.95 [[ 9.93495814e-01 -1.00559584e-01 -5.34213170e-02 3.90307624e+01] [ 1.00498606e-01 9.94929814e-01 -3.83336238e-03 3.91318516e+00] [ 5.35359423e-02 -1.56033841e-03 9.98564704e-01 1.95020198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.09, Y:3.92, Z:1.95 [[ 9.93511866e-01 -1.00400720e-01 -5.34216040e-02 3.90932101e+01] [ 1.00339728e-01 9.94945865e-01 -3.82935861e-03 3.91545528e+00] [ 5.35360743e-02 -1.55579602e-03 9.98564704e-01 1.95084262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.15, Y:3.92, Z:1.96 [[ 9.94089132e-01 -9.45140155e-02 -5.34218897e-02 3.91538388e+01] [ 9.44447452e-02 9.95522755e-01 -3.82536843e-03 3.91599740e+00] [ 5.35442577e-02 -1.24265958e-03 9.98564704e-01 1.96387125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.22, Y:3.93, Z:1.96 [[ 9.94247865e-01 -9.28292120e-02 -5.34221014e-02 3.92156721e+01] [ 9.27576711e-02 9.95681377e-01 -3.82240895e-03 3.92796331e+00] [ 5.35462227e-02 -1.15488778e-03 9.98564704e-01 1.96303342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.28, Y:3.93, Z:1.97 [[ 9.94920415e-01 -8.53195015e-02 -5.34223799e-02 3.92764369e+01] [ 8.52373481e-02 9.96353358e-01 -3.81851265e-03 3.92899503e+00] [ 5.35533612e-02 -7.54465809e-04 9.98564704e-01 1.97223199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:3.94, Z:1.97 [[ 9.94781758e-01 -8.69209241e-02 -5.34229098e-02 3.93378385e+01] [ 8.68414762e-02 9.96214853e-01 -3.81108494e-03 3.93555299e+00] [ 5.35519593e-02 -8.48126573e-04 9.98564704e-01 1.97202157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:3.94, Z:1.98 [[ 9.94744276e-01 -8.73486302e-02 -5.34232408e-02 3.94002474e+01] [ 8.72700480e-02 9.96177419e-01 -3.80643897e-03 3.94008404e+00] [ 5.35515134e-02 -8.75815420e-04 9.98564704e-01 1.97626612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:3.94, Z:1.98 [[ 9.94698084e-01 -8.78728432e-02 -5.34236298e-02 3.94624233e+01] [ 8.77953098e-02 9.96131285e-01 -3.80097164e-03 3.94348909e+00] [ 5.35509512e-02 -9.09524926e-04 9.98564704e-01 1.97977757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:3.95, Z:1.99 [[ 9.94369300e-01 -9.15182075e-02 -5.34238970e-02 3.95248110e+01] [ 9.14461297e-02 9.95802785e-01 -3.79721278e-03 3.94650815e+00] [ 5.35471795e-02 -1.10957681e-03 9.98564704e-01 1.98516308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:3.95, Z:1.99 [[ 9.93988468e-01 -9.55655097e-02 -5.34243259e-02 3.95867129e+01] [ 9.54995929e-02 9.95422250e-01 -3.79116850e-03 3.95005250e+00] [ 5.35420676e-02 -1.33362361e-03 9.98564704e-01 1.98649136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:3.95, Z:1.99 [[ 9.93249731e-01 -1.02959884e-01 -5.34250263e-02 3.96500809e+01] [ 1.02905170e-01 9.94683984e-01 -3.78127327e-03 3.95114235e+00] [ 5.35303374e-02 -1.74196278e-03 9.98564704e-01 1.98755841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.71, Y:3.96, Z:2.00 [[ 9.92834869e-01 -1.06886066e-01 -5.34255726e-02 3.97106811e+01] [ 1.06837439e-01 9.94269341e-01 -3.77353852e-03 3.95956195e+00] [ 5.35227475e-02 -1.96135076e-03 9.98564704e-01 1.99730343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:3.96, Z:2.00 [[ 9.92833840e-01 -1.06895509e-01 -5.34258065e-02 3.97730474e+01] [ 1.06847074e-01 9.94268318e-01 -3.77022439e-03 3.95778693e+00] [ 5.35226068e-02 -1.96518476e-03 9.98564704e-01 1.99762013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.84, Y:3.96, Z:2.00 [[ 9.92689799e-01 -1.08224812e-01 -5.34261386e-02 3.98359176e+01] [ 1.08178551e-01 9.94124349e-01 -3.76551164e-03 3.95992230e+00] [ 5.35197471e-02 -2.04157728e-03 9.98564704e-01 2.00075293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.90, Y:3.97, Z:2.01 [[ 9.92279672e-01 -1.11922545e-01 -5.34265456e-02 3.98973103e+01] [ 1.11881940e-01 9.93714394e-01 -3.75972824e-03 3.97304258e+00] [ 5.35115257e-02 -2.24676367e-03 9.98564704e-01 2.00992021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.96, Y:3.97, Z:2.01 [[ 9.92616671e-01 -1.08893084e-01 -5.34269731e-02 3.99595940e+01] [ 1.08848426e-01 9.94051271e-01 -3.75364332e-03 3.97086012e+00] [ 5.35178964e-02 -2.08951302e-03 9.98564704e-01 2.00587107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.02, Y:3.97, Z:2.00 [[ 9.92582109e-01 -1.09207337e-01 -5.34276636e-02 4.00219256e+01] [ 1.09163663e-01 9.94016740e-01 -3.74378937e-03 3.97352765e+00] [ 5.35168413e-02 -2.11634114e-03 9.98564704e-01 2.00458398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:3.99, Z:2.01 [[ 9.92256471e-01 -1.12127359e-01 -5.34280023e-02 4.00829801e+01] [ 1.12088166e-01 9.93691231e-01 -3.73895019e-03 3.99245165e+00] [ 5.35101760e-02 -2.27864929e-03 9.98564704e-01 2.01449790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:4.00, Z:2.02 [[ 9.92679109e-01 -1.08321723e-01 -5.34283687e-02 4.01458334e+01] [ 1.08277312e-01 9.94113717e-01 -3.73370747e-03 3.99770812e+00] [ 5.35183158e-02 -2.07870672e-03 9.98564704e-01 2.01661377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:4.00, Z:2.02 [[ 9.93922117e-01 -9.62506555e-02 -5.34287999e-02 4.02080136e+01] [ 9.61891456e-02 9.95356094e-01 -3.72752661e-03 4.00006889e+00] [ 5.35394584e-02 -1.43439947e-03 9.98564704e-01 2.01680940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:4.01, Z:2.03 [[ 9.94402116e-01 -9.11579156e-02 -5.34290792e-02 4.02697991e+01] [ 9.10892760e-02 9.95835769e-01 -3.72351831e-03 4.00768804e+00] [ 5.35460164e-02 -1.16414166e-03 9.98564704e-01 2.02718739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:4.01, Z:2.03 [[ 9.95217255e-01 -8.17797016e-02 -5.34293558e-02 4.03321078e+01] [ 8.16977634e-02 9.96650210e-01 -3.71954584e-03 4.00568539e+00] [ 5.35545620e-02 -6.63302670e-04 9.98564704e-01 2.02827861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:4.01, Z:2.03 [[ 9.95448250e-01 -7.89179812e-02 -5.34296999e-02 4.03944116e+01] [ 7.88321891e-02 9.96880980e-01 -3.71459514e-03 4.01042341e+00] [ 5.35562000e-02 -5.14292978e-04 9.98564704e-01 2.03028417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.46, Y:4.02, Z:2.03 [[ 9.95306507e-01 -8.06857901e-02 -5.34299581e-02 4.04561019e+01] [ 8.06027422e-02 9.96739398e-01 -3.71087769e-03 4.01929002e+00] [ 5.35551594e-02 -6.13140436e-04 9.98564704e-01 2.03277683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.52, Y:4.02, Z:2.03 [[ 9.95348716e-01 -8.01632304e-02 -5.34302369e-02 4.05186370e+01] [ 8.00796459e-02 9.96781576e-01 -3.70685956e-03 4.01976384e+00] [ 5.35554296e-02 -5.89056548e-04 9.98564704e-01 2.03480500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.58, Y:4.01, Z:2.04 [[ 9.95607827e-01 -7.68780527e-02 -5.34305130e-02 4.05801900e+01] [ 7.67899539e-02 9.97040416e-01 -3.70287615e-03 4.01458928e+00] [ 5.35570508e-02 -4.16314149e-04 9.98564704e-01 2.03720313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:4.02, Z:2.04 [[ 9.95258181e-01 -8.12792250e-02 -5.34307166e-02 4.06421473e+01] [ 8.11976188e-02 9.96691154e-01 -3.69993564e-03 4.01642373e+00] [ 5.35546505e-02 -6.56055750e-04 9.98564704e-01 2.04021017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:4.02, Z:2.05 [[ 9.94901054e-01 -8.55395872e-02 -5.34309926e-02 4.07036063e+01] [ 8.54643311e-02 9.96334376e-01 -3.69594477e-03 4.01901593e+00] [ 5.35512843e-02 -8.89344695e-04 9.98564704e-01 2.04705959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:4.02, Z:2.05 [[ 9.94370931e-01 -9.14961810e-02 -5.34312668e-02 4.07658233e+01] [ 9.14297232e-02 9.95804687e-01 -3.69197650e-03 4.01751853e+00] [ 5.35449077e-02 -1.21401182e-03 9.98564704e-01 2.04894655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:4.02, Z:2.05 [[ 9.93646865e-01 -9.90503480e-02 -5.34316039e-02 4.08291468e+01] [ 9.89950504e-02 9.95081095e-01 -3.68709198e-03 4.01833262e+00] [ 5.35339867e-02 -1.62579693e-03 9.98564704e-01 2.04522143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:4.03, Z:2.05 [[ 9.93056338e-01 -1.04805195e-01 -5.34320182e-02 4.08902716e+01] [ 1.04758530e-01 9.94490875e-01 -3.68107879e-03 4.02678137e+00] [ 5.35234507e-02 -1.94194108e-03 9.98564705e-01 2.05347517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:4.02, Z:2.05 [[ 9.92581366e-01 -1.09211786e-01 -5.34323583e-02 4.09542287e+01] [ 1.09171755e-01 9.94016104e-01 -3.67613484e-03 4.02449490e+00] [ 5.35141019e-02 -2.18444137e-03 9.98564705e-01 2.05317353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.02, Y:4.03, Z:2.06 [[ 9.92334452e-01 -1.11432820e-01 -5.34327749e-02 4.10151940e+01] [ 1.11396325e-01 9.93769284e-01 -3.67006950e-03 4.02904566e+00] [ 5.35088167e-02 -2.31027838e-03 9.98564705e-01 2.06310344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:4.04, Z:2.06 [[ 9.92033949e-01 -1.14076928e-01 -5.34331147e-02 4.10780543e+01] [ 1.14044524e-01 9.93468879e-01 -3.66511575e-03 4.03718440e+00] [ 5.35022417e-02 -2.45783488e-03 9.98564705e-01 2.05976026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:4.04, Z:2.06 [[ 9.91967706e-01 -1.14651333e-01 -5.34335283e-02 4.11407530e+01] [ 1.14620084e-01 9.93402661e-01 -3.65907573e-03 4.04086064e+00] [ 5.35005272e-02 -2.49487056e-03 9.98564705e-01 2.06247824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:4.05, Z:2.06 [[ 9.92440667e-01 -1.10482294e-01 -5.34339412e-02 4.12013779e+01] [ 1.10445340e-01 9.93875486e-01 -3.65303640e-03 4.04868811e+00] [ 5.35102801e-02 -2.27610794e-03 9.98564705e-01 2.06458931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:4.06, Z:2.07 [[ 9.93260295e-01 -1.02852841e-01 -5.34348134e-02 4.12633547e+01] [ 1.02805551e-01 9.94694811e-01 -3.64023424e-03 4.05578860e+00] [ 5.35257400e-02 -1.87769531e-03 9.98564705e-01 2.07041477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:4.06, Z:2.08 [[ 9.94166437e-01 -9.36898457e-02 -5.34350770e-02 4.13254343e+01] [ 9.36295386e-02 9.95600465e-01 -3.63636023e-03 4.05660267e+00] [ 5.35406775e-02 -1.38795431e-03 9.98564705e-01 2.07678050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:4.07, Z:2.08 [[ 9.94863264e-01 -8.59752479e-02 -5.34354025e-02 4.13876994e+01] [ 8.59040759e-02 9.96296794e-01 -3.63157091e-03 4.07218697e+00] [ 5.35497454e-02 -9.77402387e-04 9.98564705e-01 2.08227656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:4.07, Z:2.08 [[ 9.95441310e-01 -7.90013583e-02 -5.34357975e-02 4.14507785e+01] [ 7.89204547e-02 9.96874323e-01 -3.62574889e-03 4.07375326e+00] [ 5.35552136e-02 -6.07957215e-04 9.98564705e-01 2.08076204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:4.08, Z:2.09 [[ 9.95728913e-01 -7.52894731e-02 -5.34362049e-02 4.15123103e+01] [ 7.52035500e-02 9.97161634e-01 -3.61973523e-03 4.08177873e+00] [ 5.35570613e-02 -4.14317280e-04 9.98564705e-01 2.08580820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:4.09, Z:2.09 [[ 9.95614354e-01 -7.67893327e-02 -5.34364736e-02 4.15740919e+01] [ 7.67057810e-02 9.97047215e-01 -3.61576440e-03 4.09037352e+00] [ 5.35563393e-02 -4.98979504e-04 9.98564705e-01 2.09175103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.64, Y:4.09, Z:2.09 [[ 9.95310802e-01 -8.06282969e-02 -5.34367438e-02 4.16363015e+01] [ 8.05504862e-02 9.96743986e-01 -3.61176696e-03 4.09418642e+00] [ 5.35539636e-02 -7.09525021e-04 9.98564705e-01 2.09277833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.70, Y:4.10, Z:2.10 [[ 9.94691490e-01 -8.79393333e-02 -5.34370127e-02 4.16992669e+01] [ 8.78722692e-02 9.96125217e-01 -3.60778307e-03 4.10042395e+00] [ 5.35472219e-02 -1.10700045e-03 9.98564705e-01 2.09604895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:4.11, Z:2.10 [[ 9.94024062e-01 -9.51872188e-02 -5.34374165e-02 4.17597310e+01] [ 9.51309286e-02 9.95458253e-01 -3.60179237e-03 4.10645369e+00] [ 5.35375619e-02 -1.50328277e-03 9.98564705e-01 2.09837241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:4.11, Z:2.10 [[ 9.93470343e-01 -1.00802276e-01 -5.34376146e-02 4.18217485e+01] [ 1.00754248e-01 9.94904835e-01 -3.59885148e-03 4.11400413e+00] [ 5.35281135e-02 -1.80871446e-03 9.98564705e-01 2.10385154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:4.12, Z:2.11 [[ 9.93421061e-01 -1.01286587e-01 -5.34380212e-02 4.18838990e+01] [ 1.01239584e-01 9.94855587e-01 -3.59280299e-03 4.11664832e+00] [ 5.35270167e-02 -1.84087686e-03 9.98564705e-01 2.10947117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.95, Y:4.12, Z:2.11 [[ 9.93236009e-01 -1.03085100e-01 -5.34386830e-02 4.19461089e+01] [ 1.03041224e-01 9.94670633e-01 -3.58293313e-03 4.11898761e+00] [ 5.35232357e-02 -1.94768912e-03 9.98564705e-01 2.11153458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.01, Y:4.12, Z:2.11 [[ 9.93152302e-01 -1.03888141e-01 -5.34392956e-02 4.20088636e+01] [ 1.03845918e-01 9.94586976e-01 -3.57377302e-03 4.12309072e+00] [ 5.35213000e-02 -2.00015179e-03 9.98564705e-01 2.11487772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:4.13, Z:2.12 [[ 9.93285530e-01 -1.02606320e-01 -5.34396728e-02 4.20718317e+01] [ 1.02562549e-01 9.94720158e-01 -3.56812278e-03 4.12848244e+00] [ 5.35236317e-02 -1.93674431e-03 9.98564705e-01 2.11839963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:4.13, Z:2.12 [[ 9.93319150e-01 -1.02280142e-01 -5.34400445e-02 4.21351567e+01] [ 1.02236199e-01 9.94753772e-01 -3.56254744e-03 4.13130259e+00] [ 5.35240637e-02 -1.92476044e-03 9.98564705e-01 2.11546879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.20, Y:4.14, Z:2.12 [[ 9.93273192e-01 -1.02725289e-01 -5.34404448e-02 4.21983316e+01] [ 1.02682312e-01 9.94707843e-01 -3.55653258e-03 4.13625589e+00] [ 5.35229755e-02 -1.95477997e-03 9.98564705e-01 2.11859856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:4.14, Z:2.12 [[ 9.93043039e-01 -1.04926639e-01 -5.34408421e-02 4.22592707e+01] [ 1.04887164e-01 9.94477791e-01 -3.55055262e-03 4.13948368e+00] [ 5.35182782e-02 -2.07940680e-03 9.98564705e-01 2.12327109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:4.15, Z:2.13 [[ 9.93199594e-01 -1.03433810e-01 -5.34416757e-02 4.23198318e+01] [ 1.03392854e-01 9.94634305e-01 -3.53796126e-03 4.14647079e+00] [ 5.35208688e-02 -2.01158570e-03 9.98564705e-01 2.13136858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:4.15, Z:2.14 [[ 9.93326533e-01 -1.02207466e-01 -5.34418539e-02 4.23822721e+01] [ 1.02164884e-01 9.94761197e-01 -3.53526671e-03 4.15205811e+00] [ 5.35232132e-02 -1.94820659e-03 9.98564705e-01 2.13727546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.45, Y:4.15, Z:2.13 [[ 9.94046126e-01 -9.49538281e-02 -5.34422119e-02 4.24463502e+01] [ 9.49010658e-02 9.95480451e-01 -3.52984652e-03 4.15074196e+00] [ 5.35358497e-02 -1.56289261e-03 9.98564705e-01 2.13309835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:42.51, Y:4.15, Z:2.13 [[ 9.94193905e-01 -9.33936122e-02 -5.34426065e-02 4.25086629e+01] [ 9.33389203e-02 9.95628158e-01 -3.52386305e-03 4.15116894e+00] [ 5.35380701e-02 -1.48487202e-03 9.98564705e-01 2.13124041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.57, Y:4.16, Z:2.14 [[ 9.94337762e-01 -9.18491903e-02 -5.34428731e-02 4.25691765e+01] [ 9.17924880e-02 9.95771937e-01 -3.51981495e-03 4.15672300e+00] [ 5.35402054e-02 -1.40576937e-03 9.98564705e-01 2.13693100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.63, Y:4.17, Z:2.15 [[ 9.93836412e-01 -9.71237608e-02 -5.34430702e-02 4.26287184e+01] [ 9.70748298e-02 9.95270872e-01 -3.51681925e-03 4.16894494e+00] [ 5.35318978e-02 -1.69283392e-03 9.98564705e-01 2.15434270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.69, Y:4.16, Z:2.14 [[ 9.94345257e-01 -9.17677957e-02 -5.34432622e-02 4.26923526e+01] [ 9.17112936e-02 9.95779439e-01 -3.51390006e-03 4.16473361e+00] [ 5.35401645e-02 -1.40732086e-03 9.98564705e-01 2.14383273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:4.17, Z:2.15 [[ 9.94295926e-01 -9.23005982e-02 -5.34435246e-02 4.27539907e+01] [ 9.22450793e-02 9.95730147e-01 -3.50990386e-03 4.17208175e+00] [ 5.35392949e-02 -1.44001906e-03 9.98564705e-01 2.14850482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.81, Y:4.18, Z:2.16 [[ 9.93701590e-01 -9.84929981e-02 -5.34441648e-02 4.28140306e+01] [ 9.84469402e-02 9.95136146e-01 -3.50012939e-03 4.18315984e+00] [ 5.35289584e-02 -1.78333035e-03 9.98564705e-01 2.16221224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.88, Y:4.19, Z:2.16 [[ 9.93400215e-01 -1.01487364e-01 -5.34446270e-02 4.28765619e+01] [ 1.01446010e-01 9.94834914e-01 -3.49305646e-03 4.18723492e+00] [ 5.35230820e-02 -1.95174110e-03 9.98564705e-01 2.16477820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:4.19, Z:2.16 [[ 9.93930125e-01 -9.61589563e-02 -5.34449329e-02 4.29393105e+01] [ 9.61101610e-02 9.95364591e-01 -3.48837115e-03 4.18618824e+00] [ 5.35326318e-02 -1.66940393e-03 9.98564705e-01 2.16061926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:4.19, Z:2.17 [[ 9.93986418e-01 -9.55751679e-02 -5.34451945e-02 4.30014072e+01] [ 9.55257457e-02 9.95420861e-01 -3.48435812e-03 4.18841913e+00] [ 5.35334796e-02 -1.64198742e-03 9.98564705e-01 2.16516590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:4.20, Z:2.18 [[ 9.93778324e-01 -9.77150241e-02 -5.34454558e-02 4.30619448e+01] [ 9.76689060e-02 9.95212878e-01 -3.48034506e-03 4.19820470e+00] [ 5.35296879e-02 -1.76126772e-03 9.98564705e-01 2.17837411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:4.20, Z:2.18 [[ 9.93855417e-01 -9.69273160e-02 -5.34462839e-02 4.31239224e+01] [ 9.68807465e-02 9.95289956e-01 -3.46758160e-03 4.20299059e+00] [ 5.35306529e-02 -1.73164112e-03 9.98564705e-01 2.18073203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430385723 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:4.20, Z:2.18 [[ 9.94108266e-01 -9.42985839e-02 -5.34465320e-02 4.31867245e+01] [ 9.42484264e-02 9.95542684e-01 -3.46375319e-03 4.20497645e+00] [ 5.35349310e-02 -1.59390586e-03 9.98564705e-01 2.18022016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:4.21, Z:2.18 [[ 9.94504713e-01 -9.00210873e-02 -5.34469723e-02 4.32487788e+01] [ 8.99651251e-02 9.95938917e-01 -3.45694553e-03 4.20747502e+00] [ 5.35411177e-02 -1.37041493e-03 9.98564705e-01 2.17533323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:4.22, Z:2.19 [[ 9.94702055e-01 -8.78134866e-02 -5.34472894e-02 4.33086654e+01] [ 8.77546048e-02 9.96136142e-01 -3.45203686e-03 4.21631302e+00] [ 5.35439120e-02 -1.25649759e-03 9.98564705e-01 2.18861137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:4.22, Z:2.19 [[ 9.95095297e-01 -8.32387193e-02 -5.34477878e-02 4.33710385e+01] [ 8.31736591e-02 9.96529116e-01 -3.44430285e-03 4.22020963e+00] [ 5.35489761e-02 -1.01803851e-03 9.98564705e-01 2.19183156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:4.23, Z:2.20 [[ 9.95312501e-01 -8.05998360e-02 -5.34480261e-02 4.34337372e+01] [ 8.05311729e-02 9.96746152e-01 -3.44060078e-03 4.22535065e+00] [ 5.35514262e-02 -8.79759266e-04 9.98564705e-01 2.19623231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730385723 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:4.23, Z:2.20 [[ 9.95392543e-01 -7.96049945e-02 -5.34483806e-02 4.34943605e+01] [ 7.95351946e-02 9.96826140e-01 -3.43508534e-03 4.22828509e+00] [ 5.35521928e-02 -8.31769020e-04 9.98564705e-01 2.19960511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:4.23, Z:2.20 [[ 9.95424640e-01 -7.92024542e-02 -5.34486446e-02 4.35562585e+01] [ 7.91322953e-02 9.96858219e-01 -3.43097142e-03 4.23014128e+00] [ 5.35524621e-02 -8.14240446e-04 9.98564705e-01 2.19542847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:4.23, Z:2.20 [[ 9.95125070e-01 -8.28813852e-02 -5.34487759e-02 4.36179936e+01] [ 8.28166358e-02 9.96558903e-01 -3.42892507e-03 4.23482402e+00] [ 5.35490476e-02 -1.01423851e-03 9.98564705e-01 2.20324925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:4.24, Z:2.21 [[ 9.94525874e-01 -8.97858034e-02 -5.34490023e-02 4.36807716e+01] [ 8.97311964e-02 9.95960129e-01 -3.42539236e-03 4.23914723e+00] [ 5.35406269e-02 -1.38940160e-03 9.98564705e-01 2.20852081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:4.24, Z:2.21 [[ 9.94085081e-01 -9.45410752e-02 -5.34493883e-02 4.37423097e+01] [ 9.44936522e-02 9.95519592e-01 -3.41935922e-03 4.24140858e+00] [ 5.35331831e-02 -1.65149392e-03 9.98564705e-01 2.21131251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030385722999995 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:4.24, Z:2.21 [[ 9.93762503e-01 -9.78734752e-02 -5.34497048e-02 4.38049690e+01] [ 9.78311283e-02 9.95197173e-01 -3.41440393e-03 4.23928362e+00] [ 5.35271747e-02 -1.83593834e-03 9.98564705e-01 2.21409896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:4.25, Z:2.22 [[ 9.92966476e-01 -1.05644070e-01 -5.34500463e-02 4.38672736e+01] [ 1.05613235e-01 9.94401440e-01 -3.40904995e-03 4.24909874e+00] [ 5.35109489e-02 -2.25995996e-03 9.98564705e-01 2.21627807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:4.26, Z:2.22 [[ 9.93038306e-01 -1.04966521e-01 -5.34504707e-02 4.39297188e+01] [ 1.04935064e-01 9.94473256e-01 -3.40238312e-03 4.25540778e+00] [ 5.35121999e-02 -2.23013180e-03 9.98564705e-01 2.22198859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:4.25, Z:2.22 [[ 9.93540718e-01 -1.00099199e-01 -5.34508328e-02 4.39927684e+01] [ 1.00061018e-01 9.94975505e-01 -3.39668510e-03 4.25213828e+00] [ 5.35222748e-02 -1.97359978e-03 9.98564705e-01 2.22486641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270385723 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:4.25, Z:2.23 [[ 9.93846146e-01 -9.70195901e-02 -5.34512511e-02 4.40560527e+01] [ 9.69773166e-02 9.95280818e-01 -3.39009033e-03 4.25333283e+00] [ 5.35279101e-02 -1.81433069e-03 9.98564705e-01 2.22527097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:4.27, Z:2.23 [[ 9.93746995e-01 -9.80297406e-02 -5.34516664e-02 4.41179887e+01] [ 9.79892779e-02 9.95181719e-01 -3.38352967e-03 4.26513425e+00] [ 5.35258077e-02 -1.87531775e-03 9.98564706e-01 2.22684346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390385722999994 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:4.27, Z:2.23 [[ 9.94122409e-01 -9.41460656e-02 -5.34523542e-02 4.41803385e+01] [ 9.41005828e-02 9.95556983e-01 -3.37262814e-03 4.26838638e+00] [ 5.35323841e-02 -1.67709248e-03 9.98564706e-01 2.23112805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:4.27, Z:2.23 [[ 9.93960084e-01 -9.58444611e-02 -5.34527043e-02 4.42429421e+01] [ 9.58017281e-02 9.95394742e-01 -3.36707001e-03 4.26745634e+00] [ 5.35292558e-02 -1.77412825e-03 9.98564706e-01 2.23193337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510385723 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:44.30, Y:4.27, Z:2.23 [[ 9.93974174e-01 -9.56980628e-02 -5.34529929e-02 4.43046286e+01] [ 9.56553649e-02 9.95408833e-01 -3.36248287e-03 4.26985393e+00] [ 5.35293644e-02 -1.77084441e-03 9.98564706e-01 2.23397786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:4.28, Z:2.24 [[ 9.94078339e-01 -9.46096987e-02 -5.34533460e-02 4.43658352e+01] [ 9.45657320e-02 9.95512960e-01 -3.35685949e-03 4.27875024e+00] [ 5.35310902e-02 -1.71787348e-03 9.98564706e-01 2.24239465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630385722999996 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:4.28, Z:2.24 [[ 9.94378024e-01 -9.14059884e-02 -5.34536320e-02 4.44279612e+01] [ 9.13576441e-02 9.95812504e-01 -3.35229926e-03 4.28472324e+00] [ 5.35362154e-02 -1.54994518e-03 9.98564706e-01 2.24370839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690385723 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:4.28, Z:2.24 [[ 9.94365798e-01 -9.15386949e-02 -5.34539769e-02 4.44905549e+01] [ 9.14908379e-02 9.95800294e-01 -3.34679076e-03 4.28235330e+00] [ 5.35358468e-02 -1.56261488e-03 9.98564706e-01 2.24473657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750385722999994 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:4.29, Z:2.26 [[ 9.94611433e-01 -8.88297932e-02 -5.34543277e-02 4.45516988e+01] [ 8.87783303e-02 9.96045804e-01 -3.34117905e-03 4.28908914e+00] [ 5.35397550e-02 -1.42241108e-03 9.98564706e-01 2.25802309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:4.29, Z:2.26 [[ 9.94469896e-01 -9.04003885e-02 -5.34546097e-02 4.46139669e+01] [ 9.03514335e-02 9.95904355e-01 -3.33666059e-03 4.29493625e+00] [ 5.35373140e-02 -1.51149211e-03 9.98564706e-01 2.26255839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:4.29, Z:2.25 [[ 9.94220661e-01 -9.31012923e-02 -5.34549033e-02 4.46772642e+01] [ 9.30564869e-02 9.95655256e-01 -3.33194992e-03 4.29410669e+00] [ 5.35328643e-02 -1.66163206e-03 9.98564706e-01 2.25334021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:4.30, Z:2.26 [[ 9.93879427e-01 -9.66759103e-02 -5.34551541e-02 4.47379686e+01] [ 9.66364804e-02 9.95314179e-01 -3.32792284e-03 4.29853552e+00] [ 5.35264028e-02 -1.85816390e-03 9.98564706e-01 2.25789207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990385722999996 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:4.30, Z:2.27 [[ 9.94266169e-01 -9.26137792e-02 -5.34553398e-02 4.48006326e+01] [ 9.25686471e-02 9.95700753e-01 -3.32493627e-03 4.29917046e+00] [ 5.35334570e-02 -1.64241684e-03 9.98564706e-01 2.26502031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:4.31, Z:2.27 [[ 9.94421132e-01 -9.09345618e-02 -5.34557465e-02 4.48615778e+01] [ 9.08873589e-02 9.95855650e-01 -3.31838533e-03 4.31310975e+00] [ 5.35359631e-02 -1.55857912e-03 9.98564706e-01 2.27001746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.92, Y:4.32, Z:2.27 [[ 9.94332457e-01 -9.18989563e-02 -5.34560259e-02 4.49234235e+01] [ 9.18533868e-02 9.95767028e-01 -3.31387847e-03 4.31602511e+00] [ 5.35342900e-02 -1.61502010e-03 9.98564706e-01 2.26935398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.98, Y:4.32, Z:2.28 [[ 9.94305522e-01 -9.21897768e-02 -5.34562757e-02 4.49849406e+01] [ 9.21448436e-02 9.95740113e-01 -3.30984326e-03 4.31678543e+00] [ 5.35336917e-02 -1.63472473e-03 9.98564706e-01 2.27537336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.05, Y:4.33, Z:2.28 [[ 9.94400926e-01 -9.11546815e-02 -5.34567424e-02 4.50466440e+01] [ 9.11086607e-02 9.95835482e-01 -3.30228921e-03 4.32754707e+00] [ 5.35351399e-02 -1.58657276e-03 9.98564706e-01 2.27597378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:4.33, Z:2.28 [[ 9.94682450e-01 -8.80294014e-02 -5.34569816e-02 4.51082064e+01] [ 8.79790811e-02 9.96116862e-01 -3.29841196e-03 4.33229090e+00] [ 5.35397580e-02 -1.42222363e-03 9.98564706e-01 2.28059901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.17, Y:4.33, Z:2.28 [[ 9.94749778e-01 -8.72651348e-02 -5.34572308e-02 4.51692736e+01] [ 8.72139296e-02 9.96184158e-01 -3.29436861e-03 4.33306275e+00] [ 5.35407300e-02 -1.38514272e-03 9.98564706e-01 2.28095620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.23, Y:4.34, Z:2.28 [[ 9.94758650e-01 -8.71638315e-02 -5.34574141e-02 4.52325770e+01] [ 8.71126401e-02 9.96193031e-01 -3.29139202e-03 4.33638512e+00] [ 5.35407937e-02 -1.38267579e-03 9.98564706e-01 2.28123602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.29, Y:4.34, Z:2.29 [[ 9.94633331e-01 -8.85821963e-02 -5.34577616e-02 4.52939790e+01] [ 8.85333539e-02 9.96067793e-01 -3.28573691e-03 4.34211557e+00] [ 5.35386125e-02 -1.46469149e-03 9.98564706e-01 2.29097679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:4.34, Z:2.29 [[ 9.94801244e-01 -8.66759946e-02 -5.34579916e-02 4.53574365e+01] [ 8.66246046e-02 9.96235618e-01 -3.28199112e-03 4.34237319e+00] [ 5.35412252e-02 -1.36584853e-03 9.98564706e-01 2.29212854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:4.35, Z:2.30 [[ 9.94802905e-01 -8.66567113e-02 -5.34583395e-02 4.54193453e+01] [ 8.66055982e-02 9.96237289e-01 -3.27631537e-03 4.34944767e+00] [ 5.35411059e-02 -1.37050342e-03 9.98564706e-01 2.30011865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:4.35, Z:2.30 [[ 9.94898137e-01 -8.55562161e-02 -5.34586822e-02 4.54812312e+01] [ 8.55038172e-02 9.96332474e-01 -3.27071354e-03 4.35265610e+00] [ 5.35424510e-02 -1.31689459e-03 9.98564706e-01 2.29780230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:4.35, Z:2.30 [[ 9.94954901e-01 -8.48933928e-02 -5.34589274e-02 4.55424300e+01] [ 8.48402538e-02 9.96389211e-01 -3.26670123e-03 4.35313172e+00] [ 5.35432198e-02 -1.28524857e-03 9.98564706e-01 2.30496016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:4.36, Z:2.31 [[ 9.95266429e-01 -8.11594632e-02 -5.34591077e-02 4.56044712e+01] [ 8.11011012e-02 9.96700536e-01 -3.26374802e-03 4.35841422e+00] [ 5.35476053e-02 -1.08729366e-03 9.98564706e-01 2.30729676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.67, Y:4.37, Z:2.32 [[ 9.95189107e-01 -8.21020029e-02 -5.34593528e-02 4.56658968e+01] [ 8.20452150e-02 9.96623277e-01 -3.25972771e-03 4.36737241e+00] [ 5.35464656e-02 -1.14203859e-03 9.98564706e-01 2.31910314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.73, Y:4.37, Z:2.31 [[ 9.95155870e-01 -8.25037378e-02 -5.34595981e-02 4.57276872e+01] [ 8.24477451e-02 9.96590071e-01 -3.25569983e-03 4.36533728e+00] [ 5.35459121e-02 -1.16769453e-03 9.98564706e-01 2.31322811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.79, Y:4.37, Z:2.31 [[ 9.95055312e-01 -8.37075296e-02 -5.34600362e-02 4.57900717e+01] [ 8.36536590e-02 9.96489595e-01 -3.24849079e-03 4.37115807e+00] [ 5.35442929e-02 -1.23969962e-03 9.98564706e-01 2.31407012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:4.37, Z:2.32 [[ 9.94835748e-01 -8.62776499e-02 -5.34602779e-02 4.58527372e+01] [ 8.62276984e-02 9.96270173e-01 -3.24450863e-03 4.37394514e+00] [ 5.35408088e-02 -1.38200354e-03 9.98564706e-01 2.31507867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.91, Y:4.38, Z:2.32 [[ 9.94633284e-01 -8.85810515e-02 -5.34605192e-02 4.59143316e+01] [ 8.85346355e-02 9.96067828e-01 -3.24052691e-03 4.37649908e+00] [ 5.35373525e-02 -1.50997166e-03 9.98564706e-01 2.32048533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:4.38, Z:2.32 [[ 9.94480303e-01 -9.02821946e-02 -5.34607615e-02 4.59764438e+01] [ 9.02384474e-02 9.95914930e-01 -3.23652417e-03 4.38398492e+00] [ 5.35345711e-02 -1.60555658e-03 9.98564706e-01 2.32310001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:4.39, Z:2.33 [[ 9.94400703e-01 -9.11546103e-02 -5.34610029e-02 4.60384395e+01] [ 9.11123361e-02 9.95835374e-01 -3.23253281e-03 4.38675039e+00] [ 5.35330181e-02 -1.65652396e-03 9.98564706e-01 2.32553523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.10, Y:4.39, Z:2.33 [[ 9.94109691e-01 -9.42752190e-02 -5.34612464e-02 4.61004781e+01] [ 9.42376644e-02 9.95544494e-01 -3.22850079e-03 4.39030992e+00] [ 5.35274171e-02 -1.82857907e-03 9.98564706e-01 2.33036561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.16, Y:4.39, Z:2.33 [[ 9.94192472e-01 -9.33980629e-02 -5.34614896e-02 4.61615686e+01] [ 9.33594591e-02 9.95627247e-01 -3.22446743e-03 4.39402929e+00] [ 5.35288747e-02 -1.78539451e-03 9.98564706e-01 2.33198510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:4.40, Z:2.34 [[ 9.94256090e-01 -9.27182687e-02 -5.34616684e-02 4.62232751e+01] [ 9.26788432e-02 9.95690843e-01 -3.22150030e-03 4.39750934e+00] [ 5.35299856e-02 -1.75176929e-03 9.98564706e-01 2.33878944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.28, Y:4.40, Z:2.34 [[ 9.94089091e-01 -9.44918190e-02 -5.34619121e-02 4.62844648e+01] [ 9.44551706e-02 9.95523917e-01 -3.21745122e-03 4.39840529e+00] [ 5.35266350e-02 -1.85132088e-03 9.98564706e-01 2.34076972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.35, Y:4.40, Z:2.34 [[ 9.93992913e-01 -9.54979819e-02 -5.34623689e-02 4.63474361e+01] [ 9.54631945e-02 9.95427785e-01 -3.20984327e-03 4.40052437e+00] [ 5.35244610e-02 -1.91312706e-03 9.98564706e-01 2.34306244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.41, Y:4.40, Z:2.35 [[ 9.93757236e-01 -9.79198290e-02 -5.34627199e-02 4.64093738e+01] [ 9.78888528e-02 9.95192196e-01 -3.20398587e-03 4.40216296e+00] [ 5.35194154e-02 -2.04942018e-03 9.98564706e-01 2.35046861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.47, Y:4.41, Z:2.35 [[ 9.93921080e-01 -9.62424003e-02 -5.34629600e-02 4.64709292e+01] [ 9.62092177e-02 9.95355990e-01 -3.19997502e-03 4.40785360e+00] [ 5.35226507e-02 -1.96310693e-03 9.98564706e-01 2.35139910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670385722999995 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:46.53, Y:4.41, Z:2.36 [[ 9.94306471e-01 -9.21755018e-02 -5.34632525e-02 4.65329557e+01] [ 9.21367122e-02 9.95741240e-01 -3.19508078e-03 4.41325413e+00] [ 5.35300735e-02 -1.74903881e-03 9.98564706e-01 2.36339824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:4.42, Z:2.36 [[ 9.94846590e-01 -8.61504740e-02 -5.34636122e-02 4.65956783e+01] [ 8.61033174e-02 9.96281109e-01 -3.18904941e-03 4.41653190e+00] [ 5.35395250e-02 -1.43077944e-03 9.98564706e-01 2.36399003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:4.42, Z:2.37 [[ 9.95727596e-01 -7.52871673e-02 -5.34639703e-02 4.66578013e+01] [ 7.52246793e-02 9.97161529e-01 -3.18303525e-03 4.41911386e+00] [ 5.35518561e-02 -8.52373985e-04 9.98564706e-01 2.36747396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:4.43, Z:2.37 [[ 9.96117993e-01 -6.99322333e-02 -5.34642635e-02 4.67201209e+01] [ 6.98623010e-02 9.97551582e-01 -3.17810227e-03 4.42553432e+00] [ 5.35556125e-02 -5.69371619e-04 9.98564706e-01 2.37055918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:4.43, Z:2.37 [[ 9.96613990e-01 -6.24668107e-02 -5.34645012e-02 4.67824739e+01] [ 6.23863539e-02 9.98047027e-01 -3.17409925e-03 4.42888312e+00] [ 5.35583623e-02 -1.72103572e-04 9.98564706e-01 2.37374649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:4.43, Z:2.37 [[ 9.96797705e-01 -5.94630827e-02 -5.34647367e-02 4.68430422e+01] [ 5.93785206e-02 9.98230505e-01 -3.17012805e-03 4.42991365e+00] [ 5.35586367e-02 -1.46806072e-05 9.98564706e-01 2.37400250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:4.43, Z:2.37 [[ 9.96843584e-01 -5.86888739e-02 -5.34647943e-02 4.69037969e+01] [ 5.86032512e-02 9.98276322e-01 -3.16915491e-03 4.42515033e+00] [ 5.35586324e-02 2.59409656e-05 9.98564706e-01 2.36569853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:4.43, Z:2.38 [[ 9.96340411e-01 -6.66881744e-02 -5.34646848e-02 4.69620836e+01] [ 6.66139552e-02 9.97773785e-01 -3.17100211e-03 4.43400861e+00] [ 5.35571292e-02 -4.02096574e-04 9.98564706e-01 2.38029967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:4.43, Z:2.39 [[ 9.95896040e-01 -7.30247253e-02 -5.34646312e-02 4.70246486e+01] [ 7.29595771e-02 9.97329855e-01 -3.17190474e-03 4.43450799e+00] [ 5.35535004e-02 -7.41869515e-04 9.98564706e-01 2.38547500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:4.43, Z:2.38 [[ 9.95135700e-01 -8.27432634e-02 -5.34648561e-02 4.70865431e+01] [ 8.26923192e-02 9.96570090e-01 -3.16810931e-03 4.43126832e+00] [ 5.35436162e-02 -1.26843427e-03 9.98564706e-01 2.38484896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:4.44, Z:2.39 [[ 9.94500491e-01 -9.00570138e-02 -5.34650219e-02 4.71482767e+01] [ 9.00167666e-02 9.95935220e-01 -3.16530918e-03 4.43629206e+00] [ 5.35327567e-02 -1.66484686e-03 9.98564706e-01 2.38836121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:4.44, Z:2.39 [[ 9.94031932e-01 -9.50893520e-02 -5.34652584e-02 4.72101867e+01] [ 9.50565818e-02 9.95466851e-01 -3.16131006e-03 4.43802391e+00] [ 5.35234993e-02 -1.93978156e-03 9.98564706e-01 2.39366336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.27, Y:4.44, Z:2.40 [[ 9.93982989e-01 -9.55994721e-02 -5.34654960e-02 4.72717728e+01] [ 9.55676544e-02 9.95417930e-01 -3.15728575e-03 4.44050299e+00] [ 5.35223482e-02 -1.97128372e-03 9.98564706e-01 2.39795611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:47.33, Y:4.44, Z:2.40 [[ 9.93754110e-01 -9.79498797e-02 -5.34657895e-02 4.73339327e+01] [ 9.79217230e-02 9.95189127e-01 -3.15230784e-03 4.44423845e+00] [ 5.35173406e-02 -2.10284336e-03 9.98564706e-01 2.40058125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:4.44, Z:2.40 [[ 9.93685848e-01 -9.86398482e-02 -5.34660271e-02 4.73978929e+01] [ 9.86129046e-02 9.95120889e-01 -3.14827368e-03 4.44078419e+00] [ 5.35157056e-02 -2.14404523e-03 9.98564706e-01 2.39699690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:4.45, Z:2.40 [[ 9.93761464e-01 -9.78749162e-02 -5.34663843e-02 4.74584559e+01] [ 9.78471945e-02 9.95196490e-01 -3.14219500e-03 4.44719012e+00] [ 5.35171000e-02 -2.10894340e-03 9.98564706e-01 2.40359022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:4.45, Z:2.41 [[ 9.94120416e-01 -9.41590062e-02 -5.34666182e-02 4.75196592e+01] [ 9.41261339e-02 9.95555334e-01 -3.13821064e-03 4.45376232e+00] [ 5.35244677e-02 -1.91284679e-03 9.98564706e-01 2.41051651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.58, Y:4.45, Z:2.41 [[ 9.94809258e-01 -8.65784987e-02 -5.34668517e-02 4.75806849e+01] [ 8.65349034e-02 9.96243889e-01 -3.13422626e-03 4.44895300e+00] [ 5.35373809e-02 -1.50879155e-03 9.98564706e-01 2.41483865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:4.46, Z:2.41 [[ 9.94904062e-01 -8.54820719e-02 -5.34670214e-02 4.76434388e+01] [ 8.54370511e-02 9.96338650e-01 -3.13132990e-03 4.45763248e+00] [ 5.35389324e-02 -1.45269179e-03 9.98564706e-01 2.41331877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.71, Y:4.46, Z:2.42 [[ 9.95281602e-01 -8.09676887e-02 -5.34674376e-02 4.77052344e+01] [ 8.09165426e-02 9.96715984e-01 -3.12420718e-03 4.45518641e+00] [ 5.35448095e-02 -1.21693426e-03 9.98564706e-01 2.41737550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.77, Y:4.46, Z:2.42 [[ 9.95241565e-01 -8.14581796e-02 -5.34676746e-02 4.77664863e+01] [ 8.14079585e-02 9.96675980e-01 -3.12014593e-03 4.46422724e+00] [ 5.35441083e-02 -1.24739531e-03 9.98564706e-01 2.41947056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.83, Y:4.47, Z:2.42 [[ 9.95290525e-01 -8.08576040e-02 -5.34679191e-02 4.78289260e+01] [ 8.08067427e-02 9.96724918e-01 -3.11594904e-03 4.46512086e+00] [ 5.35447555e-02 -1.21929383e-03 9.98564706e-01 2.42222240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.89, Y:4.47, Z:2.43 [[ 9.95033419e-01 -8.39621887e-02 -5.34681697e-02 4.78910550e+01] [ 8.39160336e-02 9.96467971e-01 -3.11164403e-03 4.46837101e+00] [ 5.35405790e-02 -1.39064693e-03 9.98564706e-01 2.42652584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:4.46, Z:2.43 [[ 9.94874797e-01 -8.58210746e-02 -5.34685095e-02 4.79524012e+01] [ 8.57779140e-02 9.96309442e-01 -3.10579368e-03 4.46404113e+00] [ 5.35377234e-02 -1.49654135e-03 9.98564706e-01 2.43467876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:4.47, Z:2.44 [[ 9.94656909e-01 -8.83102835e-02 -5.34689452e-02 4.80147999e+01] [ 8.82711167e-02 9.96091668e-01 -3.09827489e-03 4.46566995e+00] [ 5.35335803e-02 -1.63804298e-03 9.98564706e-01 2.43884343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:4.47, Z:2.44 [[ 9.94516313e-01 -8.98796457e-02 -5.34691702e-02 4.80769806e+01] [ 8.98429518e-02 9.95951138e-01 -3.09438642e-03 4.47310214e+00] [ 5.35308033e-02 -1.72641030e-03 9.98564706e-01 2.43916337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:4.47, Z:2.44 [[ 9.94872065e-01 -8.58521361e-02 -5.34694739e-02 4.81397624e+01] [ 8.58099152e-02 9.96306738e-01 -3.08912938e-03 4.47179332e+00] [ 5.35372055e-02 -1.51492250e-03 9.98564706e-01 2.44111109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:4.48, Z:2.45 [[ 9.94778787e-01 -8.69261341e-02 -5.34697224e-02 4.82013419e+01] [ 8.68856933e-02 9.96213511e-01 -3.08482274e-03 4.47504308e+00] [ 5.35354116e-02 -1.57703767e-03 9.98564706e-01 2.44757149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350385722999995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:4.48, Z:2.45 [[ 9.94874397e-01 -8.58248132e-02 -5.34699465e-02 4.82638990e+01] [ 8.57829930e-02 9.96309082e-01 -3.08093379e-03 4.47553184e+00] [ 5.35370138e-02 -1.52166989e-03 9.98564706e-01 2.45132264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.33, Y:4.48, Z:2.45 [[ 9.94759291e-01 -8.71486349e-02 -5.34702647e-02 4.83265712e+01] [ 8.71090211e-02 9.96194038e-01 -3.07540018e-03 4.47730907e+00] [ 5.35347759e-02 -1.59845952e-03 9.98564706e-01 2.44995891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.39, Y:4.48, Z:2.46 [[ 9.95031337e-01 -8.39853619e-02 -5.34705223e-02 4.83882696e+01] [ 8.39414273e-02 9.96465958e-01 -3.07091595e-03 4.48036694e+00] [ 5.35394672e-02 -1.43273436e-03 9.98564706e-01 2.45505769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.45, Y:4.48, Z:2.47 [[ 9.95296359e-01 -8.07838871e-02 -5.34707510e-02 4.84487579e+01] [ 8.07355517e-02 9.96730839e-01 -3.06692780e-03 4.48059463e+00] [ 5.35437049e-02 -1.26448852e-03 9.98564706e-01 2.46539360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.51, Y:4.49, Z:2.46 [[ 9.95348369e-01 -8.01404124e-02 -5.34709182e-02 4.85106263e+01] [ 8.00913062e-02 9.96782822e-01 -3.06401081e-03 4.48673454e+00] [ 5.35444438e-02 -1.23279752e-03 9.98564706e-01 2.45875626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.57, Y:4.49, Z:2.46 [[ 9.95162222e-01 -8.24196285e-02 -5.34710836e-02 4.85724980e+01] [ 8.23739626e-02 9.96596789e-01 -3.06112066e-03 4.49112593e+00] [ 5.35414067e-02 -1.35831341e-03 9.98564706e-01 2.46271690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.63, Y:4.50, Z:2.48 [[ 9.94755208e-01 -8.71945886e-02 -5.34713026e-02 4.86329820e+01] [ 8.71560136e-02 9.96189983e-01 -3.05729047e-03 4.49646809e+00] [ 5.35341553e-02 -1.61908996e-03 9.98564706e-01 2.47697473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:4.50, Z:2.48 [[ 9.94480987e-01 -9.02682069e-02 -5.34716565e-02 4.86951599e+01] [ 9.02343990e-02 9.95915882e-01 -3.05108870e-03 4.49967291e+00] [ 5.35286883e-02 -1.79073309e-03 9.98564706e-01 2.47920044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.76, Y:4.51, Z:2.48 [[ 9.93962422e-01 -9.58095180e-02 -5.34718679e-02 4.87557463e+01] [ 9.57839072e-02 9.95397487e-01 -3.04737969e-03 4.50666445e+00] [ 5.35177309e-02 -2.09276354e-03 9.98564706e-01 2.48042854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.82, Y:4.52, Z:2.49 [[ 9.93587224e-01 -9.96250337e-02 -5.34722392e-02 4.88175583e+01] [ 9.96052835e-02 9.95022382e-01 -3.04085107e-03 4.51763919e+00] [ 5.35090197e-02 -2.30476677e-03 9.98564706e-01 2.48758589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.88, Y:4.52, Z:2.48 [[ 9.93164429e-01 -1.03755067e-01 -5.34724545e-02 4.88804144e+01] [ 1.03741487e-01 9.94599658e-01 -3.03706023e-03 4.52178351e+00] [ 5.34987953e-02 -2.53101176e-03 9.98564706e-01 2.48263709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.94, Y:4.53, Z:2.49 [[ 9.92687664e-01 -1.08221409e-01 -5.34726808e-02 4.89423039e+01] [ 1.08214500e-01 9.94122941e-01 -3.03306974e-03 4.53299434e+00] [ 5.34866618e-02 -2.77562847e-03 9.98564706e-01 2.48681341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.00, Y:4.54, Z:2.49 [[ 9.93036922e-01 -1.04968132e-01 -5.34730184e-02 4.90034659e+01] [ 1.04956840e-01 9.94472171e-01 -3.02710575e-03 4.53848849e+00] [ 5.34951784e-02 -2.60633130e-03 9.98564706e-01 2.49384444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.07, Y:4.55, Z:2.49 [[ 9.93332768e-01 -1.02130112e-01 -5.34738439e-02 4.90658320e+01] [ 1.02115506e-01 9.94767987e-01 -3.01245229e-03 4.54582927e+00] [ 5.35017302e-02 -2.46814106e-03 9.98564707e-01 2.49497447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.13, Y:4.55, Z:2.50 [[ 9.93665095e-01 -9.88443379e-02 -5.34740683e-02 4.91281238e+01] [ 9.88251999e-02 9.95100261e-01 -3.00846389e-03 4.55430434e+00] [ 5.35094290e-02 -2.29517994e-03 9.98564707e-01 2.49711828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:4.56, Z:2.50 [[ 9.94014441e-01 -9.52668813e-02 -5.34744042e-02 4.91895224e+01] [ 9.52428986e-02 9.95449534e-01 -3.00248277e-03 4.56312075e+00] [ 5.35171079e-02 -2.10854602e-03 9.98564707e-01 2.49850301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:4.57, Z:2.50 [[ 9.94541030e-01 -8.96024786e-02 -5.34746304e-02 4.92518311e+01] [ 8.95705374e-02 9.95975968e-01 -2.99844842e-03 4.56913645e+00] [ 5.35281152e-02 -1.80767140e-03 9.98564707e-01 2.49798123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:4.57, Z:2.50 [[ 9.94919405e-01 -8.52981981e-02 -5.34751808e-02 4.93142968e+01] [ 8.52605769e-02 9.96354205e-01 -2.98859957e-03 4.57194623e+00] [ 5.35351434e-02 -1.58590906e-03 9.98564707e-01 2.50240565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:4.58, Z:2.51 [[ 9.95199581e-01 -8.19644811e-02 -5.34753984e-02 4.93756932e+01] [ 8.19222625e-02 9.96634253e-01 -2.98470149e-03 4.57681898e+00] [ 5.35400532e-02 -1.41045195e-03 9.98564707e-01 2.50913696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:4.58, Z:2.51 [[ 9.95408905e-01 -7.93817685e-02 -5.34756669e-02 4.94379719e+01] [ 7.93360860e-02 9.96843471e-01 -2.97988221e-03 4.58154244e+00] [ 5.35434178e-02 -1.27634882e-03 9.98564707e-01 2.51320696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:4.59, Z:2.51 [[ 9.95750811e-01 -7.49709229e-02 -5.34759972e-02 4.95002466e+01] [ 7.49192040e-02 9.97185173e-01 -2.97394314e-03 4.58500991e+00] [ 5.35484308e-02 -1.04507285e-03 9.98564707e-01 2.51463285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:4.59, Z:2.52 [[ 9.95834161e-01 -7.38553457e-02 -5.34762682e-02 4.95622473e+01] [ 7.38022819e-02 9.97268473e-01 -2.96906341e-03 4.58849743e+00] [ 5.35494775e-02 -9.89975840e-04 9.98564707e-01 2.51922340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670385722999995 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:4.59, Z:2.53 [[ 9.95878358e-01 -7.32568324e-02 -5.34764743e-02 4.96245070e+01] [ 7.32031061e-02 9.97312645e-01 -2.96534575e-03 4.58808064e+00] [ 5.35499959e-02 -9.61520363e-04 9.98564707e-01 2.53008852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.69, Y:4.59, Z:2.53 [[ 9.95661461e-01 -7.61478448e-02 -5.34767227e-02 4.96868215e+01] [ 7.60985237e-02 9.97095907e-01 -2.96085879e-03 4.58972326e+00] [ 5.35468844e-02 -1.12148666e-03 9.98564707e-01 2.52919928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790385723 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:49.75, Y:4.59, Z:2.53 [[ 9.95787291e-01 -7.44840986e-02 -5.34769966e-02 4.97476243e+01] [ 7.44326468e-02 9.97221662e-01 -2.95590401e-03 4.59080112e+00] [ 5.35485873e-02 -1.03698276e-03 9.98564707e-01 2.53454450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850385722999995 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:4.59, Z:2.54 [[ 9.95923115e-01 -7.26452954e-02 -5.34771946e-02 4.98079902e+01] [ 7.25913878e-02 9.97357395e-01 -2.95231682e-03 4.59323131e+00] [ 5.35503475e-02 -9.41703209e-04 9.98564707e-01 2.53679801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910385723 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:4.59, Z:2.54 [[ 9.96114250e-01 -6.99754855e-02 -5.34774068e-02 4.98687933e+01] [ 6.99179400e-02 9.97548389e-01 -2.94846809e-03 4.59407832e+00] [ 5.35526215e-02 -8.02019046e-04 9.98564707e-01 2.54099877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970385723 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:4.60, Z:2.55 [[ 9.96152345e-01 -6.94309663e-02 -5.34775256e-02 4.99285025e+01] [ 6.93727526e-02 9.97586458e-01 -2.94631264e-03 4.60060856e+00] [ 5.35530207e-02 -7.74906904e-04 9.98564707e-01 2.54739480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030385722999995 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:49.99, Y:4.60, Z:2.55 [[ 9.96092583e-01 -7.02830971e-02 -5.34775848e-02 4.99887719e+01] [ 7.02261680e-02 9.97526747e-01 -2.94523675e-03 4.60243517e+00] [ 5.35523216e-02 -8.21797372e-04 9.98564707e-01 2.54625603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.05, Y:4.61, Z:2.55 [[ 9.95569809e-01 -7.73363049e-02 -5.34775848e-02 5.00492754e+01] [ 7.72895349e-02 9.97004340e-01 -2.94523675e-03 4.60629322e+00] [ 5.35451579e-02 -1.20106887e-03 9.98564707e-01 2.54687960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.11, Y:4.61, Z:2.55 [[ 9.95132610e-01 -8.27721961e-02 -5.34775848e-02 5.01118134e+01] [ 8.27332611e-02 9.96567375e-01 -2.94523675e-03 4.60963488e+00] [ 5.35378001e-02 -1.49347385e-03 9.98564707e-01 2.54956899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.17, Y:4.61, Z:2.55 [[ 9.94503890e-01 -9.00118851e-02 -5.34777847e-02 5.01730161e+01] [ 8.99835876e-02 9.95938904e-01 -2.94160277e-03 4.61232944e+00] [ 5.35253855e-02 -1.88668753e-03 9.98564707e-01 2.55459433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:4.62, Z:2.56 [[ 9.94108104e-01 -9.42824887e-02 -5.34779326e-02 5.02358537e+01] [ 9.42604994e-02 9.95543229e-01 -2.93891196e-03 4.61576426e+00] [ 5.35166817e-02 -2.11926044e-03 9.98564707e-01 2.55941918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:4.62, Z:2.56 [[ 9.93906233e-01 -9.63871291e-02 -5.34782260e-02 5.02985172e+01] [ 9.63684656e-02 9.95341405e-01 -2.93356455e-03 4.61879899e+00] [ 5.35118504e-02 -2.23792648e-03 9.98564707e-01 2.55905768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390385722999994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:4.62, Z:2.56 [[ 9.93549056e-01 -1.00001661e-01 -5.34784191e-02 5.03616013e+01] [ 9.99884069e-02 9.94984288e-01 -2.93003879e-03 4.62220898e+00] [ 5.35031955e-02 -2.43608466e-03 9.98564707e-01 2.56231683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.43, Y:4.63, Z:2.56 [[ 9.93714189e-01 -9.83470089e-02 -5.34787479e-02 5.04250083e+01] [ 9.83316881e-02 9.95149400e-01 -2.92402632e-03 4.62647197e+00] [ 5.35069131e-02 -2.35300911e-03 9.98564707e-01 2.56349148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.49, Y:4.63, Z:2.57 [[ 9.94237657e-01 -9.29057057e-02 -5.34790749e-02 5.04872997e+01] [ 9.28828503e-02 9.95672768e-01 -2.91803356e-03 4.62913654e+00] [ 5.35187605e-02 -2.06607005e-03 9.98564707e-01 2.56931172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:4.64, Z:2.57 [[ 9.94745866e-01 -8.72962080e-02 -5.34792921e-02 5.05487452e+01] [ 8.72654723e-02 9.96180830e-01 -2.91404606e-03 4.63572677e+00] [ 5.35294308e-02 -1.76816041e-03 9.98564707e-01 2.57458277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:4.64, Z:2.58 [[ 9.95103151e-01 -8.31243388e-02 -5.34795603e-02 5.06115525e+01] [ 8.30878512e-02 9.96537980e-01 -2.90911590e-03 4.63982581e+00] [ 5.35362314e-02 -1.54863135e-03 9.98564707e-01 2.57618740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:4.64, Z:2.57 [[ 9.95352144e-01 -8.00875266e-02 -5.34798872e-02 5.06749193e+01] [ 8.00469842e-02 9.96786864e-01 -2.90309397e-03 4.64146094e+00] [ 5.35405507e-02 -1.39130288e-03 9.98564707e-01 2.57219082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.74, Y:4.65, Z:2.59 [[ 9.95833773e-01 -7.38577341e-02 -5.34802079e-02 5.07365687e+01] [ 7.38085329e-02 9.97268222e-01 -2.89717441e-03 4.64791152e+00] [ 5.35480906e-02 -1.06219156e-03 9.98564707e-01 2.58697990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:4.66, Z:2.59 [[ 9.96214800e-01 -6.85267644e-02 -5.34804227e-02 5.07985667e+01] [ 6.84700995e-02 9.97648974e-01 -2.89320421e-03 4.65530714e+00] [ 5.35529507e-02 -7.79557005e-04 9.98564707e-01 2.59397503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870385723 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:50.86, Y:4.65, Z:2.59 [[ 9.96748417e-01 -6.02695144e-02 -5.34806358e-02 5.08604776e+01] [ 6.02011790e-02 9.98182083e-01 -2.88925977e-03 4.65166138e+00] [ 5.35575467e-02 -3.39732228e-04 9.98564707e-01 2.59432794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.92, Y:4.65, Z:2.60 [[ 9.96761601e-01 -6.00509741e-02 -5.34807643e-02 5.09190090e+01] [ 5.99824522e-02 9.98195257e-01 -2.88687831e-03 4.65245329e+00] [ 5.35576051e-02 -3.30377945e-04 9.98564707e-01 2.59671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:4.66, Z:2.60 [[ 9.96927863e-01 -5.72246859e-02 -5.34805712e-02 5.09785812e+01] [ 5.71519078e-02 9.98361310e-01 -2.89045245e-03 4.65638174e+00] [ 5.35583383e-02 -1.74944084e-04 9.98564707e-01 2.60262964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:4.66, Z:2.61 [[ 9.96920820e-01 -5.73473357e-02 -5.34804749e-02 5.10384089e+01] [ 5.72746386e-02 9.98354271e-01 -2.89223148e-03 4.65989494e+00] [ 5.35583224e-02 -1.79749089e-04 9.98564707e-01 2.60902812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:4.66, Z:2.61 [[ 9.96746417e-01 -6.03027250e-02 -5.34804749e-02 5.10984489e+01] [ 6.02342780e-02 9.98180077e-01 -2.89223148e-03 4.65719516e+00] [ 5.35575541e-02 -3.38536429e-04 9.98564707e-01 2.61405948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:4.65, Z:2.61 [[ 9.96518616e-01 -6.39569984e-02 -5.34803748e-02 5.11590459e+01] [ 6.38937092e-02 9.97952513e-01 -2.89408242e-03 4.65499581e+00] [ 5.35559712e-02 -5.33052505e-04 9.98564707e-01 2.60500067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.22, Y:4.66, Z:2.61 [[ 9.96333575e-01 -6.67777510e-02 -5.34802751e-02 5.12189343e+01] [ 6.67184224e-02 9.97767641e-01 -2.89592381e-03 4.65665256e+00] [ 5.35542712e-02 -6.82813461e-04 9.98564707e-01 2.60970658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:51.28, Y:4.66, Z:2.62 [[ 9.95846034e-01 -7.36921731e-02 -5.34802751e-02 5.12781371e+01] [ 7.36428005e-02 9.97280478e-01 -2.89592381e-03 4.65751223e+00] [ 5.35482412e-02 -1.05454299e-03 9.98564707e-01 2.61864619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:4.66, Z:2.62 [[ 9.95689100e-01 -7.57830768e-02 -5.34802848e-02 5.13394952e+01] [ 7.57367260e-02 9.97123645e-01 -2.89574453e-03 4.65619767e+00] [ 5.35459049e-02 -1.16716041e-03 9.98564707e-01 2.61825329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:4.66, Z:2.62 [[ 9.95045039e-01 -8.38165626e-02 -5.34804016e-02 5.14013921e+01] [ 8.37819071e-02 9.96479914e-01 -2.89358565e-03 4.65869731e+00] [ 5.35346764e-02 -1.60144199e-03 9.98564707e-01 2.62178317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:4.66, Z:2.63 [[ 9.94659690e-01 -8.82718902e-02 -5.34806066e-02 5.14631966e+01] [ 8.82438646e-02 9.96094709e-01 -2.88979225e-03 4.65827698e+00] [ 5.35268367e-02 -1.84497554e-03 9.98564707e-01 2.62700175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530385722999995 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:4.66, Z:2.63 [[ 9.94380499e-01 -9.13631567e-02 -5.34808127e-02 5.15242108e+01] [ 9.13397968e-02 9.95815602e-01 -2.88597141e-03 4.65813970e+00] [ 5.35206992e-02 -2.01517288e-03 9.98564707e-01 2.62959843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.59, Y:4.67, Z:2.63 [[ 9.94206788e-01 -9.32342352e-02 -5.34812081e-02 5.15857348e+01] [ 9.32139705e-02 9.95641938e-01 -2.87862667e-03 4.66655770e+00] [ 5.35165202e-02 -2.12324557e-03 9.98564707e-01 2.63139786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.65, Y:4.67, Z:2.63 [[ 9.94169041e-01 -9.36357425e-02 -5.34814533e-02 5.16487769e+01] [ 9.36163024e-02 9.95604202e-01 -2.87406407e-03 4.66535007e+00] [ 5.35154747e-02 -2.14943039e-03 9.98564707e-01 2.63153328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.71, Y:4.67, Z:2.64 [[ 9.94325521e-01 -9.19589975e-02 -5.34817754e-02 5.17096448e+01] [ 9.19374598e-02 9.95760653e-01 -2.86805650e-03 4.66966889e+00] [ 5.35187912e-02 -2.06519681e-03 9.98564707e-01 2.63521834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.77, Y:4.67, Z:2.64 [[ 9.94790694e-01 -8.67820852e-02 -5.34821910e-02 5.17713425e+01] [ 8.67534948e-02 9.96225702e-01 -2.86028646e-03 4.67454708e+00] [ 5.35285549e-02 -1.79438063e-03 9.98564707e-01 2.64257045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.83, Y:4.68, Z:2.65 [[ 9.95652067e-01 -7.62666130e-02 -5.34823910e-02 5.18332749e+01] [ 7.62230634e-02 9.97086699e-01 -2.85654243e-03 4.67827129e+00] [ 5.35444395e-02 -1.23246930e-03 9.98564707e-01 2.64800857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.89, Y:4.68, Z:2.65 [[ 9.96105363e-01 -7.00979156e-02 -5.34825905e-02 5.18949729e+01] [ 7.00456813e-02 9.97539706e-01 -2.85280146e-03 4.68192650e+00] [ 5.35509830e-02 -9.04533658e-04 9.98564707e-01 2.64932639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:4.69, Z:2.66 [[ 9.96482200e-01 -6.45198918e-02 -5.34827873e-02 5.19559809e+01] [ 6.44598260e-02 9.97916236e-01 -2.84910784e-03 4.69037343e+00] [ 5.35551659e-02 -6.08405911e-04 9.98564707e-01 2.65576419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:4.69, Z:2.65 [[ 9.96547398e-01 -6.35048401e-02 -5.34828866e-02 5.20164223e+01] [ 6.34434138e-02 9.97981376e-01 -2.84724193e-03 4.69019346e+00] [ 5.35557384e-02 -5.55725375e-04 9.98564707e-01 2.65454582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:4.69, Z:2.66 [[ 9.96384697e-01 -6.60084578e-02 -5.34828866e-02 5.20767843e+01] [ 6.59506346e-02 9.97818825e-01 -2.84724193e-03 4.69195606e+00] [ 5.35541731e-02 -6.90282028e-04 9.98564707e-01 2.65626401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:4.70, Z:2.66 [[ 9.96075188e-01 -7.05251717e-02 -5.34828866e-02 5.21363708e+01] [ 7.04738511e-02 9.97509564e-01 -2.84724193e-03 4.69714714e+00] [ 5.35504931e-02 -9.33077948e-04 9.98564707e-01 2.65918622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:4.70, Z:2.67 [[ 9.95631281e-01 -7.65370979e-02 -5.34829387e-02 5.21966284e+01] [ 7.64944899e-02 9.97065942e-01 -2.84626354e-03 4.70186091e+00] [ 5.35438614e-02 -1.25732110e-03 9.98564707e-01 2.66615823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250385722999994 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:52.26, Y:4.70, Z:2.67 [[ 9.95291430e-01 -8.08365021e-02 -5.34829886e-02 5.22575525e+01] [ 8.08001412e-02 9.96726262e-01 -2.84532486e-03 4.69952491e+00] [ 5.35379054e-02 -1.48950559e-03 9.98564707e-01 2.67167587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:4.71, Z:2.68 [[ 9.94636597e-01 -8.85302358e-02 -5.34830471e-02 5.23195680e+01] [ 8.85050301e-02 9.96071669e-01 -2.84422502e-03 4.70785728e+00] [ 5.35247479e-02 -1.90454839e-03 9.98564707e-01 2.67531993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:4.71, Z:2.68 [[ 9.94395618e-01 -9.11970035e-02 -5.34832912e-02 5.23813145e+01] [ 9.11758928e-02 9.95830755e-01 -2.83962715e-03 4.71232179e+00] [ 5.35192718e-02 -2.05267403e-03 9.98564707e-01 2.67896230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.44, Y:4.72, Z:2.68 [[ 9.93863431e-01 -9.68245676e-02 -5.34834946e-02 5.24431874e+01] [ 9.68117872e-02 9.95298667e-01 -2.83579204e-03 4.71887789e+00] [ 5.35066252e-02 -2.35944269e-03 9.98564707e-01 2.68346650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:4.72, Z:2.69 [[ 9.93790810e-01 -9.75670081e-02 -5.34836955e-02 5.25053322e+01] [ 9.75555038e-02 9.95226056e-01 -2.83199685e-03 4.72387399e+00] [ 5.35046768e-02 -2.40321641e-03 9.98564707e-01 2.68616266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:4.73, Z:2.69 [[ 9.93807391e-01 -9.73978601e-02 -5.34838979e-02 5.25678389e+01] [ 9.73863171e-02 9.95242637e-01 -2.82816897e-03 4.72825879e+00] [ 5.35049132e-02 -2.39794461e-03 9.98564707e-01 2.68586913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:4.74, Z:2.69 [[ 9.93929494e-01 -9.61437079e-02 -5.34841011e-02 5.26295150e+01] [ 9.61305604e-02 9.95364726e-01 -2.82432211e-03 4.73516155e+00] [ 5.35077284e-02 -2.33427957e-03 9.98564707e-01 2.69163133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:4.74, Z:2.70 [[ 9.93998370e-01 -9.54288660e-02 -5.34843157e-02 5.26917629e+01] [ 9.54149049e-02 9.95433595e-01 -2.82025141e-03 4.74125874e+00] [ 5.35092181e-02 -2.29987559e-03 9.98564707e-01 2.69713055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:4.75, Z:2.70 [[ 9.93842247e-01 -9.70411317e-02 -5.34846349e-02 5.27538552e+01] [ 9.70298245e-02 9.95277496e-01 -2.81418627e-03 4.74808171e+00] [ 5.35051453e-02 -2.39274753e-03 9.98564707e-01 2.69963014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:4.75, Z:2.70 [[ 9.94152716e-01 -9.38069788e-02 -5.34848450e-02 5.28165756e+01] [ 9.37912166e-02 9.95587922e-01 -2.81018698e-03 4.75312845e+00] [ 5.35124808e-02 -2.22265366e-03 9.98564707e-01 2.70104678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:4.76, Z:2.71 [[ 9.94508791e-01 -8.99533360e-02 -5.34851613e-02 5.28777099e+01] [ 8.99323357e-02 9.95943930e-01 -2.80415318e-03 4.76275290e+00] [ 5.35204647e-02 -2.02129050e-03 9.98564707e-01 2.70719412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:4.77, Z:2.71 [[ 9.95029036e-01 -8.40031710e-02 -5.34853776e-02 5.29397025e+01] [ 8.39738087e-02 9.96464028e-01 -2.80002245e-03 4.76974750e+00] [ 5.35314656e-02 -1.70526723e-03 9.98564707e-01 2.71131389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:4.77, Z:2.71 [[ 9.95441281e-01 -7.89679857e-02 -5.34856456e-02 5.30012917e+01] [ 7.89316392e-02 9.96876113e-01 -2.79489252e-03 4.77389191e+00] [ 5.35392696e-02 -1.43955829e-03 9.98564707e-01 2.71477842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:4.78, Z:2.72 [[ 9.95580979e-01 -7.71866493e-02 -5.34858469e-02 5.30639733e+01] [ 7.71479426e-02 9.97015750e-01 -2.79103495e-03 4.77594029e+00] [ 5.35416624e-02 -1.34762174e-03 9.98564707e-01 2.72015462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.13, Y:4.78, Z:2.72 [[ 9.95544356e-01 -7.76573728e-02 -5.34861430e-02 5.31263526e+01] [ 7.76196497e-02 9.96979153e-01 -2.78534922e-03 4.77647992e+00] [ 5.35408725e-02 -1.37863699e-03 9.98564707e-01 2.72238154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:4.78, Z:2.73 [[ 9.95499707e-01 -7.82275219e-02 -5.34863422e-02 5.31896572e+01] [ 7.81908262e-02 9.96934530e-01 -2.78151956e-03 4.77891211e+00] [ 5.35399728e-02 -1.41313938e-03 9.98564707e-01 2.72637683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.25, Y:4.78, Z:2.73 [[ 9.95376283e-01 -7.97824051e-02 -5.34866579e-02 5.32519307e+01] [ 7.97482772e-02 9.96811170e-01 -2.77543589e-03 4.77690488e+00] [ 5.35375290e-02 -1.50286576e-03 9.98564707e-01 2.72825544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:4.78, Z:2.73 [[ 9.95252488e-01 -8.13119574e-02 -5.34869153e-02 5.33146529e+01] [ 8.12803016e-02 9.96687432e-01 -2.77046523e-03 4.77785896e+00] [ 5.35350083e-02 -1.59012019e-03 9.98564707e-01 2.72883405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.38, Y:4.78, Z:2.73 [[ 9.95620903e-01 -7.66689800e-02 -5.34872366e-02 5.33762532e+01] [ 7.66309653e-02 9.97055693e-01 -2.76424941e-03 4.78009570e+00] [ 5.35416859e-02 -1.34663407e-03 9.98564707e-01 2.72974848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.44, Y:4.78, Z:2.73 [[ 9.95886128e-01 -7.31429056e-02 -5.34877083e-02 5.34382696e+01] [ 7.31003021e-02 9.97320789e-01 -2.75509097e-03 4.78217820e+00] [ 5.35459188e-02 -1.16621076e-03 9.98564707e-01 2.73298959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.50, Y:4.78, Z:2.74 [[ 9.95998756e-01 -7.15927544e-02 -5.34879078e-02 5.35001967e+01] [ 7.15481261e-02 9.97433354e-01 -2.75121312e-03 4.78487218e+00] [ 5.35475902e-02 -1.08675473e-03 9.98564707e-01 2.73814914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:4.79, Z:2.74 [[ 9.96018423e-01 -7.13184591e-02 -5.34881143e-02 5.35622032e+01] [ 7.12736515e-02 9.97453016e-01 -2.74719287e-03 4.78859668e+00] [ 5.35478065e-02 -1.07603851e-03 9.98564707e-01 2.74485925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:4.79, Z:2.74 [[ 9.95851217e-01 -7.36162598e-02 -5.34883206e-02 5.36232159e+01] [ 7.35749782e-02 9.97285916e-01 -2.74316907e-03 4.79139965e+00] [ 5.35450907e-02 -1.20361377e-03 9.98564707e-01 2.74490511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:4.79, Z:2.75 [[ 9.95718268e-01 -7.53929321e-02 -5.34886558e-02 5.36849521e+01] [ 7.53545621e-02 9.97153048e-01 -2.73661750e-03 4.78966616e+00] [ 5.35426978e-02 -1.30571420e-03 9.98564707e-01 2.74946315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.75, Y:4.80, Z:2.75 [[ 9.95513364e-01 -7.80518127e-02 -5.34888471e-02 5.37470594e+01] [ 7.80174755e-02 9.96948246e-01 -2.73287416e-03 4.79507470e+00] [ 5.35389181e-02 -1.45245207e-03 9.98564707e-01 2.74625975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.81, Y:4.80, Z:2.75 [[ 9.95742861e-01 -7.50671475e-02 -5.34890498e-02 5.38079180e+01] [ 7.50287223e-02 9.97177639e-01 -2.72890116e-03 4.79768450e+00] [ 5.35429352e-02 -1.29593122e-03 9.98564707e-01 2.75081551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.87, Y:4.81, Z:2.76 [[ 9.95452285e-01 -7.88266893e-02 -5.34892668e-02 5.38698365e+01] [ 7.87939111e-02 9.96887203e-01 -2.72464025e-03 4.80726677e+00] [ 5.35375400e-02 -1.50237917e-03 9.98564707e-01 2.75717620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:4.81, Z:2.76 [[ 9.95470334e-01 -7.85982775e-02 -5.34894929e-02 5.39321633e+01] [ 7.85654087e-02 9.96905250e-01 -2.72019546e-03 4.81110857e+00] [ 5.35377589e-02 -1.49454998e-03 9.98564707e-01 2.76187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:4.82, Z:2.77 [[ 9.95546061e-01 -7.76330595e-02 -5.34896963e-02 5.39949663e+01] [ 7.75990145e-02 9.96980950e-01 -2.71619010e-03 4.81623231e+00] [ 5.35390744e-02 -1.44665536e-03 9.98564707e-01 2.76578995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.06, Y:4.82, Z:2.77 [[ 9.95434740e-01 -7.90474476e-02 -5.34900004e-02 5.40572821e+01] [ 7.90157636e-02 9.96869683e-01 -2.71018684e-03 4.82384199e+00] [ 5.35367931e-02 -1.52873910e-03 9.98564707e-01 2.76987992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.12, Y:4.83, Z:2.77 [[ 9.95331610e-01 -8.03353769e-02 -5.34903032e-02 5.41194774e+01] [ 8.03058712e-02 9.96766600e-01 -2.70419875e-03 4.82687447e+00] [ 5.35345904e-02 -1.60401090e-03 9.98564707e-01 2.77206345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.18, Y:4.83, Z:2.77 [[ 9.95095499e-01 -8.32088610e-02 -5.34905052e-02 5.41803907e+01] [ 8.31837136e-02 9.96530571e-01 -2.70019554e-03 4.82753338e+00] [ 5.35296039e-02 -1.76258644e-03 9.98564707e-01 2.77319184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.24, Y:4.82, Z:2.77 [[ 9.94872433e-01 -8.58346827e-02 -5.34906537e-02 5.42428997e+01] [ 8.58134807e-02 9.96307569e-01 -2.69725046e-03 4.82230084e+00] [ 5.35246608e-02 -1.90679905e-03 9.98564707e-01 2.77264281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.30, Y:4.82, Z:2.78 [[ 9.94939087e-01 -8.50584546e-02 -5.34908551e-02 5.43037935e+01] [ 8.50363477e-02 9.96374210e-01 -2.69325073e-03 4.82477040e+00] [ 5.35259923e-02 -1.86904654e-03 9.98564707e-01 2.77818826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.37, Y:4.83, Z:2.78 [[ 9.95107779e-01 -8.30615434e-02 -5.34910036e-02 5.43663994e+01] [ 8.30367149e-02 9.96542857e-01 -2.69029863e-03 4.83209046e+00] [ 5.35295379e-02 -1.76458012e-03 9.98564707e-01 2.78382349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:4.83, Z:2.78 [[ 9.95238515e-01 -8.14799356e-02 -5.34912898e-02 5.44301238e+01] [ 8.14531326e-02 9.96673557e-01 -2.68459695e-03 4.83069317e+00] [ 5.35320948e-02 -1.68521884e-03 9.98564707e-01 2.78347894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:4.83, Z:2.79 [[ 9.95306908e-01 -8.06399988e-02 -5.34915742e-02 5.44931836e+01] [ 8.06122897e-02 9.96741934e-01 -2.67891767e-03 4.83487441e+00] [ 5.35333230e-02 -1.64573301e-03 9.98564707e-01 2.78757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.56, Y:4.84, Z:2.79 [[ 9.95388878e-01 -7.96216210e-02 -5.34918556e-02 5.45550781e+01] [ 7.95927459e-02 9.96823880e-01 -2.67328693e-03 4.83902067e+00] [ 5.35348105e-02 -1.59660359e-03 9.98564707e-01 2.79158724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.62, Y:4.84, Z:2.80 [[ 9.95326456e-01 -8.03980575e-02 -5.34920411e-02 5.46170647e+01] [ 8.03705015e-02 9.96761484e-01 -2.66957009e-03 4.84208569e+00] [ 5.35334345e-02 -1.64208843e-03 9.98564707e-01 2.79520942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.68, Y:4.85, Z:2.80 [[ 9.95067586e-01 -8.35408933e-02 -5.34922312e-02 5.46800767e+01] [ 8.35180740e-02 9.96502697e-01 -2.66575563e-03 4.84764852e+00] [ 5.35278522e-02 -1.81496110e-03 9.98564707e-01 2.79963806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.74, Y:4.85, Z:2.80 [[ 9.95061630e-01 -8.36116089e-02 -5.34925311e-02 5.47410374e+01] [ 8.35892154e-02 9.96496748e-01 -2.65972364e-03 4.84775271e+00] [ 5.35275170e-02 -1.82480977e-03 9.98564707e-01 2.80341989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.80, Y:4.85, Z:2.81 [[ 9.94651237e-01 -8.83597772e-02 -5.34926774e-02 5.48031534e+01] [ 8.83443916e-02 9.96086447e-01 -2.65677845e-03 4.85382447e+00] [ 5.35180833e-02 -2.08321006e-03 9.98564707e-01 2.80561116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:4.85, Z:2.81 [[ 9.94878528e-01 -8.57626269e-02 -5.34928694e-02 5.48648121e+01] [ 8.57437022e-02 9.96313695e-01 -2.65290560e-03 4.85277168e+00] [ 5.35231986e-02 -1.94735785e-03 9.98564707e-01 2.80693789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.93, Y:4.86, Z:2.81 [[ 9.95003534e-01 -8.42998485e-02 -5.34930109e-02 5.49269768e+01] [ 8.42789672e-02 9.96438675e-01 -2.65004959e-03 4.85875759e+00] [ 5.35259037e-02 -1.87152701e-03 9.98564707e-01 2.81322653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.99, Y:4.86, Z:2.82 [[ 9.95132454e-01 -8.27639848e-02 -5.34931966e-02 5.49892567e+01] [ 8.27410899e-02 9.96567564e-01 -2.64629632e-03 4.86324812e+00] [ 5.35286026e-02 -1.79267004e-03 9.98564707e-01 2.81825692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.05, Y:4.86, Z:2.82 [[ 9.95320732e-01 -8.04679358e-02 -5.34934777e-02 5.50501087e+01] [ 8.04420358e-02 9.96755791e-01 -2.64060261e-03 4.86490070e+00] [ 5.35324174e-02 -1.67487772e-03 9.98564708e-01 2.82052458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.11, Y:4.87, Z:2.82 [[ 9.95563679e-01 -7.74039929e-02 -5.34937735e-02 5.51123810e+01] [ 7.73739985e-02 9.96998658e-01 -2.63459658e-03 4.86752694e+00] [ 5.35371486e-02 -1.51611848e-03 9.98564708e-01 2.82401487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:4.88, Z:2.83 [[ 9.95433498e-01 -7.90604081e-02 -5.34939533e-02 5.51742892e+01] [ 7.90329976e-02 9.96868529e-01 -2.63094072e-03 4.87533240e+00] [ 5.35344417e-02 -1.60886096e-03 9.98564708e-01 2.82824163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.24, Y:4.88, Z:2.83 [[ 9.95349168e-01 -8.01149800e-02 -5.34941508e-02 5.52370976e+01] [ 8.00893059e-02 9.96784231e-01 -2.62691825e-03 4.87597012e+00] [ 5.35325814e-02 -1.66960852e-03 9.98564708e-01 2.82936138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.30, Y:4.87, Z:2.83 [[ 9.95427146e-01 -7.91400035e-02 -5.34944472e-02 5.52988208e+01] [ 7.91132486e-02 9.96862190e-01 -2.62086869e-03 4.87267174e+00] [ 5.35340073e-02 -1.62323566e-03 9.98564708e-01 2.83274370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:4.88, Z:2.84 [[ 9.94902381e-01 -8.54843314e-02 -5.34946905e-02 5.53611271e+01] [ 8.54669926e-02 9.96337568e-01 -2.61589301e-03 4.87900146e+00] [ 5.35223877e-02 -1.96947213e-03 9.98564708e-01 2.83573172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:4.88, Z:2.84 [[ 9.94623911e-01 -8.86655136e-02 -5.34948860e-02 5.54221845e+01] [ 8.86529795e-02 9.96059148e-01 -2.61188947e-03 4.88196501e+00] [ 5.35156551e-02 -2.14463331e-03 9.98564708e-01 2.83757541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:4.88, Z:2.84 [[ 9.94387822e-01 -9.12750847e-02 -5.34950294e-02 5.54848914e+01] [ 9.12664747e-02 9.95823089e-01 -2.60894827e-03 4.88489314e+00] [ 5.35097174e-02 -2.28799636e-03 9.98564708e-01 2.84238233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.55, Y:4.88, Z:2.85 [[ 9.94691583e-01 -8.79028114e-02 -5.34953247e-02 5.55468064e+01] [ 8.78896607e-02 9.96126816e-01 -2.60287850e-03 4.88232148e+00] [ 5.35169278e-02 -2.11262460e-03 9.98564708e-01 2.84701326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.61, Y:4.89, Z:2.85 [[ 9.94619925e-01 -8.87098049e-02 -5.34955666e-02 5.56094013e+01] [ 8.86980861e-02 9.96055169e-01 -2.59789782e-03 4.88841506e+00] [ 5.35149947e-02 -2.16103343e-03 9.98564708e-01 2.84824270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.67, Y:4.89, Z:2.85 [[ 9.94788604e-01 -8.67976242e-02 -5.34958502e-02 5.56720268e+01] [ 8.67834607e-02 9.96223826e-01 -2.59204426e-03 4.88920559e+00] [ 5.35188239e-02 -2.06401893e-03 9.98564708e-01 2.85095454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.73, Y:4.89, Z:2.85 [[ 9.94766626e-01 -8.70490206e-02 -5.34960460e-02 5.57335506e+01] [ 8.70354371e-02 9.96201855e-01 -2.58799797e-03 4.89032598e+00] [ 5.35181429e-02 -2.08159774e-03 9.98564708e-01 2.85427995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:4.89, Z:2.85 [[ 9.94596557e-01 -8.89709840e-02 -5.34962870e-02 5.57959543e+01] [ 8.89604417e-02 9.96031811e-01 -2.58300582e-03 4.89129104e+00] [ 5.35138162e-02 -2.19000463e-03 9.98564708e-01 2.85275746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:4.90, Z:2.86 [[ 9.94693165e-01 -8.78842086e-02 -5.34964870e-02 5.58565076e+01] [ 8.78723208e-02 9.96128408e-01 -2.57885826e-03 4.89519436e+00] [ 5.35160113e-02 -2.13568778e-03 9.98564708e-01 2.85671148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:4.90, Z:2.86 [[ 9.94803620e-01 -8.66248630e-02 -5.34966342e-02 5.59190562e+01] [ 8.66113225e-02 9.96238849e-01 -2.57579987e-03 4.89808364e+00] [ 5.35185536e-02 -2.07099920e-03 9.98564708e-01 2.86124728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:4.90, Z:2.87 [[ 9.94791347e-01 -8.67655138e-02 -5.34969259e-02 5.59807555e+01] [ 8.67525022e-02 9.96226581e-01 -2.56972724e-03 4.90399478e+00] [ 5.35180233e-02 -2.08464976e-03 9.98564708e-01 2.86734841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:4.91, Z:2.87 [[ 9.95054304e-01 -8.36958190e-02 -5.34971185e-02 5.60430860e+01] [ 8.36785949e-02 9.96489493e-01 -2.56571207e-03 4.90935128e+00] [ 5.35240559e-02 -1.92354087e-03 9.98564708e-01 2.86984247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.11, Y:4.91, Z:2.87 [[ 9.95183877e-01 -8.21406004e-02 -5.34974074e-02 5.61062093e+01] [ 8.21214576e-02 9.96619042e-01 -2.55967351e-03 4.91242158e+00] [ 5.35267880e-02 -1.84593927e-03 9.98564708e-01 2.87385857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.17, Y:4.92, Z:2.88 [[ 9.95453243e-01 -7.88088671e-02 -5.34976977e-02 5.61677042e+01] [ 7.87852469e-02 9.96888341e-01 -2.55359127e-03 4.91511633e+00] [ 5.35324768e-02 -1.67284861e-03 9.98564708e-01 2.88375819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.23, Y:4.92, Z:2.89 [[ 9.95574217e-01 -7.72654500e-02 -5.34979342e-02 5.62298954e+01] [ 7.72398714e-02 9.97009281e-01 -2.54862724e-03 4.92023538e+00] [ 5.35348578e-02 -1.59482600e-03 9.98564708e-01 2.88675747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:4.92, Z:2.89 [[ 9.95634223e-01 -7.64882061e-02 -5.34981178e-02 5.62910369e+01] [ 7.64617144e-02 9.97069271e-01 -2.54476835e-03 4.92414386e+00] [ 5.35359740e-02 -1.55689934e-03 9.98564708e-01 2.88973892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:4.93, Z:2.89 [[ 9.95576339e-01 -7.72378776e-02 -5.34982533e-02 5.63530057e+01] [ 7.72126196e-02 9.97011409e-01 -2.54191594e-03 4.92766133e+00] [ 5.35347011e-02 -1.60006892e-03 9.98564708e-01 2.88936187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.42, Y:4.93, Z:2.89 [[ 9.95525997e-01 -7.78839241e-02 -5.34984448e-02 5.64155399e+01] [ 7.78598140e-02 9.96961087e-01 -2.53787979e-03 4.92993465e+00] [ 5.35335277e-02 -1.63885365e-03 9.98564708e-01 2.88718051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.48, Y:4.94, Z:2.89 [[ 9.95639010e-01 -7.64255086e-02 -5.34986332e-02 5.64777440e+01] [ 7.63995098e-02 9.97074067e-01 -2.53390261e-03 4.93526095e+00] [ 5.35357545e-02 -1.56441706e-03 9.98564708e-01 2.89210194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.54, Y:4.94, Z:2.90 [[ 9.95628937e-01 -7.65564924e-02 -5.34988230e-02 5.65398866e+01] [ 7.65308980e-02 9.97064001e-01 -2.52988731e-03 4.93833440e+00] [ 5.35354298e-02 -1.57548396e-03 9.98564708e-01 2.89617447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.60, Y:4.94, Z:2.90 [[ 9.95846231e-01 -7.36759114e-02 -5.34990118e-02 5.66012089e+01] [ 7.36463803e-02 9.97281219e-01 -2.52588917e-03 4.93551591e+00] [ 5.35396569e-02 -1.42461136e-03 9.98564708e-01 2.90157883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.66, Y:4.94, Z:2.91 [[ 9.96063115e-01 -7.06831718e-02 -5.34991512e-02 5.66628430e+01] [ 7.06494875e-02 9.97498012e-01 -2.52293247e-03 4.93913269e+00] [ 5.35436259e-02 -1.26668764e-03 9.98564708e-01 2.90590380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.72, Y:4.94, Z:2.91 [[ 9.96174627e-01 -6.90936629e-02 -5.34993299e-02 5.67243804e+01] [ 6.90578926e-02 9.97609473e-01 -2.51913816e-03 4.94224602e+00] [ 5.35454948e-02 -1.18504947e-03 9.98564708e-01 2.91048290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:4.94, Z:2.91 [[ 9.96247895e-01 -6.80289261e-02 -5.34995052e-02 5.67869621e+01] [ 6.79918225e-02 9.97682707e-01 -2.51540900e-03 4.94217100e+00] [ 5.35466518e-02 -1.13155794e-03 9.98564708e-01 2.91364326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:4.94, Z:2.92 [[ 9.96242288e-01 -6.81108479e-02 -5.34996786e-02 5.68483050e+01] [ 6.80740605e-02 9.97677109e-01 -2.51171610e-03 4.94386848e+00] [ 5.35464798e-02 -1.13966256e-03 9.98564708e-01 2.91754918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:4.95, Z:2.92 [[ 9.96064798e-01 -7.06589974e-02 -5.34997659e-02 5.69110329e+01] [ 7.06259802e-02 9.97499710e-01 -2.50985607e-03 4.94540347e+00] [ 5.35433449e-02 -1.27849413e-03 9.98564708e-01 2.91554260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:4.95, Z:2.92 [[ 9.95915550e-01 -7.27321978e-02 -5.34999537e-02 5.69723538e+01] [ 7.27023828e-02 9.97350532e-01 -2.50584643e-03 4.94660944e+00] [ 5.35404630e-02 -1.39396269e-03 9.98564708e-01 2.92163383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:4.95, Z:2.92 [[ 9.95719224e-01 -7.53721898e-02 -5.35000922e-02 5.70342141e+01] [ 7.53463381e-02 9.97154283e-01 -2.50288552e-03 4.94648861e+00] [ 5.35364941e-02 -1.53886481e-03 9.98564708e-01 2.92490267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.10, Y:4.95, Z:2.92 [[ 9.95672308e-01 -7.59893191e-02 -5.35002634e-02 5.70967579e+01] [ 7.59645536e-02 9.97107387e-01 -2.49921967e-03 4.94899041e+00] [ 5.35354219e-02 -1.57571981e-03 9.98564708e-01 2.92422764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.16, Y:4.95, Z:2.93 [[ 9.95742558e-01 -7.50630533e-02 -5.35004379e-02 5.71587840e+01] [ 7.50371536e-02 9.97177616e-01 -2.49547937e-03 4.95208933e+00] [ 5.35367574e-02 -1.52966556e-03 9.98564708e-01 2.92949450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.22, Y:4.95, Z:2.94 [[ 9.95891630e-01 -7.30585088e-02 -5.35006187e-02 5.72202643e+01] [ 7.30299289e-02 9.97326637e-01 -2.49159731e-03 4.94990415e+00] [ 5.35396245e-02 -1.42578548e-03 9.98564708e-01 2.93583497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.28, Y:4.95, Z:2.94 [[ 9.95896757e-01 -7.29884850e-02 -5.35007523e-02 5.72819175e+01] [ 7.29599584e-02 9.97331766e-01 -2.48872529e-03 4.95080958e+00] [ 5.35396480e-02 -1.42489922e-03 9.98564708e-01 2.94040021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.34, Y:4.95, Z:2.95 [[ 9.95841654e-01 -7.37363556e-02 -5.35009274e-02 5.73433426e+01] [ 7.37091091e-02 9.97276688e-01 -2.48495479e-03 4.95343423e+00] [ 5.35384592e-02 -1.46888420e-03 9.98564708e-01 2.94584620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:4.95, Z:2.94 [[ 9.95638243e-01 -7.64336963e-02 -5.35012161e-02 5.74061173e+01] [ 7.64106718e-02 9.97073350e-01 -2.47872325e-03 4.94948301e+00] [ 5.35340948e-02 -1.62015220e-03 9.98564708e-01 2.94377033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:4.95, Z:2.94 [[ 9.95599266e-01 -7.69396028e-02 -5.35013905e-02 5.74678079e+01] [ 7.69175098e-02 9.97034388e-01 -2.47495428e-03 4.95315175e+00] [ 5.35331481e-02 -1.65113106e-03 9.98564708e-01 2.94464091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:4.96, Z:2.94 [[ 9.95768462e-01 -7.47178182e-02 -5.35015656e-02 5.75295512e+01] [ 7.46927265e-02 9.97203535e-01 -2.47116295e-03 4.95773382e+00] [ 5.35365902e-02 -1.53547168e-03 9.98564708e-01 2.94485485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.59, Y:4.96, Z:2.95 [[ 9.95972839e-01 -7.19421063e-02 -5.35017488e-02 5.75917749e+01] [ 7.19132280e-02 9.97407841e-01 -2.46719072e-03 4.95870421e+00] [ 5.35405586e-02 -1.39022851e-03 9.98564708e-01 2.95029983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.65, Y:4.96, Z:2.96 [[ 9.96225632e-01 -6.83522744e-02 -5.35019319e-02 5.76520979e+01] [ 6.83184383e-02 9.97660525e-01 -2.46321285e-03 4.96282144e+00] [ 5.35451317e-02 -1.20125265e-03 9.98564708e-01 2.96158656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.71, Y:4.96, Z:2.97 [[ 9.96484333e-01 -6.44709447e-02 -5.35020670e-02 5.77131424e+01] [ 6.44316768e-02 9.97919088e-01 -2.46027537e-03 4.96492008e+00] [ 5.35493502e-02 -9.95602026e-04 9.98564708e-01 2.96557206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.77, Y:4.97, Z:2.97 [[ 9.96533910e-01 -6.36999754e-02 -5.35021516e-02 5.77736535e+01] [ 6.36596964e-02 9.97968636e-01 -2.45843404e-03 4.96530641e+00] [ 5.35500715e-02 -9.56017837e-04 9.98564708e-01 2.96776478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.83, Y:4.97, Z:2.97 [[ 9.96505454e-01 -6.41435894e-02 -5.35021516e-02 5.78335835e+01] [ 6.41039490e-02 9.97940199e-01 -2.45843404e-03 4.97159701e+00] [ 5.35496406e-02 -9.79856265e-04 9.98564708e-01 2.96687620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.89, Y:4.97, Z:2.97 [[ 9.96371051e-01 -6.61985620e-02 -5.35021446e-02 5.78925636e+01] [ 6.61618724e-02 9.97805874e-01 -2.45858664e-03 4.97214765e+00] [ 5.35475090e-02 -1.09013750e-03 9.98564708e-01 2.97414981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.95, Y:4.97, Z:2.97 [[ 9.96158276e-01 -6.93268708e-02 -5.35021011e-02 5.79522922e+01] [ 6.92946360e-02 9.97593206e-01 -2.45953343e-03 4.97273538e+00] [ 5.35438443e-02 -1.25732404e-03 9.98564708e-01 2.97462142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.01, Y:4.98, Z:2.98 [[ 9.96010405e-01 -7.14199016e-02 -5.35020597e-02 5.80139731e+01] [ 7.13906337e-02 9.97445399e-01 -2.46043242e-03 4.97537380e+00] [ 5.35411072e-02 -1.36892966e-03 9.98564708e-01 2.97769695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.07, Y:4.98, Z:2.98 [[ 9.96022355e-01 -7.12529940e-02 -5.35021457e-02 5.80743527e+01] [ 7.12235861e-02 9.97457346e-01 -2.45856085e-03 4.97742535e+00] [ 5.35412881e-02 -1.36183312e-03 9.98564708e-01 2.97930280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.14, Y:4.98, Z:2.99 [[ 9.96136628e-01 -6.96370854e-02 -5.35022901e-02 5.81357169e+01] [ 6.96055185e-02 9.97571573e-01 -2.45541450e-03 4.97983450e+00] [ 5.35433516e-02 -1.27812633e-03 9.98564708e-01 2.98586444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.20, Y:4.99, Z:2.99 [[ 9.96028195e-01 -7.11710976e-02 -5.35024202e-02 5.81964014e+01] [ 7.11418930e-02 9.97463190e-01 -2.45257607e-03 4.98543701e+00] [ 5.35412473e-02 -1.36342854e-03 9.98564708e-01 2.99053817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.26, Y:4.99, Z:3.00 [[ 9.95791379e-01 -7.44110978e-02 -5.35025113e-02 5.82578711e+01] [ 7.43866685e-02 9.97226463e-01 -2.45058841e-03 4.98561067e+00] [ 5.35364711e-02 -1.53959876e-03 9.98564708e-01 2.99811659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:4.99, Z:3.00 [[ 9.95641252e-01 -7.63934526e-02 -5.35026950e-02 5.83201745e+01] [ 7.63720962e-02 9.97076385e-01 -2.44657060e-03 4.98649861e+00] [ 5.35331757e-02 -1.65020636e-03 9.98564708e-01 2.99912839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:4.98, Z:3.00 [[ 9.95821177e-01 -7.40109794e-02 -5.35028779e-02 5.83822142e+01] [ 7.39864043e-02 9.97256259e-01 -2.44256471e-03 4.98357428e+00] [ 5.35368565e-02 -1.52612789e-03 9.98564708e-01 2.99856322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:4.98, Z:3.01 [[ 9.96162882e-01 -6.92599478e-02 -5.35030151e-02 5.84442063e+01] [ 6.92286889e-02 9.97597833e-01 -2.43955576e-03 4.98112086e+00] [ 5.35434554e-02 -1.27374869e-03 9.98564708e-01 3.00603253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.50, Y:4.99, Z:3.01 [[ 9.96047505e-01 -7.08997550e-02 -5.35031952e-02 5.85049225e+01] [ 7.08710709e-02 9.97482511e-01 -2.43559852e-03 4.98776157e+00] [ 5.35411849e-02 -1.36585691e-03 9.98564708e-01 3.00783571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.57, Y:4.99, Z:3.01 [[ 9.95924430e-01 -7.26080471e-02 -5.35032857e-02 5.85653689e+01] [ 7.25819310e-02 9.97359484e-01 -2.43361083e-03 4.98947264e+00] [ 5.35387091e-02 -1.45967931e-03 9.98564708e-01 3.01198785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.63, Y:4.99, Z:3.02 [[ 9.95696837e-01 -7.56650664e-02 -5.35033303e-02 5.86263373e+01] [ 7.56434086e-02 9.97131966e-01 -2.43262890e-03 4.99232307e+00] [ 5.35339459e-02 -1.62501337e-03 9.98564708e-01 3.01633183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490385722999996 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:58.69, Y:4.99, Z:3.01 [[ 9.95512013e-01 -7.80590546e-02 -5.35034208e-02 5.86882263e+01] [ 7.80409546e-02 9.96947191e-01 -2.43063751e-03 4.99280485e+00] [ 5.35298183e-02 -1.75572919e-03 9.98564708e-01 3.01278297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.75, Y:5.00, Z:3.02 [[ 9.95113661e-01 -8.29829563e-02 -5.35035546e-02 5.87496527e+01] [ 8.29721148e-02 9.96548912e-01 -2.42768760e-03 4.99546935e+00] [ 5.35203658e-02 -2.02347798e-03 9.98564708e-01 3.02133742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61038572299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:58.81, Y:5.00, Z:3.03 [[ 9.94894498e-01 -8.55703704e-02 -5.35037370e-02 5.88118848e+01] [ 8.55634774e-02 9.96329773e-01 -2.42366040e-03 4.99828283e+00] [ 5.35147597e-02 -2.16667940e-03 9.98564708e-01 3.02528494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670385722999995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:5.00, Z:3.03 [[ 9.94707904e-01 -8.77126978e-02 -5.35039182e-02 5.88732838e+01] [ 8.77091108e-02 9.96143191e-01 -2.41965398e-03 4.99673550e+00] [ 5.35097982e-02 -2.28593216e-03 9.98564708e-01 3.02952352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.94, Y:5.00, Z:3.03 [[ 9.94341386e-01 -9.17743182e-02 -5.35040519e-02 5.89354122e+01] [ 9.17767518e-02 9.95776675e-01 -2.41669413e-03 4.99803584e+00] [ 5.34998774e-02 -2.50740911e-03 9.98564708e-01 3.03242512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.00, Y:5.01, Z:3.04 [[ 9.93956635e-01 -9.58514729e-02 -5.35042252e-02 5.89971686e+01] [ 9.58599991e-02 9.95391902e-01 -2.41285228e-03 5.00596065e+00] [ 5.34889479e-02 -2.73064444e-03 9.98564708e-01 3.03604850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.06, Y:5.00, Z:3.04 [[ 9.94352037e-01 -9.16586282e-02 -5.35044058e-02 5.90582180e+01] [ 9.16613164e-02 9.95787327e-01 -2.40884054e-03 5.00395608e+00] [ 5.34998002e-02 -2.50904877e-03 9.98564708e-01 3.03982759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.12, Y:5.01, Z:3.04 [[ 9.94363840e-01 -9.15304235e-02 -5.35045399e-02 5.91194891e+01] [ 9.15330869e-02 9.95799129e-01 -2.40585711e-03 5.00875303e+00] [ 5.34999834e-02 -2.50513839e-03 9.98564708e-01 3.04240056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:59.18, Y:5.01, Z:3.04 [[ 9.94503111e-01 -9.00045142e-02 -5.35046684e-02 5.91812402e+01] [ 9.00051288e-02 9.95938403e-01 -2.40299659e-03 5.01248554e+00] [ 5.35036345e-02 -2.42590698e-03 9.98564708e-01 3.04450440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.24, Y:5.01, Z:3.05 [[ 9.94860376e-01 -8.59654895e-02 -5.35048386e-02 5.92436623e+01] [ 8.59604796e-02 9.96295659e-01 -2.39920189e-03 5.01397957e+00] [ 5.35128870e-02 -2.21243070e-03 9.98564708e-01 3.04915481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:59.31, Y:5.02, Z:3.05 [[ 9.95283523e-01 -8.09192401e-02 -5.35050079e-02 5.93057660e+01] [ 8.09071548e-02 9.96718764e-01 -2.39541897e-03 5.01765128e+00] [ 5.35232809e-02 -1.94481693e-03 9.98564708e-01 3.04935181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.37, Y:5.02, Z:3.06 [[ 9.95770038e-01 -7.46942284e-02 -5.35051764e-02 5.93673837e+01] [ 7.46733713e-02 9.97205178e-01 -2.39164933e-03 5.02373138e+00] [ 5.35342814e-02 -1.61387916e-03 9.98564708e-01 3.06036920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.43, Y:5.03, Z:3.07 [[ 9.95817666e-01 -7.40564251e-02 -5.35053449e-02 5.94297415e+01] [ 7.40348515e-02 9.97252796e-01 -2.38787345e-03 5.02548500e+00] [ 5.35351922e-02 -1.58337370e-03 9.98564708e-01 3.06679640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.49, Y:5.03, Z:3.07 [[ 9.95555314e-01 -7.75033961e-02 -5.35055125e-02 5.94919885e+01] [ 7.74869927e-02 9.96990512e-01 -2.38411389e-03 5.03114518e+00] [ 5.35292652e-02 -1.77246400e-03 9.98564708e-01 3.06625975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.55, Y:5.03, Z:3.07 [[ 9.95537910e-01 -7.77265148e-02 -5.35056918e-02 5.95537057e+01] [ 7.77106495e-02 9.96973114e-01 -2.38008299e-03 5.03087044e+00] [ 5.35287317e-02 -1.78849921e-03 9.98564708e-01 3.06925496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390385722999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.62, Y:5.04, Z:3.07 [[ 9.95255037e-01 -8.12682805e-02 -5.35058681e-02 5.96161375e+01] [ 8.12577350e-02 9.96690290e-01 -2.37611263e-03 5.03647857e+00] [ 5.35218818e-02 -1.98292758e-03 9.98564708e-01 3.06860558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:5.04, Z:3.08 [[ 9.94985677e-01 -8.45020994e-02 -5.35060457e-02 5.96770106e+01] [ 8.44964332e-02 9.96420958e-01 -2.37210605e-03 5.03937153e+00] [ 5.35149933e-02 -2.16085847e-03 9.98564708e-01 3.07766642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:5.04, Z:3.08 [[ 9.94750439e-01 -8.72275943e-02 -5.35061777e-02 5.97389662e+01] [ 8.72260202e-02 9.96185730e-01 -2.36912546e-03 5.04224975e+00] [ 5.35087438e-02 -2.31044234e-03 9.98564708e-01 3.08237702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570385722999994 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:5.05, Z:3.08 [[ 9.93933373e-01 -9.60912093e-02 -5.35063469e-02 5.98010347e+01] [ 9.61026347e-02 9.95368620e-01 -2.36529799e-03 5.04677399e+00] [ 5.34858230e-02 -2.79115230e-03 9.98564708e-01 3.07829784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630385722999996 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:5.05, Z:3.08 [[ 9.93580503e-01 -9.96736508e-02 -5.35065168e-02 5.98639395e+01] [ 9.96904569e-02 9.95015697e-01 -2.36144747e-03 5.04987659e+00] [ 5.34751982e-02 -2.98780094e-03 9.98564708e-01 3.08061176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:59.93, Y:5.06, Z:3.09 [[ 9.93428525e-01 -1.01177033e-01 -5.35067710e-02 5.99252038e+01] [ 1.01196321e-01 9.94863687e-01 -2.35567371e-03 5.05581678e+00] [ 5.34702836e-02 -3.07449491e-03 9.98564708e-01 3.08846884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750385722999994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:59.99, Y:5.06, Z:3.09 [[ 9.93458108e-01 -1.00886050e-01 -5.35069380e-02 5.99875080e+01] [ 1.00905121e-01 9.94893273e-01 -2.35187529e-03 5.06036838e+00] [ 5.34709641e-02 -3.06263447e-03 9.98564708e-01 3.08911220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810385722999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:60.05, Y:5.07, Z:3.09 [[ 9.93935655e-01 -9.60671803e-02 -5.35071076e-02 6.00495861e+01] [ 9.60794991e-02 9.95370894e-01 -2.34801044e-03 5.06814330e+00] [ 5.34849842e-02 -2.80716480e-03 9.98564708e-01 3.08552356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.11, Y:5.07, Z:3.09 [[ 9.94721289e-01 -8.75587095e-02 -5.35072831e-02 6.01117060e+01] [ 8.75589618e-02 9.96156581e-01 -2.34400376e-03 5.07396174e+00] [ 5.35068701e-02 -2.35341171e-03 9.98564708e-01 3.09386505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.17, Y:5.08, Z:3.10 [[ 9.95516519e-01 -7.79987944e-02 -5.35074596e-02 6.01727632e+01] [ 7.79854751e-02 9.96951749e-01 -2.33996826e-03 5.08075173e+00] [ 5.35268701e-02 -1.84332760e-03 9.98564708e-01 3.10253360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990385722999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.23, Y:5.09, Z:3.11 [[ 9.95917913e-01 -7.26941774e-02 -5.35076323e-02 6.02348851e+01] [ 7.26734246e-02 9.97353055e-01 -2.33601240e-03 5.08830355e+00] [ 5.35358150e-02 -1.56210629e-03 9.98564708e-01 3.10550581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:5.10, Z:3.11 [[ 9.96207726e-01 -6.86081811e-02 -5.35077949e-02 6.02973227e+01] [ 6.85817417e-02 9.97642774e-01 -2.33228154e-03 5.09693157e+00] [ 5.35416785e-02 -1.34622088e-03 9.98564708e-01 3.10520811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:5.10, Z:3.11 [[ 9.96608141e-01 -6.25228308e-02 -5.35080295e-02 6.03579399e+01] [ 6.24879173e-02 9.98043008e-01 -2.32688623e-03 5.10108656e+00] [ 5.35487983e-02 -1.02461156e-03 9.98564708e-01 3.10891947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170385722999995 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:60.42, Y:5.11, Z:3.11 [[ 9.96706338e-01 -6.09373212e-02 -5.35081230e-02 6.04186200e+01] [ 6.09002406e-02 9.98141150e-01 -2.32473388e-03 5.10933724e+00] [ 5.35503225e-02 -9.41580575e-04 9.98564708e-01 3.11409518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.48, Y:5.11, Z:3.12 [[ 9.96629438e-01 -6.21822807e-02 -5.35082067e-02 6.04787457e+01] [ 6.21470958e-02 9.98064298e-01 -2.32280630e-03 5.11289206e+00] [ 5.35490682e-02 -1.01040251e-03 9.98564708e-01 3.11729895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.54, Y:5.12, Z:3.12 [[ 9.96158422e-01 -6.93200509e-02 -5.35082067e-02 6.05399759e+01] [ 6.92951455e-02 9.97593498e-01 -2.32280630e-03 5.11827867e+00] [ 5.35404562e-02 -1.39397591e-03 9.98564708e-01 3.12157864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.60, Y:5.12, Z:3.12 [[ 9.95777202e-01 -7.45964244e-02 -5.35082898e-02 6.06013339e+01] [ 7.45792248e-02 9.97212391e-01 -2.32089168e-03 5.12270750e+00] [ 5.35322598e-02 -1.67951574e-03 9.98564708e-01 3.12325483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410385723 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:60.66, Y:5.13, Z:3.13 [[ 9.95319854e-01 -8.04688586e-02 -5.35084138e-02 6.06626965e+01] [ 8.04602786e-02 9.96755121e-01 -2.31802858e-03 5.13055747e+00] [ 5.35213146e-02 -1.99812201e-03 9.98564708e-01 3.12944359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:60.72, Y:5.13, Z:3.14 [[ 9.95275563e-01 -8.10146864e-02 -5.35086329e-02 6.07249097e+01] [ 8.10071656e-02 9.96710835e-01 -2.31296068e-03 5.13416749e+00] [ 5.35200179e-02 -2.03254943e-03 9.98564708e-01 3.13770342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.79, Y:5.13, Z:3.14 [[ 9.95135993e-01 -8.27113163e-02 -5.35088088e-02 6.07881182e+01] [ 8.27064614e-02 9.96571277e-01 -2.30888221e-03 5.13293051e+00] [ 5.35163127e-02 -2.12787244e-03 9.98564708e-01 3.13652640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:5.13, Z:3.14 [[ 9.95106959e-01 -8.30597351e-02 -5.35090753e-02 6.08498638e+01] [ 8.30557150e-02 9.96542245e-01 -2.30269129e-03 5.12746248e+00] [ 5.35153149e-02 -2.15281038e-03 9.98564708e-01 3.13636780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:60.91, Y:5.13, Z:3.14 [[ 9.95071994e-01 -8.34773677e-02 -5.35093910e-02 6.09119722e+01] [ 8.34743452e-02 9.96507283e-01 -2.29533008e-03 5.13153472e+00] [ 5.35141060e-02 -2.18264270e-03 9.98564708e-01 3.13923823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710385722999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:5.14, Z:3.15 [[ 9.95122564e-01 -8.28722590e-02 -5.35095532e-02 6.09736218e+01] [ 8.28685670e-02 9.96557851e-01 -2.29154330e-03 5.13645555e+00] [ 5.35152707e-02 -2.15389355e-03 9.98564708e-01 3.14979989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:5.13, Z:3.15 [[ 9.95189292e-01 -8.20669428e-02 -5.35097142e-02 6.10351085e+01] [ 8.20622914e-02 9.96624576e-01 -2.28777840e-03 5.13426343e+00] [ 5.35168472e-02 -2.11435719e-03 9.98564708e-01 3.14964894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830385723 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:5.14, Z:3.15 [[ 9.95289169e-01 -8.08464776e-02 -5.35099771e-02 6.10968070e+01] [ 8.08403972e-02 9.96724448e-01 -2.28161222e-03 5.13663636e+00] [ 5.35191627e-02 -2.05490387e-03 9.98564708e-01 3.15195377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890385722999994 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:61.16, Y:5.14, Z:3.16 [[ 9.95538551e-01 -7.77152336e-02 -5.35101418e-02 6.11587249e+01] [ 7.77048460e-02 9.96973805e-01 -2.27774346e-03 5.14137462e+00] [ 5.35252250e-02 -1.89041590e-03 9.98564708e-01 3.15871076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.22, Y:5.14, Z:3.16 [[ 9.95664083e-01 -7.60899573e-02 -5.35103067e-02 6.12197978e+01] [ 7.60774350e-02 9.97099320e-01 -2.27386277e-03 5.14162341e+00] [ 5.35281085e-02 -1.80692339e-03 9.98564708e-01 3.16257018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:61.28, Y:5.14, Z:3.17 [[ 9.95791935e-01 -7.43979563e-02 -5.35104284e-02 6.12823208e+01] [ 7.43831492e-02 9.97227151e-01 -2.27099414e-03 5.14228620e+00] [ 5.35310094e-02 -1.71883653e-03 9.98564708e-01 3.16560564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070385722999994 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:5.14, Z:3.17 [[ 9.95749330e-01 -7.49659112e-02 -5.35105942e-02 6.13445235e+01] [ 7.49521328e-02 9.97184556e-01 -2.26708095e-03 5.14315730e+00] [ 5.35298919e-02 -1.75328882e-03 9.98564708e-01 3.16549016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130385722999996 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:5.14, Z:3.17 [[ 9.95585669e-01 -7.71088435e-02 -5.35107561e-02 6.14064659e+01] [ 7.70983596e-02 9.97020923e-01 -2.26325317e-03 5.14399776e+00] [ 5.35258603e-02 -1.87232909e-03 9.98564708e-01 3.17062530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:5.14, Z:3.17 [[ 9.95492810e-01 -7.82984421e-02 -5.35109170e-02 6.14678458e+01] [ 7.82898778e-02 9.96928077e-01 -2.25944216e-03 5.14314909e+00] [ 5.35234464e-02 -1.94010473e-03 9.98564708e-01 3.17180070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250385722999994 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:61.53, Y:5.14, Z:3.18 [[ 9.95386905e-01 -7.96333958e-02 -5.35110361e-02 6.15297089e+01] [ 7.96269078e-02 9.96822182e-01 -2.25661967e-03 5.14403406e+00] [ 5.35206900e-02 -2.01470866e-03 9.98564708e-01 3.17807143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310385722999996 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:61.59, Y:5.14, Z:3.18 [[ 9.95333123e-01 -8.03027205e-02 -5.35111948e-02 6.15923176e+01] [ 8.02974000e-02 9.96768405e-01 -2.25285001e-03 5.14435454e+00] [ 5.35191782e-02 -2.05447357e-03 9.98564708e-01 3.18056362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:61.65, Y:5.14, Z:3.19 [[ 9.95343476e-01 -8.01741849e-02 -5.35113514e-02 6.16537361e+01] [ 8.01688791e-02 9.96778758e-01 -2.24912386e-03 5.14363537e+00] [ 5.35193000e-02 -2.05129430e-03 9.98564708e-01 3.18706517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43038572299999 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:5.14, Z:3.19 [[ 9.95463701e-01 -7.86672252e-02 -5.35115726e-02 6.17160079e+01] [ 7.86600297e-02 9.96898974e-01 -2.24384826e-03 5.14478203e+00] [ 5.35221491e-02 -1.97555240e-03 9.98564708e-01 3.19100572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490385722999996 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:5.15, Z:3.19 [[ 9.95322903e-01 -8.04289349e-02 -5.35117324e-02 6.17785183e+01] [ 8.04244846e-02 9.96758188e-01 -2.24003082e-03 5.14746748e+00] [ 5.35184207e-02 -2.07409952e-03 9.98564708e-01 3.19182216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550385723 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:5.15, Z:3.19 [[ 9.95511449e-01 -7.80604340e-02 -5.35119004e-02 6.18405435e+01] [ 7.80527844e-02 9.96946720e-01 -2.23601101e-03 5.14767681e+00] [ 5.35230575e-02 -1.95077826e-03 9.98564708e-01 3.19279031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61038572299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:5.15, Z:3.19 [[ 9.96103339e-01 -7.01041779e-02 -5.35120699e-02 6.19017898e+01] [ 7.00852794e-02 9.97538507e-01 -2.23194592e-03 5.14848955e+00] [ 5.35368190e-02 -1.52715959e-03 9.98564708e-01 3.19424796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670385722999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:5.15, Z:3.20 [[ 9.96272722e-01 -6.76542951e-02 -5.35122387e-02 6.19641903e+01] [ 6.76320849e-02 9.97707842e-01 -2.22789123e-03 5.15209097e+00] [ 5.35403066e-02 -1.39955702e-03 9.98564708e-01 3.19946029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:62.03, Y:5.15, Z:3.20 [[ 9.96890122e-01 -5.78489875e-02 -5.35124127e-02 6.20254542e+01] [ 5.78128833e-02 9.98324960e-01 -2.22370338e-03 5.15424324e+00] [ 5.35514163e-02 -8.76918939e-04 9.98564708e-01 3.20256462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:5.15, Z:3.21 [[ 9.97271441e-01 -5.08535344e-02 -5.35125393e-02 6.20839150e+01] [ 5.08075281e-02 9.98705995e-01 -2.22065470e-03 5.15343689e+00] [ 5.35562219e-02 -5.04244330e-04 9.98564708e-01 3.20553859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850385722999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:5.16, Z:3.21 [[ 9.97497684e-01 -4.62043635e-02 -5.35119337e-02 6.21430027e+01] [ 4.61508931e-02 9.98931979e-01 -2.23515183e-03 5.15544867e+00] [ 5.35580556e-02 -2.40064754e-04 9.98564708e-01 3.20773040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910385723 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:62.20, Y:5.15, Z:3.21 [[ 9.97600124e-01 -4.39377584e-02 -5.35113584e-02 6.22017501e+01] [ 4.38802949e-02 9.99034265e-01 -2.24884104e-03 5.15089325e+00] [ 5.35584897e-02 -1.04650088e-04 9.98564709e-01 3.20642450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:62.26, Y:5.15, Z:3.21 [[ 9.97558902e-01 -4.48646766e-02 -5.35107249e-02 6.22598073e+01] [ 4.48077423e-02 9.98993064e-01 -2.26381691e-03 5.15143450e+00] [ 5.35584084e-02 -1.39404058e-04 9.98564709e-01 3.21046173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030385723 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:5.15, Z:3.21 [[ 9.97478370e-01 -4.66216343e-02 -5.35100418e-02 6.23177169e+01] [ 4.65663660e-02 9.98912597e-01 -2.27985033e-03 5.15116132e+00] [ 5.35581451e-02 -2.17666799e-04 9.98564709e-01 3.21423992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:62.38, Y:5.15, Z:3.22 [[ 9.97112612e-01 -5.38812373e-02 -5.35093572e-02 6.23752027e+01] [ 5.38355543e-02 9.98547176e-01 -2.29580679e-03 5.15070740e+00] [ 5.35553184e-02 -5.91527996e-04 9.98564709e-01 3.21852459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:62.43, Y:5.15, Z:3.23 [[ 9.96790079e-01 -5.95513369e-02 -5.35086682e-02 6.24332777e+01] [ 5.95129578e-02 9.98224856e-01 -2.31175285e-03 5.14841695e+00] [ 5.35513506e-02 -8.80126816e-04 9.98564709e-01 3.22509752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:62.49, Y:5.15, Z:3.23 [[ 9.96484566e-01 -6.44623518e-02 -5.35080735e-02 6.24917941e+01] [ 6.44303086e-02 9.97919500e-01 -2.32543749e-03 5.14868612e+00] [ 5.35466531e-02 -1.13027912e-03 9.98564709e-01 3.22666844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27038572299999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:62.55, Y:5.15, Z:3.22 [[ 9.96000887e-01 -7.15484515e-02 -5.35074967e-02 6.25514765e+01] [ 7.15259071e-02 9.97436001e-01 -2.33863465e-03 5.15211806e+00] [ 5.35376292e-02 -1.49789005e-03 9.98564709e-01 3.22298225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33038572299999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:62.61, Y:5.16, Z:3.23 [[ 9.95383490e-01 -7.96784779e-02 -5.35074529e-02 6.26124811e+01] [ 7.96675981e-02 9.96818740e-01 -2.33963763e-03 5.15536696e+00] [ 5.35236505e-02 -1.93397358e-03 9.98564709e-01 3.22843803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390385723 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:62.67, Y:5.15, Z:3.23 [[ 9.95354576e-01 -8.00388091e-02 -5.35075421e-02 6.26733959e+01] [ 8.00285585e-02 9.96789830e-01 -2.33759500e-03 5.15429603e+00] [ 5.35228721e-02 -1.95539559e-03 9.98564709e-01 3.23461678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:62.74, Y:5.16, Z:3.24 [[ 9.95099133e-01 -8.31543452e-02 -5.35076724e-02 6.27356161e+01] [ 8.31487480e-02 9.96534413e-01 -2.33460975e-03 5.15952407e+00] [ 5.35163698e-02 -2.12592783e-03 9.98564709e-01 3.24025935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510385723 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:62.80, Y:5.17, Z:3.24 [[ 9.94406429e-01 -9.10646175e-02 -5.35078406e-02 6.27976592e+01] [ 9.10706410e-02 9.95841707e-01 -2.33074648e-03 5.17250530e+00] [ 5.34975879e-02 -2.55528406e-03 9.98564709e-01 3.24424564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570385723 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:62.86, Y:5.18, Z:3.24 [[ 9.94388588e-01 -9.12590847e-02 -5.35080948e-02 6.28595896e+01] [ 9.12657029e-02 9.95823863e-01 -2.32489780e-03 5.17762998e+00] [ 5.34968057e-02 -2.57160204e-03 9.98564709e-01 3.24453122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630385723 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:62.92, Y:5.18, Z:3.25 [[ 9.94110053e-01 -9.42447093e-02 -5.35083005e-02 6.29220090e+01] [ 9.42558922e-02 9.95545300e-01 -2.32015232e-03 5.17998099e+00] [ 5.34885992e-02 -2.73698586e-03 9.98564709e-01 3.24620925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69038572299999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:5.18, Z:3.25 [[ 9.94091919e-01 -9.44356563e-02 -5.35085385e-02 6.29830375e+01] [ 9.44474102e-02 9.95527161e-01 -2.31465216e-03 5.18268679e+00] [ 5.34877891e-02 -2.75276587e-03 9.98564709e-01 3.24867807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:5.18, Z:3.26 [[ 9.94166161e-01 -9.36507675e-02 -5.35086815e-02 6.30442526e+01] [ 9.36615659e-02 9.95601411e-01 -2.31134131e-03 5.17968979e+00] [ 5.34897776e-02 -2.71384958e-03 9.98564709e-01 3.25510108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810385723 meters Centerline goodness : 0.995837 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:5.18, Z:3.25 [[ 9.94848807e-01 -8.60967918e-02 -5.35088221e-02 6.31065517e+01] [ 8.60968634e-02 9.96284097e-01 -2.30808174e-03 5.18097733e+00] [ 5.35087069e-02 -2.31074938e-03 9.98564709e-01 3.25428510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:5.19, Z:3.27 [[ 9.94841970e-01 -8.61756126e-02 -5.35090421e-02 6.31655256e+01] [ 8.61760723e-02 9.96277261e-01 -2.30297044e-03 5.18923697e+00] [ 5.35083017e-02 -2.32010742e-03 9.98564709e-01 3.26572653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:63.23, Y:5.21, Z:3.27 [[ 9.95082689e-01 -8.33500060e-02 -5.35090421e-02 6.32263363e+01] [ 8.33463896e-02 9.96517976e-01 -2.30297044e-03 5.20651578e+00] [ 5.35146749e-02 -2.16813944e-03 9.98564709e-01 3.27235185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:63.29, Y:5.21, Z:3.27 [[ 9.95494911e-01 -7.82728926e-02 -5.35092097e-02 6.32886524e+01] [ 7.82621641e-02 9.96930162e-01 -2.29906824e-03 5.20794149e+00] [ 5.35248998e-02 -1.89903582e-03 9.98564709e-01 3.27381236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05038572299999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:63.35, Y:5.21, Z:3.28 [[ 9.95932084e-01 -7.24984770e-02 -5.35093845e-02 6.33510780e+01] [ 7.24796441e-02 9.97367251e-01 -2.29499382e-03 5.21021902e+00] [ 5.35348913e-02 -1.59268316e-03 9.98564709e-01 3.27586280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.41, Y:5.21, Z:3.28 [[ 9.96210213e-01 -6.85706871e-02 -5.35095569e-02 6.34124514e+01] [ 6.85464113e-02 9.97645298e-01 -2.29096619e-03 5.21278692e+00] [ 5.35406510e-02 -1.38560418e-03 9.98564709e-01 3.28066758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:63.47, Y:5.22, Z:3.29 [[ 9.96289987e-01 -6.74014701e-02 -5.35098374e-02 6.34734343e+01] [ 6.73758628e-02 9.97725050e-01 -2.28439630e-03 5.21678509e+00] [ 5.35420768e-02 -1.32935030e-03 9.98564709e-01 3.28503302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:63.53, Y:5.22, Z:3.28 [[ 9.96523581e-01 -6.38548500e-02 -5.35099168e-02 6.35345803e+01] [ 6.38242348e-02 9.97958545e-01 -2.28253497e-03 5.21779411e+00] [ 5.35464296e-02 -1.14062957e-03 9.98564709e-01 3.28408408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:63.60, Y:5.22, Z:3.29 [[ 9.96516786e-01 -6.39607353e-02 -5.35099979e-02 6.35954077e+01] [ 6.39303747e-02 9.97951755e-01 -2.28063069e-03 5.21831656e+00] [ 5.35462672e-02 -1.14822745e-03 9.98564709e-01 3.28715052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:5.22, Z:3.29 [[ 9.96638450e-01 -6.20360024e-02 -5.35101290e-02 6.36556641e+01] [ 6.20030358e-02 9.98073362e-01 -2.27755091e-03 5.22009382e+00] [ 5.35483245e-02 -1.04789563e-03 9.98564709e-01 3.28845808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41038572299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:5.22, Z:3.29 [[ 9.96727916e-01 -6.05815342e-02 -5.35101709e-02 6.37155024e+01] [ 6.05465265e-02 9.98162780e-01 -2.27656611e-03 5.22249837e+00] [ 5.35497788e-02 -9.70737988e-04 9.98564709e-01 3.29038046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:5.23, Z:3.30 [[ 9.96531437e-01 -6.37319753e-02 -5.35100884e-02 6.37754091e+01] [ 6.37013994e-02 9.97966402e-01 -2.27850428e-03 5.22585131e+00] [ 5.35464840e-02 -1.13806637e-03 9.98564709e-01 3.29706581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:5.23, Z:3.30 [[ 9.96067344e-01 -7.06152692e-02 -5.35100884e-02 6.38372935e+01] [ 7.05946080e-02 9.97502486e-01 -2.27850428e-03 5.23255810e+00] [ 5.35373434e-02 -1.50798001e-03 9.98564709e-01 3.30457135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.90, Y:5.24, Z:3.30 [[ 9.95573905e-01 -7.72609349e-02 -5.35102580e-02 6.38985105e+01] [ 7.72500656e-02 9.97009154e-01 -2.27451492e-03 5.23636624e+00] [ 5.35259482e-02 -1.86922324e-03 9.98564709e-01 3.30463540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:5.24, Z:3.31 [[ 9.95456003e-01 -7.87652771e-02 -5.35105418e-02 6.39606544e+01] [ 7.87569362e-02 9.96891269e-01 -2.26781879e-03 5.23716858e+00] [ 5.35228172e-02 -1.95681249e-03 9.98564709e-01 3.30569908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710385723 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:5.24, Z:3.31 [[ 9.94955597e-01 -8.48526072e-02 -5.35107018e-02 6.40217545e+01] [ 8.48532483e-02 9.96390887e-01 -2.26403704e-03 5.23832489e+00] [ 5.35096851e-02 -2.28794054e-03 9.98564709e-01 3.31093361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77038572299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:5.25, Z:3.32 [[ 9.94443678e-01 -9.06551757e-02 -5.35108367e-02 6.40835834e+01] [ 9.06643610e-02 9.95878940e-01 -2.26084217e-03 5.24663400e+00] [ 5.34952724e-02 -2.60324562e-03 9.98564709e-01 3.31867492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83038572299999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:64.15, Y:5.25, Z:3.32 [[ 9.94744508e-01 -8.72922268e-02 -5.35110369e-02 6.41454694e+01] [ 8.72968140e-02 9.96179791e-01 -2.25609399e-03 5.25238164e+00] [ 5.35035531e-02 -2.42710593e-03 9.98564709e-01 3.31901428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:64.21, Y:5.25, Z:3.32 [[ 9.94722838e-01 -8.75387141e-02 -5.35112063e-02 6.42077940e+01] [ 8.75438730e-02 9.96158119e-01 -2.25206978e-03 5.25412066e+00] [ 5.35027659e-02 -2.44439301e-03 9.98564709e-01 3.31835073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:64.27, Y:5.26, Z:3.32 [[ 9.94651840e-01 -8.83416637e-02 -5.35113734e-02 6.42703684e+01] [ 8.83481948e-02 9.96087116e-01 -2.24809165e-03 5.25624011e+00] [ 5.35005898e-02 -2.49156474e-03 9.98564709e-01 3.32149379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:64.33, Y:5.26, Z:3.33 [[ 9.94721638e-01 -8.75520868e-02 -5.35116254e-02 6.43318921e+01] [ 8.75578014e-02 9.96156918e-01 -2.24207811e-03 5.26051255e+00] [ 5.35022744e-02 -2.45511666e-03 9.98564709e-01 3.32812025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070385723 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:64.39, Y:5.27, Z:3.34 [[ 9.95045862e-01 -8.37867606e-02 -5.35117933e-02 6.43921680e+01] [ 8.37872586e-02 9.96481152e-01 -2.23806406e-03 5.26594227e+00] [ 5.35110135e-02 -2.25663008e-03 9.98564709e-01 3.34174629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130385723 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:64.45, Y:5.27, Z:3.34 [[ 9.95094160e-01 -8.32110901e-02 -5.35119385e-02 6.44542696e+01] [ 8.32109445e-02 9.96529450e-01 -2.23458546e-03 5.26798151e+00] [ 5.35121650e-02 -2.22915600e-03 9.98564710e-01 3.33500896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19038572299999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:5.27, Z:3.34 [[ 9.95221377e-01 -8.16753012e-02 -5.35122005e-02 6.45175217e+01] [ 8.16732783e-02 9.96656666e-01 -2.22829415e-03 5.27030314e+00] [ 5.35152880e-02 -2.15287087e-03 9.98564710e-01 3.33835761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:5.28, Z:3.35 [[ 9.95273731e-01 -8.10346741e-02 -5.35124516e-02 6.45776021e+01] [ 8.10320519e-02 9.96709019e-01 -2.22224859e-03 5.27782594e+00] [ 5.35164223e-02 -2.12447810e-03 9.98564710e-01 3.35096426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:5.28, Z:3.35 [[ 9.95325745e-01 -8.03931920e-02 -5.35125736e-02 6.46399857e+01] [ 8.03898027e-02 9.96761032e-01 -2.21930530e-03 5.28281177e+00] [ 5.35176651e-02 -2.09293354e-03 9.98564710e-01 3.34843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:64.70, Y:5.28, Z:3.35 [[ 9.95437509e-01 -7.89971687e-02 -5.35127398e-02 6.47028782e+01] [ 7.89919819e-02 9.96872790e-01 -2.21529118e-03 5.28313379e+00] [ 5.35203960e-02 -2.02189345e-03 9.98564710e-01 3.34715393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430385723 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:5.28, Z:3.35 [[ 9.95390379e-01 -7.95886455e-02 -5.35129902e-02 6.47631178e+01] [ 7.95846371e-02 9.96825664e-01 -2.20922600e-03 5.28471987e+00] [ 5.35189513e-02 -2.05976960e-03 9.98564710e-01 3.35461748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:5.29, Z:3.36 [[ 9.95341755e-01 -8.01943009e-02 -5.35132282e-02 6.48248453e+01] [ 8.01914761e-02 9.96777042e-01 -2.20344582e-03 5.28673932e+00] [ 5.35174611e-02 -2.09812314e-03 9.98564710e-01 3.36182043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55038572299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:5.29, Z:3.36 [[ 9.95280060e-01 -8.09562854e-02 -5.35133851e-02 6.48875378e+01] [ 8.09547644e-02 9.96715349e-01 -2.19962826e-03 5.28598774e+00] [ 5.35156861e-02 -2.14291734e-03 9.98564710e-01 3.35889497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:64.95, Y:5.29, Z:3.37 [[ 9.95106650e-01 -8.30605237e-02 -5.35136013e-02 6.49484553e+01] [ 8.30623205e-02 9.96541939e-01 -2.19435655e-03 5.28578762e+00] [ 5.35108124e-02 -2.26134511e-03 9.98564710e-01 3.36818901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670385723 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:5.29, Z:3.37 [[ 9.95100404e-01 -8.31352317e-02 -5.35137312e-02 6.50109703e+01] [ 8.31373066e-02 9.96535693e-01 -2.19118364e-03 5.28838594e+00] [ 5.35105078e-02 -2.26853975e-03 9.98564710e-01 3.36691880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:5.29, Z:3.37 [[ 9.95074300e-01 -8.34469973e-02 -5.35138850e-02 6.50734995e+01] [ 8.34497238e-02 9.96509588e-01 -2.18742040e-03 5.28968313e+00] [ 5.35096332e-02 -2.28907311e-03 9.98564710e-01 3.36910549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:65.14, Y:5.29, Z:3.37 [[ 9.95117288e-01 -8.29326888e-02 -5.35140420e-02 6.51352872e+01] [ 8.29348800e-02 9.96552576e-01 -2.18357258e-03 5.29019182e+00] [ 5.35106460e-02 -2.26526984e-03 9.98564710e-01 3.36998490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850385723 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:65.20, Y:5.30, Z:3.37 [[ 9.95333904e-01 -8.02910072e-02 -5.35142361e-02 6.51983974e+01] [ 8.02896445e-02 9.96769194e-01 -2.17880679e-03 5.29591455e+00] [ 5.35162806e-02 -2.12799872e-03 9.98564710e-01 3.37474023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91038572299999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:65.26, Y:5.30, Z:3.38 [[ 9.95611293e-01 -7.67746987e-02 -5.35144669e-02 6.52600337e+01] [ 7.67685713e-02 9.97046571e-01 -2.17312274e-03 5.29692624e+00] [ 5.35232566e-02 -1.94464362e-03 9.98564710e-01 3.37911054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97038572299999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:65.32, Y:5.30, Z:3.38 [[ 9.95623171e-01 -7.66204095e-02 -5.35146180e-02 6.53216056e+01] [ 7.66142598e-02 9.97058448e-01 -2.16939445e-03 5.29930151e+00] [ 5.35234219e-02 -1.94008347e-03 9.98564710e-01 3.38245143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030385723 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:65.38, Y:5.30, Z:3.38 [[ 9.95717688e-01 -7.53820644e-02 -5.35147694e-02 6.53839312e+01] [ 7.53743303e-02 9.97152957e-01 -2.16565468e-03 5.30359732e+00] [ 5.35256621e-02 -1.87725923e-03 9.98564710e-01 3.38221681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:5.31, Z:3.39 [[ 9.95751563e-01 -7.49331157e-02 -5.35149738e-02 6.54463021e+01] [ 7.49250063e-02 9.97186831e-01 -2.16059068e-03 5.30508419e+00] [ 5.35263269e-02 -1.85819821e-03 9.98564710e-01 3.38652290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150385723 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:5.31, Z:3.39 [[ 9.95771887e-01 -7.46624352e-02 -5.35151397e-02 6.55084052e+01] [ 7.46541567e-02 9.97207153e-01 -2.15647398e-03 5.30548175e+00] [ 5.35266877e-02 -1.84777146e-03 9.98564710e-01 3.38779949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:5.31, Z:3.39 [[ 9.95870347e-01 -7.33373398e-02 -5.35152910e-02 6.55691784e+01] [ 7.33273532e-02 9.97305603e-01 -2.15271413e-03 5.30961960e+00] [ 5.35289738e-02 -1.78031048e-03 9.98564710e-01 3.39133391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27038572299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:5.31, Z:3.40 [[ 9.95955378e-01 -7.21733161e-02 -5.35154028e-02 6.56314908e+01] [ 7.21618014e-02 9.97390622e-01 -2.14993133e-03 5.31357280e+00] [ 5.35309285e-02 -1.72053220e-03 9.98564710e-01 3.39617220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33038572299999 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:5.31, Z:3.40 [[ 9.95993180e-01 -7.16496442e-02 -5.35155518e-02 6.56935585e+01] [ 7.16375744e-02 9.97428419e-01 -2.14621475e-03 5.31355564e+00] [ 5.35317078e-02 -1.69610907e-03 9.98564710e-01 3.39669005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390385723 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:65.76, Y:5.32, Z:3.40 [[ 9.96196052e-01 -6.87713262e-02 -5.35156992e-02 6.57558685e+01] [ 6.87553068e-02 9.97631253e-01 -2.14253341e-03 5.31830620e+00] [ 5.35362789e-02 -1.54510499e-03 9.98564710e-01 3.39669492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:65.82, Y:5.32, Z:3.41 [[ 9.96361862e-01 -6.63256671e-02 -5.35158556e-02 6.58167928e+01] [ 6.63063346e-02 9.97797022e-01 -2.13861984e-03 5.32276898e+00] [ 5.35398067e-02 -1.41760099e-03 9.98564710e-01 3.40546502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:65.88, Y:5.33, Z:3.41 [[ 9.96366325e-01 -6.62584820e-02 -5.35159711e-02 6.58784387e+01] [ 6.62392082e-02 9.97801486e-01 -2.13572482e-03 5.32528647e+00] [ 5.35398254e-02 -1.41689126e-03 9.98564710e-01 3.40953898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570385723 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:65.94, Y:5.32, Z:3.41 [[ 9.96221862e-01 -6.83961556e-02 -5.35160409e-02 6.59395922e+01] [ 6.83800550e-02 9.97657062e-01 -2.13397474e-03 5.32361749e+00] [ 5.35366119e-02 -1.53351753e-03 9.98564710e-01 3.40917791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630385723 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:66.00, Y:5.32, Z:3.41 [[ 9.96053679e-01 -7.08032099e-02 -5.35161100e-02 6.60008182e+01] [ 7.07906703e-02 9.97488914e-01 -2.13224211e-03 5.32464253e+00] [ 5.35326960e-02 -1.66461370e-03 9.98564710e-01 3.41216445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69038572299999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:66.06, Y:5.33, Z:3.42 [[ 9.95909565e-01 -7.28021784e-02 -5.35161782e-02 6.60619379e+01] [ 7.27926115e-02 9.97344823e-01 -2.13052837e-03 5.33025104e+00] [ 5.35291904e-02 -1.77376878e-03 9.98564710e-01 3.41527295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:66.12, Y:5.33, Z:3.42 [[ 9.95680400e-01 -7.58719213e-02 -5.35162795e-02 6.61244272e+01] [ 7.58669156e-02 9.97115682e-01 -2.12798129e-03 5.33111862e+00] [ 5.35233755e-02 -1.94132579e-03 9.98564710e-01 3.42014336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.19, Y:5.33, Z:3.42 [[ 9.95484228e-01 -7.84037276e-02 -5.35164121e-02 6.61869706e+01] [ 7.84025512e-02 9.96919518e-01 -2.12464075e-03 5.33451333e+00] [ 5.35181355e-02 -2.08077688e-03 9.98564710e-01 3.42283305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870385723 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:66.25, Y:5.34, Z:3.42 [[ 9.95497340e-01 -7.82369692e-02 -5.35165696e-02 6.62482602e+01] [ 7.82357657e-02 9.96932629e-01 -2.12066615e-03 5.33607045e+00] [ 5.35183289e-02 -2.07579229e-03 9.98564710e-01 3.42286154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:66.31, Y:5.34, Z:3.43 [[ 9.95529142e-01 -7.78311694e-02 -5.35166859e-02 6.63101883e+01] [ 7.78295386e-02 9.96964432e-01 -2.11772661e-03 5.33903175e+00] [ 5.35190575e-02 -2.05692042e-03 9.98564710e-01 3.43092566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990385723 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:66.37, Y:5.34, Z:3.43 [[ 9.95570710e-01 -7.72975350e-02 -5.35168350e-02 6.63725321e+01] [ 7.72953375e-02 9.97005999e-01 -2.11395148e-03 5.34135475e+00] [ 5.35200088e-02 -2.03201365e-03 9.98564710e-01 3.43330565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05038572299999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:66.43, Y:5.34, Z:3.44 [[ 9.95488099e-01 -7.83541746e-02 -5.35169850e-02 6.64342038e+01] [ 7.83537048e-02 9.96923389e-01 -2.11014720e-03 5.34204141e+00] [ 5.35176729e-02 -2.09262762e-03 9.98564710e-01 3.43700811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:5.34, Z:3.44 [[ 9.95477593e-01 -7.84874379e-02 -5.35171339e-02 6.64963879e+01] [ 7.84873632e-02 9.96912883e-01 -2.10636499e-03 5.34386700e+00] [ 5.35172434e-02 -2.10357958e-03 9.98564710e-01 3.44000449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:5.34, Z:3.44 [[ 9.95522652e-01 -7.79137293e-02 -5.35172831e-02 6.65590969e+01] [ 7.79130313e-02 9.96957942e-01 -2.10256741e-03 5.34497501e+00] [ 5.35182993e-02 -2.07654026e-03 9.98564710e-01 3.44176779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:5.35, Z:3.44 [[ 9.95426970e-01 -7.91266421e-02 -5.35174849e-02 6.66211228e+01] [ 7.91279693e-02 9.96862260e-01 -2.09741714e-03 5.34602149e+00] [ 5.35155226e-02 -2.14690432e-03 9.98564710e-01 3.44317705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:5.35, Z:3.45 [[ 9.95252036e-01 -8.12972830e-02 -5.35176317e-02 6.66828960e+01] [ 8.13019416e-02 9.96687318e-01 -2.09366678e-03 5.34652867e+00] [ 5.35105542e-02 -2.26736124e-03 9.98564710e-01 3.44584088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:5.35, Z:3.45 [[ 9.95273382e-01 -8.10354425e-02 -5.35177820e-02 6.67437097e+01] [ 8.10399302e-02 9.96708665e-01 -2.08981707e-03 5.35133196e+00] [ 5.35109863e-02 -2.25713801e-03 9.98564710e-01 3.45049313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41038572299999 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:5.35, Z:3.45 [[ 9.95329595e-01 -8.03419741e-02 -5.35178931e-02 6.68056547e+01] [ 8.03456146e-02 9.96764880e-01 -2.08696865e-03 5.35302024e+00] [ 5.35124275e-02 -2.22270635e-03 9.98564710e-01 3.45394112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47038572299999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:5.35, Z:3.46 [[ 9.95308323e-01 -8.06049753e-02 -5.35180392e-02 6.68665005e+01] [ 8.06091967e-02 9.96743607e-01 -2.08321364e-03 5.35446549e+00] [ 5.35116808e-02 -2.24060627e-03 9.98564710e-01 3.46037663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:5.36, Z:3.46 [[ 9.95200096e-01 -8.19303222e-02 -5.35181473e-02 6.69282585e+01] [ 8.19366040e-02 9.96635372e-01 -2.08043437e-03 5.35751280e+00] [ 5.35085293e-02 -2.31464675e-03 9.98564710e-01 3.46383079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590385723 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:5.36, Z:3.47 [[ 9.95143464e-01 -8.26152396e-02 -5.35182940e-02 6.69889708e+01] [ 8.26227122e-02 9.96578735e-01 -2.07665365e-03 5.36000627e+00] [ 5.35067569e-02 -2.35525829e-03 9.98564710e-01 3.46651050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650385723 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:5.36, Z:3.47 [[ 9.95026212e-01 -8.40155859e-02 -5.35184023e-02 6.70510628e+01] [ 8.40252283e-02 9.96461469e-01 -2.07385817e-03 5.36126655e+00] [ 5.35032622e-02 -2.43335273e-03 9.98564710e-01 3.46958561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:5.36, Z:3.47 [[ 9.95041168e-01 -8.38381668e-02 -5.35185522e-02 6.71130809e+01] [ 8.38477613e-02 9.96476426e-01 -2.06998224e-03 5.36110047e+00] [ 5.35035192e-02 -2.42769325e-03 9.98564710e-01 3.46740104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77038572299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:67.17, Y:5.36, Z:3.47 [[ 9.95022052e-01 -8.40646392e-02 -5.35187035e-02 6.71741662e+01] [ 8.40747707e-02 9.96457307e-01 -2.06606423e-03 5.36346531e+00] [ 5.35027861e-02 -2.44379325e-03 9.98564710e-01 3.47345433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83038572299999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:67.24, Y:5.37, Z:3.48 [[ 9.95414447e-01 -7.92831364e-02 -5.35188152e-02 6.72362777e+01] [ 7.92865277e-02 9.96849733e-01 -2.06316507e-03 5.36891267e+00] [ 5.35137909e-02 -2.18961671e-03 9.98564710e-01 3.47621698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:5.37, Z:3.48 [[ 9.95755443e-01 -7.48787053e-02 -5.35189510e-02 6.72983588e+01] [ 7.48759365e-02 9.97190730e-01 -2.05963629e-03 5.37102964e+00] [ 5.35228247e-02 -1.95638753e-03 9.98564710e-01 3.48211155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:5.37, Z:3.48 [[ 9.96128913e-01 -6.97344613e-02 -5.35190987e-02 6.73595275e+01] [ 6.97244853e-02 9.97564168e-01 -2.05579218e-03 5.37113490e+00] [ 5.35320947e-02 -1.68375758e-03 9.98564710e-01 3.48363463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:67.42, Y:5.38, Z:3.49 [[ 9.96493667e-01 -6.43122539e-02 -5.35192074e-02 6.74203365e+01] [ 6.42946191e-02 9.97928849e-01 -2.05295903e-03 5.37534984e+00] [ 5.35403914e-02 -1.39523638e-03 9.98564710e-01 3.48810435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:5.38, Z:3.49 [[ 9.96893521e-01 -5.77840323e-02 -5.35192789e-02 6.74806615e+01] [ 5.77570978e-02 9.98328558e-01 -2.05109242e-03 5.37560125e+00] [ 5.35483449e-02 -1.04639748e-03 9.98564710e-01 3.49188953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:67.54, Y:5.38, Z:3.49 [[ 9.97058535e-01 -5.48630247e-02 -5.35193941e-02 6.75403190e+01] [ 5.48320475e-02 9.98493491e-01 -2.04808202e-03 5.37750730e+00] [ 5.35511306e-02 -8.92520299e-04 9.98564710e-01 3.49474339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19038572299999 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:5.38, Z:3.49 [[ 9.97109093e-01 -5.39364286e-02 -5.35193240e-02 6.75982221e+01] [ 5.39040196e-02 9.98544017e-01 -2.04991347e-03 5.38221622e+00] [ 5.35519658e-02 -8.40919326e-04 9.98564710e-01 3.49459346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:67.66, Y:5.38, Z:3.50 [[ 9.97318938e-01 -4.99068522e-02 -5.35186181e-02 6.76558074e+01] [ 4.98676652e-02 9.98753693e-01 -2.06817938e-03 5.37606141e+00] [ 5.35551338e-02 -6.06214061e-04 9.98564710e-01 3.50149065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:67.71, Y:5.38, Z:3.51 [[ 9.97316275e-01 -4.99604064e-02 -5.35182744e-02 6.77137179e+01] [ 4.99208212e-02 9.98751019e-01 -2.07703457e-03 5.37806842e+00] [ 5.35552006e-02 -6.00215831e-04 9.98564710e-01 3.50824779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:5.38, Z:3.51 [[ 9.97224191e-01 -5.17664904e-02 -5.35176865e-02 6.77709675e+01] [ 5.17286967e-02 9.98658983e-01 -2.09207401e-03 5.38068420e+00] [ 5.35542177e-02 -6.82133355e-04 9.98564710e-01 3.51260628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:67.83, Y:5.38, Z:3.51 [[ 9.96886839e-01 -5.79012237e-02 -5.35170953e-02 6.78300957e+01] [ 5.78714529e-02 9.98321819e-01 -2.10708949e-03 5.37837612e+00] [ 5.35492870e-02 -9.96582284e-04 9.98564710e-01 3.51253957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490385723 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:67.89, Y:5.38, Z:3.51 [[ 9.96169055e-01 -6.91606218e-02 -5.35165603e-02 6.78884658e+01] [ 6.91463409e-02 9.97604274e-01 -2.12059125e-03 5.38179783e+00] [ 5.35350107e-02 -1.58800694e-03 9.98564710e-01 3.50970591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55038572299999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:67.95, Y:5.38, Z:3.52 [[ 9.96027084e-01 -7.11765740e-02 -5.35158155e-02 6.79488423e+01] [ 7.11641976e-02 9.97462320e-01 -2.13922566e-03 5.37690527e+00] [ 5.35322722e-02 -1.67768337e-03 9.98564711e-01 3.51857138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:68.01, Y:5.38, Z:3.52 [[ 9.95636571e-01 -7.64452180e-02 -5.35158618e-02 6.80107933e+01] [ 7.64404975e-02 9.97071852e-01 -2.13806456e-03 5.37779032e+00] [ 5.35226043e-02 -1.96204384e-03 9.98564711e-01 3.52347819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:5.38, Z:3.53 [[ 9.95422525e-01 -7.91835454e-02 -5.35160145e-02 6.80716580e+01] [ 7.91829781e-02 9.96857814e-01 -2.13423800e-03 5.37854149e+00] [ 5.35168537e-02 -2.11308882e-03 9.98564711e-01 3.53025759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730385723 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:68.13, Y:5.38, Z:3.53 [[ 9.94949217e-01 -8.49239662e-02 -5.35161277e-02 6.81339264e+01] [ 8.49318306e-02 9.96384485e-01 -2.13139384e-03 5.38059307e+00] [ 5.35036458e-02 -2.42459406e-03 9.98564711e-01 3.52612328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:68.20, Y:5.38, Z:3.53 [[ 9.94752362e-01 -8.71994417e-02 -5.35163049e-02 6.81952139e+01] [ 8.72108281e-02 9.96187607e-01 -2.12693703e-03 5.37936536e+00] [ 5.34977474e-02 -2.55142563e-03 9.98564711e-01 3.53110516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850385723 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:68.26, Y:5.39, Z:3.53 [[ 9.94591856e-01 -8.90114078e-02 -5.35164377e-02 6.82580942e+01] [ 8.90255885e-02 9.96027075e-01 -2.12358883e-03 5.38668201e+00] [ 5.34928446e-02 -2.65222821e-03 9.98564711e-01 3.52534184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91038572299999 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:68.32, Y:5.39, Z:3.53 [[ 9.94654003e-01 -8.83140848e-02 -5.35167008e-02 6.83196062e+01] [ 8.83276163e-02 9.96089228e-01 -2.11693697e-03 5.38809167e+00] [ 5.34943646e-02 -2.62138279e-03 9.98564711e-01 3.53050230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97038572299999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:5.39, Z:3.54 [[ 9.95186137e-01 -8.21005464e-02 -5.35168408e-02 6.83796191e+01] [ 8.21053046e-02 9.96621419e-01 -2.11339362e-03 5.39444026e+00] [ 5.35095406e-02 -2.29079647e-03 9.98564711e-01 3.54168488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:5.40, Z:3.54 [[ 9.95986794e-01 -7.17372859e-02 -5.35169803e-02 6.84417065e+01] [ 7.17272940e-02 9.97422049e-01 -2.10985392e-03 5.39889895e+00] [ 5.35303714e-02 -1.73724154e-03 9.98564711e-01 3.54452278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:5.40, Z:3.55 [[ 9.96401712e-01 -6.57232488e-02 -5.35171285e-02 6.85024871e+01] [ 6.57047947e-02 9.97836883e-01 -2.10608849e-03 5.40353070e+00] [ 5.35397837e-02 -1.41782176e-03 9.98564711e-01 3.54953991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:5.41, Z:3.56 [[ 9.96851537e-01 -5.85057456e-02 -5.35172022e-02 6.85627247e+01] [ 5.84769992e-02 9.98286538e-01 -2.10421544e-03 5.41106355e+00] [ 5.35486112e-02 -1.03193499e-03 9.98564711e-01 3.55800007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:5.41, Z:3.56 [[ 9.96954202e-01 -5.67293504e-02 -5.35172785e-02 6.86223494e+01] [ 5.66981513e-02 9.98389153e-01 -2.10227131e-03 5.41348372e+00] [ 5.35503308e-02 -9.38462541e-04 9.98564711e-01 3.55705604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27038572299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:68.68, Y:5.42, Z:3.56 [[ 9.96726557e-01 -6.05976800e-02 -5.35172027e-02 6.86805284e+01] [ 6.05719461e-02 9.98161616e-01 -2.10420072e-03 5.41568210e+00] [ 5.35463272e-02 -1.14432837e-03 9.98564711e-01 3.55784031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.74, Y:5.42, Z:3.56 [[ 9.96532575e-01 -6.37083651e-02 -5.35170156e-02 6.87407578e+01] [ 6.36868556e-02 9.97967703e-01 -2.10894649e-03 5.42027832e+00] [ 5.35426107e-02 -1.30669658e-03 9.98564711e-01 3.56409049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:68.80, Y:5.42, Z:3.56 [[ 9.96587435e-01 -6.28443642e-02 -5.35170156e-02 6.88005867e+01] [ 6.28216106e-02 9.98022544e-01 -2.10894649e-03 5.42357510e+00] [ 5.35437235e-02 -1.26027555e-03 9.98564711e-01 3.56324366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.86, Y:5.43, Z:3.57 [[ 9.96620747e-01 -6.23138722e-02 -5.35169794e-02 6.88609505e+01] [ 6.22903053e-02 9.98055843e-01 -2.10986659e-03 5.42806518e+00] [ 5.35444079e-02 -1.23085216e-03 9.98564711e-01 3.57139759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.92, Y:5.43, Z:3.57 [[ 9.96625792e-01 -6.22331437e-02 -5.35169794e-02 6.89213805e+01] [ 6.22094606e-02 9.98060886e-01 -2.10986659e-03 5.43179197e+00] [ 5.35445075e-02 -1.22651495e-03 9.98564711e-01 3.57461743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:68.98, Y:5.44, Z:3.57 [[ 9.96658382e-01 -6.17090201e-02 -5.35169794e-02 6.89809351e+01] [ 6.16845822e-02 9.98093463e-01 -2.10986659e-03 5.43500397e+00] [ 5.35451451e-02 -1.19835629e-03 9.98564711e-01 3.57430690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63038572299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:5.44, Z:3.58 [[ 9.96590948e-01 -6.27886520e-02 -5.35169874e-02 6.90403191e+01] [ 6.27657796e-02 9.98026055e-01 -2.10966273e-03 5.43892365e+00] [ 5.35438107e-02 -1.25656465e-03 9.98564711e-01 3.57787894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:5.44, Z:3.58 [[ 9.96443007e-01 -6.50942733e-02 -5.35169949e-02 6.91001370e+01] [ 6.50747316e-02 9.97878164e-01 -2.10947197e-03 5.44186228e+00] [ 5.35407552e-02 -1.38063548e-03 9.98564711e-01 3.58417674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:5.44, Z:3.59 [[ 9.96293532e-01 -6.73433764e-02 -5.35169949e-02 6.91619018e+01] [ 6.73270744e-02 9.97728728e-01 -2.10947197e-03 5.44489163e+00] [ 5.35375023e-02 -1.50148942e-03 9.98564711e-01 3.58597620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:5.45, Z:3.58 [[ 9.96411729e-01 -6.55712619e-02 -5.35170698e-02 6.92229312e+01] [ 6.55525093e-02 9.97846895e-01 -2.10757101e-03 5.44970521e+00] [ 5.35400380e-02 -1.40816975e-03 9.98564711e-01 3.58368631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:5.46, Z:3.59 [[ 9.96591242e-01 -6.27838454e-02 -5.35171440e-02 6.92835760e+01] [ 6.27611797e-02 9.98026353e-01 -2.10568380e-03 5.45657985e+00] [ 5.35437230e-02 -1.26029306e-03 9.98564711e-01 3.58749869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:5.46, Z:3.59 [[ 9.96890022e-01 -5.78462677e-02 -5.35172180e-02 6.93451727e+01] [ 5.78165941e-02 9.98325005e-01 -2.10380321e-03 5.46136851e+00] [ 5.35492741e-02 -9.96922839e-04 9.98564711e-01 3.59018741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:69.40, Y:5.47, Z:3.59 [[ 9.97089850e-01 -5.42930017e-02 -5.35172929e-02 6.94047928e+01] [ 5.42583164e-02 9.98524720e-01 -2.10189608e-03 5.46648081e+00] [ 5.35524581e-02 -8.07978961e-04 9.98564711e-01 3.59352655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.46, Y:5.47, Z:3.60 [[ 9.97059215e-01 -5.48527900e-02 -5.35172185e-02 6.94634299e+01] [ 5.48188087e-02 9.98494102e-01 -2.10378845e-03 5.47337976e+00] [ 5.35520257e-02 -8.36148504e-04 9.98564711e-01 3.60158066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:69.52, Y:5.47, Z:3.60 [[ 9.97024654e-01 -5.54775169e-02 -5.35171431e-02 6.95218973e+01] [ 5.54443319e-02 9.98459560e-01 -2.10570468e-03 5.47412600e+00] [ 5.35515224e-02 -8.67782762e-04 9.98564711e-01 3.60079532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:5.48, Z:3.61 [[ 9.96833077e-01 -5.88195824e-02 -5.35170317e-02 6.95813314e+01] [ 5.87910561e-02 9.98268083e-01 -2.10853174e-03 5.47701565e+00] [ 5.35483676e-02 -1.04446863e-03 9.98564711e-01 3.60732064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:5.48, Z:3.61 [[ 9.96586283e-01 -6.28626683e-02 -5.35169584e-02 6.96412146e+01] [ 6.28398634e-02 9.98021391e-01 -2.11039131e-03 5.48111479e+00] [ 5.35437341e-02 -1.25981133e-03 9.98564711e-01 3.61117274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:5.48, Z:3.61 [[ 9.96533775e-01 -6.36896386e-02 -5.35169584e-02 6.97026721e+01] [ 6.36680246e-02 9.97968902e-01 -2.11039131e-03 5.48272327e+00] [ 5.35426702e-02 -1.30424280e-03 9.98564711e-01 3.61281322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350385723 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:5.48, Z:3.61 [[ 9.96544944e-01 -6.35145770e-02 -5.35170327e-02 6.97643811e+01] [ 6.34928122e-02 9.97980068e-01 -2.10850489e-03 5.48319533e+00] [ 5.35428527e-02 -1.29672702e-03 9.98564711e-01 3.60966728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41038572299999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:69.83, Y:5.49, Z:3.61 [[ 9.96643574e-01 -6.19476056e-02 -5.35171064e-02 6.98257683e+01] [ 6.19236848e-02 9.98078664e-01 -2.10663184e-03 5.48826830e+00] [ 5.35447829e-02 -1.21441535e-03 9.98564711e-01 3.61257961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47038572299999 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:69.89, Y:5.49, Z:3.62 [[ 9.96925297e-01 -5.72351583e-02 -5.35171812e-02 6.98856278e+01] [ 5.72045553e-02 9.98360260e-01 -2.10472988e-03 5.49332110e+00] [ 5.35498915e-02 -9.63168092e-04 9.98564711e-01 3.61883314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:69.95, Y:5.49, Z:3.62 [[ 9.97433020e-01 -4.75739317e-02 -5.35172180e-02 6.99458740e+01] [ 4.75294780e-02 9.98867620e-01 -2.10379349e-03 5.49170311e+00] [ 5.35567019e-02 -4.45252342e-04 9.98564711e-01 3.61604047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:70.00, Y:5.50, Z:3.62 [[ 9.97608176e-01 -4.37474984e-02 -5.35171393e-02 7.00031434e+01] [ 4.36974347e-02 9.99042592e-01 -2.10579357e-03 5.49656878e+00] [ 5.35580248e-02 -2.37804824e-04 9.98564711e-01 3.62066630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:70.06, Y:5.50, Z:3.62 [[ 9.97703754e-01 -4.15114875e-02 -5.35165045e-02 7.00616698e+01] [ 4.14573502e-02 9.99138022e-01 -2.12180604e-03 5.49650619e+00] [ 5.35584537e-02 -1.01718614e-04 9.98564711e-01 3.62168455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:70.12, Y:5.50, Z:3.62 [[ 9.97681691e-01 -4.20391050e-02 -5.35159459e-02 7.01201595e+01] [ 4.19849754e-02 9.99115959e-01 -2.13580155e-03 5.49523266e+00] [ 5.35584228e-02 -1.16015575e-04 9.98564711e-01 3.62438673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77038572299999 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:5.50, Z:3.64 [[ 9.97598228e-01 -4.39758995e-02 -5.35153864e-02 7.01770388e+01] [ 4.39238073e-02 9.99032571e-01 -2.14973078e-03 5.49760902e+00] [ 5.35581504e-02 -2.06031907e-04 9.98564711e-01 3.63620263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83038572299999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:70.23, Y:5.50, Z:3.64 [[ 9.97604454e-01 -4.38346602e-02 -5.35151894e-02 7.02346753e+01] [ 4.37821024e-02 9.99038781e-01 -2.15462248e-03 5.49705601e+00] [ 5.35581968e-02 -1.93546521e-04 9.98564711e-01 3.63866584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:70.29, Y:5.50, Z:3.64 [[ 9.97559153e-01 -4.48544643e-02 -5.35146059e-02 7.02928844e+01] [ 4.48026005e-02 9.98993505e-01 -2.16902086e-03 5.49515992e+00] [ 5.35580339e-02 -2.33866890e-04 9.98564711e-01 3.64077093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:5.50, Z:3.64 [[ 9.97371320e-01 -4.88538873e-02 -5.35139995e-02 7.03517694e+01] [ 4.88069778e-02 9.98805842e-01 -2.18388008e-03 5.49758005e+00] [ 5.35567863e-02 -4.33717227e-04 9.98564711e-01 3.64371841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:5.50, Z:3.65 [[ 9.97252152e-01 -5.12294608e-02 -5.35134261e-02 7.04094087e+01] [ 5.11852193e-02 9.98686759e-01 -2.19784172e-03 5.49631032e+00] [ 5.35557443e-02 -5.47294057e-04 9.98564711e-01 3.64680523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070385723 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:70.47, Y:5.50, Z:3.65 [[ 9.97225201e-01 -5.17521358e-02 -5.35127640e-02 7.04676025e+01] [ 5.17077876e-02 9.98659804e-01 -2.21384471e-03 5.49513699e+00] [ 5.35556176e-02 -5.59324898e-04 9.98564711e-01 3.64715950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13038572299999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:5.49, Z:3.66 [[ 9.97338508e-01 -4.95212683e-02 -5.35120964e-02 7.05245562e+01] [ 4.94728515e-02 9.98772980e-01 -2.22986616e-03 5.49285697e+00] [ 5.35568618e-02 -4.23464608e-04 9.98564712e-01 3.65683128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19038572299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:5.49, Z:3.66 [[ 9.97397871e-01 -4.83112113e-02 -5.35118090e-02 7.05822530e+01] [ 4.82606852e-02 9.98832270e-01 -2.23674317e-03 5.49078411e+00] [ 5.35573814e-02 -3.51593696e-04 9.98564712e-01 3.66056830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250385723 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:5.49, Z:3.66 [[ 9.97367053e-01 -4.89439986e-02 -5.35111819e-02 7.06401436e+01] [ 4.88935831e-02 9.98801456e-01 -2.25164468e-03 5.49334516e+00] [ 5.35572509e-02 -3.70637205e-04 9.98564712e-01 3.65617790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:5.49, Z:3.67 [[ 9.97556037e-01 -4.49287313e-02 -5.35103885e-02 7.06981691e+01] [ 4.48715390e-02 9.98990185e-01 -2.27034497e-03 5.48917729e+00] [ 5.35583567e-02 -1.36297148e-04 9.98564712e-01 3.66609822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:5.49, Z:3.67 [[ 9.97749554e-01 -4.04041032e-02 -5.35101406e-02 7.07562673e+01] [ 4.03400947e-02 9.99183414e-01 -2.27617359e-03 5.48561129e+00] [ 5.35584117e-02 1.12447047e-04 9.98564712e-01 3.66899109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:70.81, Y:5.48, Z:3.67 [[ 9.97883201e-01 -3.69574227e-02 -5.35094971e-02 7.08139123e+01] [ 3.68876558e-02 9.99316792e-01 -2.29120167e-03 5.48487978e+00] [ 5.35576159e-02 3.12511741e-04 9.98564712e-01 3.67444239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:5.48, Z:3.67 [[ 9.97942843e-01 -3.53112762e-02 -5.35088416e-02 7.08721107e+01] [ 3.52383292e-02 9.99376276e-01 -2.30640911e-03 5.48135502e+00] [ 5.35569091e-02 4.16102289e-04 9.98564712e-01 3.66922985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55038572299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:70.93, Y:5.47, Z:3.68 [[ 9.97837479e-01 -3.81738623e-02 -5.35081513e-02 7.09297194e+01] [ 3.81041746e-02 9.99271074e-01 -2.32231584e-03 5.47308871e+00] [ 5.35577995e-02 2.78409842e-04 9.98564712e-01 3.67891155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:5.47, Z:3.68 [[ 9.97932106e-01 -3.56147888e-02 -5.35079391e-02 7.09884125e+01] [ 3.55411634e-02 9.99365504e-01 -2.32719328e-03 5.47154852e+00] [ 5.35568710e-02 4.20646482e-04 9.98564712e-01 3.67764240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:5.47, Z:3.68 [[ 9.98063192e-01 -3.17306042e-02 -5.35073295e-02 7.10465517e+01] [ 3.16506537e-02 9.99496251e-01 -2.34112696e-03 5.46576320e+00] [ 5.35546606e-02 6.43050687e-04 9.98564712e-01 3.68230328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730385723 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:5.45, Z:3.68 [[ 9.98159830e-01 -2.85306078e-02 -5.35066264e-02 7.11062690e+01] [ 2.84452080e-02 9.99592574e-01 -2.35708677e-03 5.45122193e+00] [ 5.35520756e-02 8.30742209e-04 9.98564713e-01 3.67645299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:5.44, Z:3.68 [[ 9.98148594e-01 -2.89221592e-02 -5.35060108e-02 7.11652276e+01] [ 2.88365768e-02 9.99581328e-01 -2.37098067e-03 5.44290158e+00] [ 5.35521832e-02 8.23660837e-04 9.98564713e-01 3.68374702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:71.22, Y:5.43, Z:3.69 [[ 9.97938577e-01 -3.54368370e-02 -5.35053914e-02 7.12243601e+01] [ 3.53598633e-02 9.99371799e-01 -2.38487767e-03 5.43371880e+00] [ 5.35562917e-02 4.88018105e-04 9.98564713e-01 3.68986251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91038572299999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:71.28, Y:5.42, Z:3.70 [[ 9.97745959e-01 -4.04998997e-02 -5.35047686e-02 7.12825680e+01] [ 4.04294543e-02 9.99179516e-01 -2.39876800e-03 5.42201855e+00] [ 5.35580187e-02 2.30192478e-04 9.98564713e-01 3.69673982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97038572299999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:71.34, Y:5.41, Z:3.69 [[ 9.97840304e-01 -3.81050085e-02 -5.35045490e-02 7.13415782e+01] [ 3.80308604e-02 9.99273674e-01 -2.40365612e-03 5.41348923e+00] [ 5.35572786e-02 3.63640920e-04 9.98564713e-01 3.69463220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:71.40, Y:5.41, Z:3.70 [[ 9.97984122e-01 -3.41324453e-02 -5.35039166e-02 7.14006444e+01] [ 3.40518415e-02 9.99417144e-01 -2.41765179e-03 5.40546444e+00] [ 5.35552519e-02 5.90871204e-04 9.98564713e-01 3.70152324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:5.39, Z:3.71 [[ 9.98237466e-01 -2.56780225e-02 -5.35032789e-02 7.14594962e+01] [ 2.55845317e-02 9.99669705e-01 -2.43168397e-03 5.39390436e+00] [ 5.35480478e-02 1.05854171e-03 9.98564713e-01 3.70886950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:5.39, Z:3.70 [[ 9.98504295e-01 -1.12534207e-02 -5.35026396e-02 7.15180146e+01] [ 1.11384991e-02 9.99934974e-01 -2.44566939e-03 5.38514352e+00] [ 5.35266827e-02 1.84607229e-03 9.98564713e-01 3.70488741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.58, Y:5.38, Z:3.72 [[ 9.98465747e-01 -1.42708073e-02 -5.35023046e-02 7.15770602e+01] [ 1.41598186e-02 9.99896736e-01 -2.45297491e-03 5.37627353e+00] [ 5.35317857e-02 1.69162850e-03 9.98564713e-01 3.71596648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:5.36, Z:3.71 [[ 9.98500637e-01 -1.15777949e-02 -5.35017084e-02 7.16359189e+01] [ 1.14622548e-02 9.99931266e-01 -2.46591030e-03 5.36316785e+00] [ 5.35265808e-02 1.84896279e-03 9.98564713e-01 3.71489867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:5.34, Z:3.72 [[ 9.98482145e-01 -1.30765994e-02 -5.35014829e-02 7.16952656e+01] [ 1.29629455e-02 9.99912925e-01 -2.47079344e-03 5.34120124e+00] [ 5.35291339e-02 1.77350632e-03 9.98564713e-01 3.71718627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.75, Y:5.33, Z:3.73 [[ 9.98382777e-01 -1.92209580e-02 -5.35012599e-02 7.17533967e+01] [ 1.91158530e-02 9.99814210e-01 -2.47561406e-03 5.32610137e+00] [ 5.35389036e-02 1.44888822e-03 9.98564713e-01 3.72996258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.81, Y:5.31, Z:3.73 [[ 9.98370001e-01 -1.98739617e-02 -5.35010841e-02 7.18131635e+01] [ 1.97695899e-02 9.99801488e-01 -2.47940799e-03 5.31397530e+00] [ 5.35397391e-02 1.41767207e-03 9.98564713e-01 3.73439948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.87, Y:5.29, Z:3.74 [[ 9.98353984e-01 -2.06637505e-02 -5.35007610e-02 7.18721249e+01] [ 2.05601389e-02 9.99785526e-01 -2.48635916e-03 5.29268007e+00] [ 5.35406640e-02 1.38228350e-03 9.98564713e-01 3.73881678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:5.27, Z:3.75 [[ 9.98400788e-01 -1.82649208e-02 -5.35000916e-02 7.19306091e+01] [ 1.81571031e-02 9.99832019e-01 -2.50068015e-03 5.27303884e+00] [ 5.35367794e-02 1.52527435e-03 9.98564713e-01 3.74565353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:5.25, Z:3.75 [[ 9.98479013e-01 -1.33200173e-02 -5.34998856e-02 7.19889869e+01] [ 1.32048771e-02 9.99909674e-01 -2.50508129e-03 5.25036281e+00] [ 5.35284208e-02 1.79481168e-03 9.98564713e-01 3.75033125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:5.23, Z:3.74 [[ 9.98517595e-01 -1.00197622e-02 -5.34996829e-02 7.20516838e+01] [ 9.89966267e-03 9.99947848e-01 -2.50940272e-03 5.22807857e+00] [ 5.35220364e-02 1.97605396e-03 9.98564713e-01 3.73909261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:5.21, Z:3.74 [[ 9.98541977e-01 -7.19091961e-03 -5.34996413e-02 7.21104364e+01] [ 7.06672127e-03 9.99971880e-01 -2.51028913e-03 5.21179035e+00] [ 5.35161881e-02 2.12856201e-03 9.98564713e-01 3.74486700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810385723 meters Centerline goodness : 0.998355 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:5.18, Z:3.76 [[ 9.98547582e-01 -6.36704439e-03 -5.34994066e-02 7.21707470e+01] [ 6.24139930e-03 9.99977359e-01 -2.51528116e-03 5.18499576e+00] [ 5.35142102e-02 2.17771677e-03 9.98564713e-01 3.75798336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:5.16, Z:3.76 [[ 9.98487822e-01 -1.26445154e-02 -5.34994066e-02 7.22291497e+01] [ 1.25278614e-02 9.99918360e-01 -2.51528116e-03 5.15756745e+00] [ 5.35268434e-02 1.84124446e-03 9.98564713e-01 3.76459844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930385723 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:72.29, Y:5.14, Z:3.77 [[ 9.98342554e-01 -2.12130753e-02 -5.34990741e-02 7.22884683e+01] [ 2.11083248e-02 9.99774013e-01 -2.52233308e-03 5.14305535e+00] [ 5.35404904e-02 1.38887662e-03 9.98564713e-01 3.77019384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.35, Y:5.12, Z:3.77 [[ 9.98051201e-01 -3.21205661e-02 -5.34983045e-02 7.23471652e+01] [ 3.20305941e-02 9.99483665e-01 -2.53855108e-03 5.12445602e+00] [ 5.35522212e-02 8.20021478e-04 9.98564714e-01 3.77145522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.41, Y:5.11, Z:3.77 [[ 9.97768216e-01 -3.99568563e-02 -5.34980083e-02 7.24073242e+01] [ 3.98778017e-02 9.99201324e-01 -2.54477885e-03 5.10728465e+00] [ 5.35569621e-02 4.05716483e-04 9.98564714e-01 3.77404117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:5.10, Z:3.78 [[ 9.97659833e-01 -4.25776761e-02 -5.34976620e-02 7.24645330e+01] [ 4.25019971e-02 9.99093122e-01 -2.55203853e-03 5.09623148e+00] [ 5.35578060e-02 2.72308860e-04 9.98564714e-01 3.77773978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170385723 meters Centerline goodness : 0.997491 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:5.09, Z:3.78 [[ 9.97716087e-01 -4.12390801e-02 -5.34971742e-02 7.25236703e+01] [ 4.11609320e-02 9.99149244e-01 -2.56222256e-03 5.09049492e+00] [ 5.35573249e-02 3.54377118e-04 9.98564714e-01 3.77814395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:5.08, Z:3.78 [[ 9.97858476e-01 -3.76377318e-02 -5.34963793e-02 7.25813991e+01] [ 3.75535275e-02 9.99291290e-01 -2.57871308e-03 5.07877049e+00] [ 5.35555228e-02 5.64212951e-04 9.98564714e-01 3.78317577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.64, Y:5.07, Z:3.79 [[ 9.97943809e-01 -3.53034005e-02 -5.34960115e-02 7.26410217e+01] [ 3.52154371e-02 9.99376398e-01 -2.58632073e-03 5.06934333e+00] [ 5.35539572e-02 6.97117339e-04 9.98564714e-01 3.79083669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.70, Y:5.07, Z:3.80 [[ 9.97950316e-01 -3.51194875e-02 -5.34956807e-02 7.26990227e+01] [ 3.50308942e-02 9.99382866e-01 -2.59314539e-03 5.06578659e+00] [ 5.35537366e-02 7.13828730e-04 9.98564714e-01 3.79650927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41038572299999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:72.76, Y:5.06, Z:3.79 [[ 9.97854468e-01 -3.77451738e-02 -5.34954528e-02 7.27605384e+01] [ 3.76600985e-02 9.99287230e-01 -2.59783891e-03 5.05580120e+00] [ 5.35553787e-02 5.77621139e-04 9.98564714e-01 3.78542460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47038572299999 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:72.82, Y:5.05, Z:3.81 [[ 9.97910717e-01 -3.62276029e-02 -5.34954333e-02 7.28195644e+01] [ 3.61403273e-02 9.99343347e-01 -2.59823937e-03 5.05179515e+00] [ 5.35544334e-02 6.59468438e-04 9.98564714e-01 3.80554264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530385723 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:72.88, Y:5.04, Z:3.81 [[ 9.98015120e-01 -3.32274524e-02 -5.34953894e-02 7.28801705e+01] [ 3.31358219e-02 9.99447478e-01 -2.59914360e-03 5.04210751e+00] [ 5.35521950e-02 8.21370917e-04 9.98564714e-01 3.80556024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590385723 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:72.94, Y:5.04, Z:3.82 [[ 9.98054046e-01 -3.20370470e-02 -5.34953117e-02 7.29370913e+01] [ 3.19436225e-02 9.99486289e-01 -2.60074172e-03 5.03718007e+00] [ 5.35511506e-02 8.86846757e-04 9.98564714e-01 3.82226874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650385723 meters Centerline goodness : 0.997848 with order 1 Centerline is valid? [True, True] Translation: X:73.00, Y:5.02, Z:3.83 [[ 9.98166950e-01 -2.83030572e-02 -5.34946434e-02 7.29963463e+01] [ 2.82035428e-02 9.99598782e-01 -2.61441662e-03 5.02414227e+00] [ 5.35471764e-02 1.10088580e-03 9.98564714e-01 3.83302639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710385723 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:5.02, Z:3.83 [[ 9.98199238e-01 -2.71405583e-02 -5.34945830e-02 7.30575294e+01] [ 2.70393102e-02 9.99630949e-01 -2.61565079e-03 5.01763966e+00] [ 5.35458310e-02 1.16448400e-03 9.98564714e-01 3.83450264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77038572299999 meters Centerline goodness : 0.992353 with order 1 Centerline is valid? [True, True] Translation: X:73.12, Y:5.00, Z:3.84 [[ 9.98307786e-01 -2.28011270e-02 -5.34946132e-02 7.31177471e+01] [ 2.26936893e-02 9.99739045e-01 -2.61503371e-03 4.99669876e+00] [ 5.35402792e-02 1.39661839e-03 9.98564714e-01 3.83597071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83038572299999 meters Centerline goodness : 0.991180 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:4.99, Z:3.85 [[ 9.98165161e-01 -2.83665032e-02 -5.34944158e-02 7.31773055e+01] [ 2.82668307e-02 9.99596982e-01 -2.61906684e-03 4.98691784e+00] [ 5.35471503e-02 1.10214369e-03 9.98564714e-01 3.84765080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890385723 meters Centerline goodness : 0.989762 with order 1 Centerline is valid? [True, True] Translation: X:73.24, Y:4.97, Z:3.85 [[ 9.98318329e-01 -2.23353435e-02 -5.34943582e-02 7.32373720e+01] [ 2.22269591e-02 9.99749517e-01 -2.62024259e-03 4.96829239e+00] [ 5.35394827e-02 1.42681930e-03 9.98564714e-01 3.85428797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950385723 meters Centerline goodness : 0.982784 with order 1 Centerline is valid? [True, True] Translation: X:73.30, Y:4.96, Z:3.85 [[ 9.98309233e-01 -2.27387422e-02 -5.34941561e-02 7.32985122e+01] [ 2.26307156e-02 9.99740448e-01 -2.62436156e-03 4.95820872e+00] [ 5.35399463e-02 1.40931334e-03 9.98564714e-01 3.84567538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010385723 meters Centerline goodness : 0.988199 with order 1 Centerline is valid? [True, True] Translation: X:73.36, Y:4.96, Z:3.86 [[ 9.98218071e-01 -2.64397387e-02 -5.34941407e-02 7.33569768e+01] [ 2.63370021e-02 9.99649675e-01 -2.62467432e-03 4.95607687e+00] [ 5.35447961e-02 1.21112204e-03 9.98564714e-01 3.85915615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070385723 meters Centerline goodness : 0.989017 with order 1 Centerline is valid? [True, True] Translation: X:73.42, Y:4.94, Z:3.86 [[ 9.98166918e-01 -2.83051528e-02 -5.34941230e-02 7.34167102e+01] [ 2.82050725e-02 9.99598711e-01 -2.62503537e-03 4.94394940e+00] [ 5.35469585e-02 1.11141785e-03 9.98564714e-01 3.86147943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13038572299999 meters Centerline goodness : 0.991802 with order 1 Centerline is valid? [True, True] Translation: X:73.48, Y:4.94, Z:3.86 [[ 9.98095489e-01 -3.07220657e-02 -5.34934531e-02 7.34761864e+01] [ 3.06247249e-02 9.99527470e-01 -2.63861804e-03 4.93927479e+00] [ 5.35492396e-02 9.95370480e-04 9.98564714e-01 3.86312868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19038572299999 meters Centerline goodness : 0.990085 with order 1 Centerline is valid? [True, True] Translation: X:73.54, Y:4.93, Z:3.85 [[ 9.98147114e-01 -2.89965615e-02 -5.34933500e-02 7.35378710e+01] [ 2.88966335e-02 9.99578917e-01 -2.64070578e-03 4.92575822e+00] [ 5.35473962e-02 1.09003512e-03 9.98564714e-01 3.84877881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250385723 meters Centerline goodness : 0.992119 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:4.92, Z:3.84 [[ 9.97966912e-01 -3.46483372e-02 -5.34933137e-02 7.35977421e+01] [ 3.45564794e-02 9.99399256e-01 -2.64144071e-03 4.92244412e+00] [ 5.35526994e-02 7.87529837e-04 9.98564714e-01 3.84264474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310385723 meters Centerline goodness : 0.996840 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:4.92, Z:3.84 [[ 9.97439622e-01 -4.74624082e-02 -5.34931754e-02 7.36563724e+01] [ 4.73888036e-02 9.98873020e-01 -2.64423789e-03 4.92464129e+00] [ 5.35583916e-02 1.02490054e-04 9.98564714e-01 3.84192439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370385723 meters Centerline goodness : 0.994015 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:4.93, Z:3.82 [[ 9.97540616e-01 -4.52911665e-02 -5.34923243e-02 7.37184093e+01] [ 4.52135246e-02 9.98973801e-01 -2.66134592e-03 4.92573690e+00] [ 5.35579660e-02 2.36224127e-04 9.98564714e-01 3.81819931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430385723 meters Centerline goodness : 0.996869 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:4.93, Z:3.81 [[ 9.97658329e-01 -4.26196453e-02 -5.34922872e-02 7.37778039e+01] [ 4.25381257e-02 9.99091298e-01 -2.66209073e-03 4.92758278e+00] [ 5.35571360e-02 3.80395351e-04 9.98564714e-01 3.81462372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490385723 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:4.93, Z:3.81 [[ 9.97750175e-01 -4.04125118e-02 -5.34922240e-02 7.38367791e+01] [ 4.03277543e-02 9.99182956e-01 -2.66336028e-03 4.93395026e+00] [ 5.35561516e-02 5.00146916e-04 9.98564714e-01 3.80856554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55038572299999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:4.94, Z:3.80 [[ 9.98193991e-01 -2.73378912e-02 -5.34920201e-02 7.38978137e+01] [ 2.72341517e-02 9.99625523e-01 -2.66744841e-03 4.93959672e+00] [ 5.35449110e-02 1.20582119e-03 9.98564714e-01 3.79561220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:4.94, Z:3.79 [[ 9.98393090e-01 -1.87040617e-02 -5.34920090e-02 7.39564792e+01] [ 1.85879336e-02 9.99823671e-01 -2.66767216e-03 4.94431136e+00] [ 5.35324731e-02 1.66907954e-03 9.98564714e-01 3.78656479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.01, Y:4.95, Z:3.78 [[ 9.98407713e-01 -1.79071046e-02 -5.34918102e-02 7.40144402e+01] [ 1.77896216e-02 9.99838183e-01 -2.67165217e-03 4.94726248e+00] [ 5.35309959e-02 1.71579907e-03 9.98564714e-01 3.78441788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.07, Y:4.94, Z:3.78 [[ 9.98474206e-01 -1.37097643e-02 -5.34911380e-02 7.40739462e+01] [ 1.35855523e-02 9.99904107e-01 -2.68504327e-03 4.94396759e+00] [ 5.35228199e-02 1.95423979e-03 9.98564714e-01 3.77741163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.13, Y:4.95, Z:3.78 [[ 9.98483712e-01 -1.30017799e-02 -5.34904666e-02 7.41320243e+01] [ 1.28758421e-02 9.99913462e-01 -2.69835245e-03 4.94626740e+00] [ 5.35209211e-02 2.00552617e-03 9.98564714e-01 3.78008233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.19, Y:4.94, Z:3.78 [[ 9.98499519e-01 -1.17286538e-02 -5.34897184e-02 7.41921945e+01] [ 1.16001040e-02 9.99929036e-01 -2.71310369e-03 4.93630829e+00] [ 5.35177436e-02 2.08854643e-03 9.98564715e-01 3.77595118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:4.93, Z:3.78 [[ 9.98506470e-01 -1.11243232e-02 -5.34890493e-02 7.42510742e+01] [ 1.09942061e-02 9.99935845e-01 -2.72623157e-03 4.93323838e+00] [ 5.35159453e-02 2.13409023e-03 9.98564715e-01 3.77621442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:4.93, Z:3.77 [[ 9.98497140e-01 -1.19354104e-02 -5.34883809e-02 7.43109698e+01] [ 1.18057564e-02 9.99926558e-01 -2.73928368e-03 4.93082089e+00] [ 5.35171471e-02 2.10369612e-03 9.98564715e-01 3.77391450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:4.92, Z:3.77 [[ 9.98502865e-01 -1.14494389e-02 -5.34877524e-02 7.43717887e+01] [ 1.13184357e-02 9.99932159e-01 -2.75150222e-03 4.92318110e+00] [ 5.35156269e-02 2.14198517e-03 9.98564715e-01 3.77481199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:4.92, Z:3.77 [[ 9.98499948e-01 -1.17012957e-02 -5.34877037e-02 7.44300778e+01] [ 1.15706024e-02 9.99929270e-01 -2.75244891e-03 4.92119192e+00] [ 5.35161277e-02 2.12943514e-03 9.98564715e-01 3.77465925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:4.91, Z:3.79 [[ 9.98567992e-01 1.02782608e-03 -5.34874637e-02 7.44906462e+01] [-1.17697742e-03 9.99995507e-01 -2.75710434e-03 4.90906711e+00] [ 5.34843895e-02 2.81610968e-03 9.98564715e-01 3.79415143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:4.92, Z:3.78 [[ 9.98568498e-01 2.08764706e-04 -5.34874915e-02 7.45506895e+01] [-3.56716227e-04 9.99996137e-01 -2.75656388e-03 4.91700666e+00] [ 5.34867095e-02 2.77169771e-03 9.98564715e-01 3.78439912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:4.91, Z:3.80 [[ 9.98540021e-01 7.54458389e-03 -5.34874330e-02 7.46106844e+01] [-7.70307995e-03 9.99966528e-01 -2.75769941e-03 4.90958030e+00] [ 5.34648370e-02 3.16569120e-03 9.98564715e-01 3.79680682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:4.92, Z:3.79 [[ 9.98568445e-01 4.03280270e-04 -5.34873553e-02 7.46697956e+01] [-5.51650976e-04 9.99996041e-01 -2.75920511e-03 4.92139921e+00] [ 5.34860308e-02 2.78476151e-03 9.98564715e-01 3.79086496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.73, Y:4.92, Z:3.80 [[ 9.98565269e-01 -2.55225580e-03 -5.34872837e-02 7.47304252e+01] [ 2.40803699e-03 9.99993290e-01 -2.76059191e-03 4.91806131e+00] [ 5.34939706e-02 2.62783185e-03 9.98564715e-01 3.79578857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:74.79, Y:4.92, Z:3.79 [[ 9.98499817e-01 -1.17144744e-02 -5.34872639e-02 7.47888127e+01] [ 1.15833438e-02 9.99929099e-01 -2.76097693e-03 4.92216858e+00] [ 5.35158150e-02 2.13727359e-03 9.98564715e-01 3.78747087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.85, Y:4.92, Z:3.81 [[ 9.98430644e-01 -1.65964860e-02 -5.34865060e-02 7.48476465e+01] [ 1.64715641e-02 9.99860482e-01 -2.77558226e-03 4.91965409e+00] [ 5.35251086e-02 1.89021997e-03 9.98564715e-01 3.80927228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:4.93, Z:3.81 [[ 9.98150033e-01 -2.89086565e-02 -5.34864503e-02 7.49061711e+01] [ 2.88013205e-02 9.99581299e-01 -2.77665423e-03 4.92587419e+00] [ 5.35443248e-02 1.23103711e-03 9.98564715e-01 3.81333696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.97, Y:4.92, Z:3.82 [[ 9.98062696e-01 -3.17815122e-02 -5.34863514e-02 7.49653354e+01] [ 3.16781943e-02 9.99494258e-01 -2.77855911e-03 4.92032677e+00] [ 5.35476079e-02 1.07882517e-03 9.98564715e-01 3.82235165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:4.92, Z:3.82 [[ 9.97869580e-01 -3.73575743e-02 -5.34856411e-02 7.50232040e+01] [ 3.72615275e-02 9.99301647e-01 -2.79216531e-03 4.92263768e+00] [ 5.35525977e-02 7.93260142e-04 9.98564715e-01 3.82358344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.08, Y:4.92, Z:3.82 [[ 9.98119377e-01 -2.99505588e-02 -5.34852651e-02 7.50837227e+01] [ 2.98435014e-02 9.99550664e-01 -2.79934851e-03 4.91520783e+00] [ 5.35450743e-02 1.19789640e-03 9.98564715e-01 3.82071515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.14, Y:4.92, Z:3.83 [[ 9.98257396e-01 -2.49299857e-02 -5.34852115e-02 7.51408823e+01] [ 2.48156759e-02 9.99688121e-01 -2.80037305e-03 4.91976407e+00] [ 5.35383438e-02 1.46822143e-03 9.98564715e-01 3.82602519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:75.20, Y:4.92, Z:3.83 [[ 9.98443445e-01 -1.58129316e-02 -5.34849425e-02 7.51986915e+01] [ 1.56852870e-02 9.99873042e-01 -2.80550018e-03 4.92011086e+00] [ 5.35225154e-02 1.96220659e-03 9.98564715e-01 3.83421608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.26, Y:4.92, Z:3.84 [[ 9.98505255e-01 -1.12562757e-02 -5.34841365e-02 7.52581107e+01] [ 1.11212911e-02 9.99934178e-01 -2.82078344e-03 4.92352402e+00] [ 5.35123676e-02 2.22175444e-03 9.98564715e-01 3.84011035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:4.94, Z:3.84 [[ 9.98539307e-01 -7.66224154e-03 -5.34840357e-02 7.53154029e+01] [ 7.52201260e-03 9.99967725e-01 -2.82269266e-03 4.93510135e+00] [ 5.35039377e-02 2.41626199e-03 9.98564715e-01 3.84461163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.37, Y:4.94, Z:3.85 [[ 9.98568715e-01 7.97508776e-05 -5.34837837e-02 7.53742180e+01] [-2.31304841e-04 9.99995976e-01 -2.82745929e-03 4.94049437e+00] [ 5.34833430e-02 2.83578345e-03 9.98564715e-01 3.85125431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:75.43, Y:4.94, Z:3.86 [[ 9.98560163e-01 4.13523238e-03 -5.34836401e-02 7.54323620e+01] [-4.29272655e-03 9.99986781e-01 -2.83017406e-03 4.94160538e+00] [ 5.34712297e-02 3.05568971e-03 9.98564715e-01 3.85723390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:4.94, Z:3.86 [[ 9.98543896e-01 7.04376222e-03 -5.34833969e-02 7.54907785e+01] [-7.20565595e-03 9.99970021e-01 -2.83476211e-03 4.94366811e+00] [ 5.34618261e-02 3.21601735e-03 9.98564715e-01 3.86228157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:4.95, Z:3.86 [[ 9.98537214e-01 7.93936362e-03 -5.34827035e-02 7.55483164e+01] [-8.10323124e-03 9.99963113e-01 -2.84778393e-03 4.95156105e+00] [ 5.34581211e-02 3.27700095e-03 9.98564715e-01 3.86165717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:4.96, Z:3.86 [[ 9.98548027e-01 6.43920451e-03 -5.34824605e-02 7.56058743e+01] [-6.60117299e-03 9.99974144e-01 -2.85234163e-03 4.95508159e+00] [ 5.34627108e-02 3.20124708e-03 9.98564715e-01 3.86409324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.66, Y:4.96, Z:3.87 [[ 9.98568792e-01 1.37372329e-04 -5.34822248e-02 7.56639996e+01] [-2.90573199e-04 9.99995877e-01 -2.85675410e-03 4.95736282e+00] [ 5.34816118e-02 2.86820600e-03 9.98564715e-01 3.87496648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.72, Y:4.97, Z:3.88 [[ 9.98555536e-01 -5.15441684e-03 -5.34815240e-02 7.57208884e+01] [ 5.00808299e-03 9.99983342e-01 -2.86981317e-03 4.96583269e+00] [ 5.34954253e-02 2.59782791e-03 9.98564715e-01 3.87966274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.78, Y:4.97, Z:3.89 [[ 9.98544093e-01 -7.03329866e-03 -5.34810907e-02 7.57788977e+01] [ 6.88922133e-03 9.99972128e-01 -2.87786511e-03 4.97052613e+00] [ 5.34998410e-02 2.50523213e-03 9.98564715e-01 3.88886680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.84, Y:4.98, Z:3.89 [[ 9.98546611e-01 -6.67202464e-03 -5.34803732e-02 7.58367449e+01] [ 6.52672133e-03 9.99974521e-01 -2.89113876e-03 4.98098801e+00] [ 5.34983003e-02 2.53788532e-03 9.98564715e-01 3.89143604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:4.99, Z:3.89 [[ 9.98556354e-01 -5.00848388e-03 -5.34801228e-02 7.58952886e+01] [ 4.86055491e-03 9.99983995e-01 -2.89576239e-03 4.99064966e+00] [ 5.34937702e-02 2.63163886e-03 9.98564715e-01 3.89125646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.95, Y:4.99, Z:3.90 [[ 9.98558137e-01 -4.64749256e-03 -5.34794202e-02 7.59543708e+01] [ 4.49835734e-03 9.99985652e-01 -2.90868058e-03 4.99385494e+00] [ 5.34921710e-02 2.66391712e-03 9.98564716e-01 3.89560443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.01, Y:5.00, Z:3.90 [[ 9.98545392e-01 -6.86500523e-03 -5.34787133e-02 7.60129723e+01] [ 6.71834902e-03 9.99973164e-01 -2.92162128e-03 5.00055097e+00] [ 5.34973350e-02 2.55808280e-03 9.98564716e-01 3.90249168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.07, Y:5.01, Z:3.91 [[ 9.98500798e-01 -1.16730011e-02 -5.34780032e-02 7.60702416e+01] [ 1.15325296e-02 9.99929192e-01 -2.93456180e-03 5.00750757e+00] [ 5.35084716e-02 2.31342565e-03 9.98564716e-01 3.90530984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83038572299999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:76.13, Y:5.01, Z:3.91 [[ 9.98346410e-01 -2.10863778e-02 -5.34771922e-02 7.61291813e+01] [ 2.09585928e-02 9.99775995e-01 -2.94926577e-03 5.00976592e+00] [ 5.35274024e-02 1.82358219e-03 9.98564716e-01 3.91240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890385723 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:76.19, Y:5.02, Z:3.91 [[ 9.98169665e-01 -2.82415449e-02 -5.34764845e-02 7.61883663e+01] [ 2.81233257e-02 9.99600072e-01 -2.96204312e-03 5.01513456e+00] [ 5.35387505e-02 1.45268500e-03 9.98564716e-01 3.91041977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:76.25, Y:5.02, Z:3.92 [[ 9.97766648e-01 -4.00258191e-02 -5.34756992e-02 7.62455523e+01] [ 3.99237422e-02 9.99198297e-01 -2.97615342e-03 5.02475897e+00] [ 5.35519506e-02 8.34556594e-04 9.98564716e-01 3.91652580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.30, Y:5.03, Z:3.93 [[ 9.97568470e-01 -4.46946125e-02 -5.34746637e-02 7.63024139e+01] [ 4.45982453e-02 9.99000515e-01 -2.99464507e-03 5.02659001e+00] [ 5.35550610e-02 6.02487338e-04 9.98564716e-01 3.93069523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.36, Y:5.04, Z:3.93 [[ 9.97507665e-01 -4.60320348e-02 -5.34743930e-02 7.63600400e+01] [ 4.59373290e-02 9.98939821e-01 -2.99946991e-03 5.03533891e+00] [ 5.35557723e-02 5.35523443e-04 9.98564716e-01 3.93188026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:5.05, Z:3.92 [[ 9.97393874e-01 -4.84359198e-02 -5.34735574e-02 7.64180502e+01] [ 4.83438711e-02 9.98826203e-01 -3.01429468e-03 5.04689905e+00] [ 5.35567904e-02 4.21320284e-04 9.98564716e-01 3.92463902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:5.06, Z:3.92 [[ 9.97429923e-01 -4.76887721e-02 -5.34726989e-02 7.64749951e+01] [ 4.75948381e-02 9.98862130e-01 -3.02944702e-03 5.05703308e+00] [ 5.35563246e-02 4.76636660e-04 9.98564716e-01 3.92200284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:5.06, Z:3.93 [[ 9.97508449e-01 -4.60174264e-02 -5.34723292e-02 7.65334301e+01] [ 4.59207437e-02 9.98940473e-01 -3.03595971e-03 5.06370086e+00] [ 5.35553808e-02 5.72906339e-04 9.98564716e-01 3.93195855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:5.08, Z:3.92 [[ 9.97365121e-01 -4.90265616e-02 -5.34715967e-02 7.65918009e+01] [ 4.89335109e-02 9.98797385e-01 -3.04880557e-03 5.07663518e+00] [ 5.35567635e-02 4.24219378e-04 9.98564717e-01 3.92496103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:5.08, Z:3.94 [[ 9.97852536e-01 -3.78309986e-02 -5.34708466e-02 7.66491224e+01] [ 3.77211791e-02 9.99283612e-01 -3.06190566e-03 5.07788779e+00] [ 5.35483757e-02 1.03834695e-03 9.98564717e-01 3.93848183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:5.09, Z:3.93 [[ 9.98089302e-01 -3.09619320e-02 -5.34705837e-02 7.67077387e+01] [ 3.08420196e-02 9.99519568e-01 -3.06649031e-03 5.08589297e+00] [ 5.35398392e-02 1.41149038e-03 9.98564717e-01 3.93463438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:5.09, Z:3.94 [[ 9.98260155e-01 -2.48524640e-02 -5.34697838e-02 7.67660733e+01] [ 2.47230569e-02 9.99689593e-01 -3.08037481e-03 5.08910977e+00] [ 5.35297413e-02 1.75307893e-03 9.98564717e-01 3.93788346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:5.09, Z:3.94 [[ 9.98297420e-01 -2.33096981e-02 -5.34688689e-02 7.68233662e+01] [ 2.31772369e-02 9.99726577e-01 -3.09617430e-03 5.09114775e+00] [ 5.35264202e-02 1.85164217e-03 9.98564717e-01 3.93549531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:5.08, Z:3.95 [[ 9.98434722e-01 -1.64081443e-02 -5.34684749e-02 7.68810586e+01] [ 1.62654439e-02 9.99862894e-01 -3.10296309e-03 5.08326787e+00] [ 5.35120580e-02 2.22841762e-03 9.98564717e-01 3.94775718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:5.09, Z:3.94 [[ 9.98390940e-01 -1.88863071e-02 -5.34681050e-02 7.69401873e+01] [ 1.87468118e-02 9.99819428e-01 -3.10932555e-03 5.08592130e+00] [ 5.35171738e-02 2.10196596e-03 9.98564717e-01 3.94180948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:5.08, Z:3.95 [[ 9.98342954e-01 -2.12741254e-02 -5.34673447e-02 7.69985018e+01] [ 2.11373507e-02 9.99771706e-01 -3.12234364e-03 5.08008751e+00] [ 5.35215636e-02 1.98701175e-03 9.98564717e-01 3.95064637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:5.07, Z:3.96 [[ 9.98425542e-01 -1.69640307e-02 -5.34664236e-02 7.70560839e+01] [ 1.68202504e-02 9.99853605e-01 -3.13803775e-03 5.07317456e+00] [ 5.35118302e-02 2.23377841e-03 9.98564717e-01 3.96111422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:5.07, Z:3.96 [[ 9.98418269e-01 -1.73877233e-02 -5.34661392e-02 7.71139618e+01] [ 1.72442903e-02 9.99846367e-01 -3.14287723e-03 5.07358961e+00] [ 5.35125724e-02 2.21592041e-03 9.98564717e-01 3.96457385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:5.07, Z:3.97 [[ 9.98423460e-01 -1.70896982e-02 -5.34652793e-02 7.71720453e+01] [ 1.69450606e-02 9.99851437e-01 -3.15743729e-03 5.07455310e+00] [ 5.35112960e-02 2.24648707e-03 9.98564717e-01 3.96804661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97038572299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:5.07, Z:3.97 [[ 9.98425706e-01 -1.69607283e-02 -5.34644198e-02 7.72302240e+01] [ 1.68151318e-02 9.99853584e-01 -3.17192533e-03 5.07306082e+00] [ 5.35103899e-02 2.26792052e-03 9.98564717e-01 3.97100307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:5.07, Z:3.97 [[ 9.98392982e-01 -1.87910577e-02 -5.34635302e-02 7.72881144e+01] [ 1.86472812e-02 9.99821045e-01 -3.18684957e-03 5.07382020e+00] [ 5.35138469e-02 2.18477876e-03 9.98564717e-01 3.97304381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:5.07, Z:3.98 [[ 9.98133385e-01 -2.95210802e-02 -5.34626255e-02 7.73459742e+01] [ 2.93918530e-02 9.99562838e-01 -3.20195450e-03 5.07012571e+00] [ 5.35337788e-02 1.62461205e-03 9.98564718e-01 3.97680605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.40, Y:5.07, Z:3.98 [[ 9.97409933e-01 -4.81172490e-02 -5.34617225e-02 7.74039849e+01] [ 4.80138794e-02 9.98841488e-01 -3.21696180e-03 5.06740734e+00] [ 5.35545778e-02 6.41724952e-04 9.98564718e-01 3.98115634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.46, Y:5.07, Z:3.98 [[ 9.96428736e-01 -6.53583590e-02 -5.34608118e-02 7.74628621e+01] [ 6.52789527e-02 9.97861820e-01 -3.23202563e-03 5.06877272e+00] [ 5.35577429e-02 -2.69382594e-04 9.98564718e-01 3.98055090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:5.07, Z:3.98 [[ 9.96219233e-01 -6.84782150e-02 -5.34600280e-02 7.75205712e+01] [ 6.84026037e-02 9.97652522e-01 -3.24493913e-03 5.07097205e+00] [ 5.35567394e-02 -4.24134334e-04 9.98564718e-01 3.98365164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:5.07, Z:3.99 [[ 9.96549787e-01 -6.34873008e-02 -5.34591817e-02 7.75780280e+01] [ 6.34037664e-02 9.97982636e-01 -3.25882110e-03 5.07351883e+00] [ 5.35582289e-02 -1.41935995e-04 9.98564718e-01 3.99235417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390385723 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:77.64, Y:5.08, Z:3.99 [[ 9.97145351e-01 -5.33232044e-02 -5.34582481e-02 7.76362563e+01] [ 5.32242479e-02 9.98577218e-01 -3.27406478e-03 5.07614655e+00] [ 5.35567723e-02 4.19443423e-04 9.98564718e-01 3.98991569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:77.69, Y:5.08, Z:3.99 [[ 9.97329197e-01 -4.97673182e-02 -5.34573427e-02 7.76940988e+01] [ 4.96624678e-02 9.98760644e-01 -3.28878253e-03 5.08050257e+00] [ 5.35547639e-02 6.25175275e-04 9.98564718e-01 3.99314139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.75, Y:5.09, Z:4.00 [[ 9.97505975e-01 -4.60887714e-02 -5.34570325e-02 7.77527341e+01] [ 4.59783728e-02 9.98937005e-01 -3.29381635e-03 5.08780684e+00] [ 5.35520159e-02 8.27734125e-04 9.98564718e-01 3.99583666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:77.81, Y:5.09, Z:4.00 [[ 9.97604765e-01 -4.38994782e-02 -5.34562294e-02 7.78108929e+01] [ 4.37852438e-02 9.99035494e-01 -3.30680013e-03 5.08831223e+00] [ 5.35498373e-02 9.58285537e-04 9.98564718e-01 4.00248637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.87, Y:5.09, Z:4.01 [[ 9.97466410e-01 -4.69385153e-02 -5.34559408e-02 7.78689234e+01] [ 4.68283905e-02 9.98897460e-01 -3.31145855e-03 5.08719537e+00] [ 5.35524384e-02 7.99812994e-04 9.98564718e-01 4.00886974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.93, Y:5.09, Z:4.01 [[ 9.97395527e-01 -4.84223678e-02 -5.34550080e-02 7.79281940e+01] [ 4.83135689e-02 9.98826679e-01 -3.32644757e-03 5.09146256e+00] [ 5.35533626e-02 7.35181714e-04 9.98564718e-01 4.00626940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:5.09, Z:4.01 [[ 9.97404707e-01 -4.82334636e-02 -5.34545041e-02 7.79847637e+01] [ 4.81239608e-02 9.98835805e-01 -3.33452605e-03 5.09420807e+00] [ 5.35531084e-02 7.53429516e-04 9.98564718e-01 4.00798206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:5.10, Z:4.02 [[ 9.97633060e-01 -4.32546903e-02 -5.34538097e-02 7.80420214e+01] [ 4.31374518e-02 9.99063545e-01 -3.34562064e-03 5.10005665e+00] [ 5.35484664e-02 1.03184062e-03 9.98564719e-01 4.01770152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:5.10, Z:4.02 [[ 9.97874735e-01 -3.72667181e-02 -5.34528212e-02 7.81006559e+01] [ 3.71400553e-02 9.99304417e-01 -3.36134083e-03 5.10350404e+00] [ 5.35409064e-02 1.36895636e-03 9.98564719e-01 4.01903663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:5.10, Z:4.01 [[ 9.97857186e-01 -3.77348660e-02 -5.34519970e-02 7.81599419e+01] [ 3.76081751e-02 9.99286865e-01 -3.37439556e-03 5.10384691e+00] [ 5.35412109e-02 1.35693279e-03 9.98564719e-01 4.00924614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:5.10, Z:4.01 [[ 9.97862721e-01 -3.75894051e-02 -5.34511524e-02 7.82196035e+01] [ 3.74617924e-02 9.99292318e-01 -3.38772211e-03 5.10062457e+00] [ 5.35406684e-02 1.37810563e-03 9.98564719e-01 4.01007853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:5.10, Z:4.02 [[ 9.97856932e-01 -3.77439059e-02 -5.34503508e-02 7.82769734e+01] [ 3.76158400e-02 9.99286489e-01 -3.40032325e-03 5.09920069e+00] [ 5.35405548e-02 1.38245629e-03 9.98564719e-01 4.02261110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110385723 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:5.09, Z:4.02 [[ 9.97821622e-01 -3.86665672e-02 -5.34500422e-02 7.83366605e+01] [ 3.85395639e-02 9.99251273e-01 -3.40516590e-03 5.09276248e+00] [ 5.35416888e-02 1.33780684e-03 9.98564719e-01 4.01898124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.39, Y:5.09, Z:4.02 [[ 9.97821737e-01 -3.86649746e-02 -5.34490504e-02 7.83949531e+01] [ 3.85371394e-02 9.99251314e-01 -3.42066422e-03 5.09030036e+00] [ 5.35412937e-02 1.35343961e-03 9.98564719e-01 4.02408357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.45, Y:5.09, Z:4.04 [[ 9.97912825e-01 -3.62385288e-02 -5.34486962e-02 7.84531403e+01] [ 3.61069221e-02 9.99342059e-01 -3.42618946e-03 5.08941094e+00] [ 5.35376902e-02 1.48917049e-03 9.98564719e-01 4.03691995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.51, Y:5.09, Z:4.04 [[ 9.97947556e-01 -3.52705673e-02 -5.34477618e-02 7.85115343e+01] [ 3.51367975e-02 9.99376589e-01 -3.44070497e-03 5.08791175e+00] [ 5.35357975e-02 1.55565993e-03 9.98564719e-01 4.04226641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:5.09, Z:4.05 [[ 9.97895725e-01 -3.67081840e-02 -5.34474655e-02 7.85697459e+01] [ 3.65762271e-02 9.99324927e-01 -3.44530152e-03 5.08723623e+00] [ 5.35378553e-02 1.48314502e-03 9.98564719e-01 4.04628199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:5.09, Z:4.05 [[ 9.97728021e-01 -4.10154312e-02 -5.34465171e-02 7.86283510e+01] [ 4.08888606e-02 9.99157710e-01 -3.45995159e-03 5.08874037e+00] [ 5.35434110e-02 1.26672347e-03 9.98564719e-01 4.04742792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:5.09, Z:4.05 [[ 9.97536715e-01 -4.54321020e-02 -5.34455502e-02 7.86875755e+01] [ 4.53110656e-02 9.98966883e-01 -3.47482232e-03 5.08677881e+00] [ 5.35482032e-02 1.04458801e-03 9.98564719e-01 4.04953356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:5.09, Z:4.05 [[ 9.97354883e-01 -4.92635882e-02 -5.34447067e-02 7.87459973e+01] [ 4.91473538e-02 9.98785449e-01 -3.48774914e-03 5.08801389e+00] [ 5.35516144e-02 8.51857727e-04 9.98564719e-01 4.05411061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:5.09, Z:4.05 [[ 9.97337578e-01 -4.96136087e-02 -5.34438488e-02 7.88050240e+01] [ 4.94971748e-02 9.98768128e-01 -3.50084551e-03 5.09161418e+00] [ 5.35517024e-02 8.46205253e-04 9.98564720e-01 4.05157614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:5.10, Z:4.06 [[ 9.97353241e-01 -4.92986719e-02 -5.34430024e-02 7.88626820e+01] [ 4.91810967e-02 9.98783697e-01 -3.51371820e-03 5.09980158e+00] [ 5.35512212e-02 8.76032766e-04 9.98564720e-01 4.05925924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.92, Y:5.10, Z:4.06 [[ 9.97329908e-01 -4.97693716e-02 -5.34421650e-02 7.89209356e+01] [ 4.96517915e-02 9.98760364e-01 -3.52641021e-03 5.10399104e+00] [ 5.35514233e-02 8.63495137e-04 9.98564720e-01 4.06469816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.98, Y:5.11, Z:4.07 [[ 9.97418267e-01 -4.79669185e-02 -5.34413331e-02 7.89790345e+01] [ 4.78460807e-02 9.98848451e-01 -3.53897197e-03 5.11157139e+00] [ 5.35495464e-02 9.72876946e-04 9.98564720e-01 4.06912864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:5.12, Z:4.07 [[ 9.97459474e-01 -4.71032311e-02 -5.34404635e-02 7.90362283e+01] [ 4.69804542e-02 9.98889493e-01 -3.55205582e-03 5.11639594e+00] [ 5.35484308e-02 1.03237449e-03 9.98564720e-01 4.07087674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.09, Y:5.12, Z:4.07 [[ 9.97630952e-01 -4.33201239e-02 -5.34401576e-02 7.90938424e+01] [ 4.31916786e-02 9.99060473e-01 -3.55665175e-03 5.12122594e+00] [ 5.35440237e-02 1.24005575e-03 9.98564720e-01 4.07387118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:5.12, Z:4.08 [[ 9.97803170e-01 -3.91546974e-02 -5.34391512e-02 7.91531041e+01] [ 3.90194792e-02 9.99232067e-01 -3.57170947e-03 5.12480466e+00] [ 5.35379627e-02 1.47869519e-03 9.98564720e-01 4.07612695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:5.13, Z:4.08 [[ 9.97845029e-01 -3.80741657e-02 -5.34383343e-02 7.92120532e+01] [ 3.79367486e-02 9.99273716e-01 -3.58388913e-03 5.13090511e+00] [ 5.35359765e-02 1.54888930e-03 9.98564720e-01 4.07654725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:5.13, Z:4.08 [[ 9.97854261e-01 -3.78326946e-02 -5.34374566e-02 7.92706728e+01] [ 3.76942340e-02 9.99282846e-01 -3.59692881e-03 5.13075751e+00] [ 5.35352153e-02 1.57492674e-03 9.98564720e-01 4.08107445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.33, Y:5.13, Z:4.08 [[ 9.97751296e-01 -4.04584806e-02 -5.34365265e-02 7.93286167e+01] [ 4.03230432e-02 9.99180171e-01 -3.61069425e-03 5.13445134e+00] [ 5.35388009e-02 1.44785150e-03 9.98564720e-01 4.08042300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.39, Y:5.14, Z:4.09 [[ 9.97831477e-01 -3.84315783e-02 -5.34355407e-02 7.93859673e+01] [ 3.82924611e-02 9.99259999e-01 -3.62522438e-03 5.13923791e+00] [ 5.35353215e-02 1.57118463e-03 9.98564720e-01 4.08553427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.45, Y:5.15, Z:4.08 [[ 9.97806736e-01 -3.90701580e-02 -5.34344402e-02 7.94451733e+01] [ 3.89310910e-02 9.99235263e-01 -3.64137358e-03 5.14590424e+00] [ 5.35358460e-02 1.55312603e-03 9.98564720e-01 4.08304808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:5.15, Z:4.09 [[ 9.97775189e-01 -3.98678805e-02 -5.34343015e-02 7.95042612e+01] [ 3.97298467e-02 9.99203815e-01 -3.64340862e-03 5.14586940e+00] [ 5.35370129e-02 1.51236612e-03 9.98564720e-01 4.09480025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.56, Y:5.15, Z:4.10 [[ 9.97768423e-01 -4.00370431e-02 -5.34341527e-02 7.95616385e+01] [ 3.98991348e-02 9.99197062e-01 -3.64559003e-03 5.15007493e+00] [ 5.35372070e-02 1.50547816e-03 9.98564720e-01 4.10063965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.62, Y:5.15, Z:4.10 [[ 9.97732975e-01 -4.09123111e-02 -5.34330731e-02 7.96197807e+01] [ 4.07748130e-02 9.99161653e-01 -3.66134455e-03 5.15491953e+00] [ 5.35380717e-02 1.47432062e-03 9.98564721e-01 4.10357485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.68, Y:5.16, Z:4.10 [[ 9.97650688e-01 -4.28732226e-02 -5.34321280e-02 7.96784164e+01] [ 4.27377972e-02 9.99079564e-01 -3.67508637e-03 5.15891639e+00] [ 5.35405099e-02 1.38288099e-03 9.98564721e-01 4.09822627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.74, Y:5.16, Z:4.10 [[ 9.97577918e-01 -4.45349122e-02 -5.34316316e-02 7.97363325e+01] [ 4.44014815e-02 9.99006982e-01 -3.68228874e-03 5.16337954e+00] [ 5.35425634e-02 1.30092633e-03 9.98564721e-01 4.10447199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:5.17, Z:4.11 [[ 9.97352608e-01 -4.93240639e-02 -5.34313749e-02 7.97947533e+01] [ 4.91972968e-02 9.98782278e-01 -3.68601043e-03 5.16720010e+00] [ 5.35481193e-02 1.04757290e-03 9.98564721e-01 4.11075644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:5.17, Z:4.12 [[ 9.97270843e-01 -5.09515287e-02 -5.34304070e-02 7.98527273e+01] [ 5.08263462e-02 9.98700652e-01 -3.69998686e-03 5.16901611e+00] [ 5.35495023e-02 9.74216645e-04 9.98564721e-01 4.11930480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:5.17, Z:4.12 [[ 9.97398078e-01 -4.83973280e-02 -5.34300710e-02 7.99113963e+01] [ 4.82682247e-02 9.98827539e-01 -3.70483232e-03 5.17382948e+00] [ 5.35467303e-02 1.11621797e-03 9.98564721e-01 4.11688731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:79.97, Y:5.18, Z:4.12 [[ 9.97682242e-01 -4.21364420e-02 -5.34290604e-02 7.99696520e+01] [ 4.19975927e-02 9.99110789e-01 -3.71934987e-03 5.18084578e+00] [ 5.35382709e-02 1.46683739e-03 9.98564721e-01 4.12354495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:5.18, Z:4.13 [[ 9.97827437e-01 -3.85467513e-02 -5.34280214e-02 8.00265606e+01] [ 3.84019681e-02 9.99255395e-01 -3.73421566e-03 5.18211095e+00] [ 5.35321805e-02 1.67436167e-03 9.98564721e-01 4.13023144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:5.18, Z:4.14 [[ 9.98021060e-01 -3.31581071e-02 -5.34275591e-02 8.00856720e+01] [ 3.30052623e-02 9.99448177e-01 -3.74081932e-03 5.18473633e+00] [ 5.35221150e-02 1.97002586e-03 9.98564721e-01 4.13572646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.14, Y:5.19, Z:4.13 [[ 9.97964675e-01 -3.48152135e-02 -5.34266543e-02 8.01434180e+01] [ 3.46640500e-02 9.99391972e-01 -3.75369720e-03 5.19374064e+00] [ 5.35248551e-02 1.89407299e-03 9.98564721e-01 4.12756704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.20, Y:5.19, Z:4.14 [[ 9.97862617e-01 -3.76274605e-02 -5.34263123e-02 8.02019865e+01] [ 3.74800599e-02 9.99290307e-01 -3.75855785e-03 5.19243902e+00] [ 5.35298211e-02 1.74810298e-03 9.98564721e-01 4.13715111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:5.20, Z:4.14 [[ 9.97594274e-01 -4.41746148e-02 -5.34253484e-02 8.02600016e+01] [ 4.40358553e-02 9.99022830e-01 -3.77220943e-03 5.19669054e+00] [ 5.35397787e-02 1.41050361e-03 9.98564721e-01 4.13832580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:5.20, Z:4.14 [[ 9.97418763e-01 -4.79747243e-02 -5.34250669e-02 8.03189718e+01] [ 4.78411947e-02 9.98847816e-01 -3.77619283e-03 5.20066401e+00] [ 5.35446732e-02 1.21052655e-03 9.98564721e-01 4.14333762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:5.20, Z:4.15 [[ 9.97363083e-01 -4.91196802e-02 -5.34241314e-02 8.03781001e+01] [ 4.89870851e-02 9.98792224e-01 -3.78938117e-03 5.20434622e+00] [ 5.35457402e-02 1.16229641e-03 9.98564721e-01 4.14767245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:5.21, Z:4.15 [[ 9.97424889e-01 -4.78492713e-02 -5.34231904e-02 8.04357588e+01] [ 4.77141482e-02 9.98853793e-01 -3.80260191e-03 5.21226094e+00] [ 5.35439081e-02 1.24376776e-03 9.98564721e-01 4.14768969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:5.22, Z:4.15 [[ 9.97612240e-01 -4.37709391e-02 -5.34221173e-02 8.04948989e+01] [ 4.36291716e-02 9.99040500e-01 -3.81761818e-03 5.21723000e+00] [ 5.35379596e-02 1.47773990e-03 9.98564722e-01 4.14857978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390385723 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:80.55, Y:5.22, Z:4.14 [[ 9.97576718e-01 -4.45743159e-02 -5.34211811e-02 8.05536927e+01] [ 4.44330000e-02 9.99005022e-01 -3.83067413e-03 5.22482750e+00] [ 5.35387779e-02 1.44772798e-03 9.98564722e-01 4.14017012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.61, Y:5.23, Z:4.15 [[ 9.97801481e-01 -3.92225306e-02 -5.34209480e-02 8.06120978e+01] [ 3.90733814e-02 9.99228989e-01 -3.83392240e-03 5.22867060e+00] [ 5.35301360e-02 1.73815637e-03 9.98564722e-01 4.15311841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:5.24, Z:4.15 [[ 9.97783860e-01 -3.96698269e-02 -5.34197819e-02 8.06696494e+01] [ 3.95204522e-02 9.99211344e-01 -3.85010252e-03 5.23893712e+00] [ 5.35303850e-02 1.73039622e-03 9.98564722e-01 4.15346993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:5.24, Z:4.16 [[ 9.97638776e-01 -4.31654082e-02 -5.34192803e-02 8.07283849e+01] [ 4.30206642e-02 9.99066737e-01 -3.85704935e-03 5.24121800e+00] [ 5.35359172e-02 1.54980908e-03 9.98564722e-01 4.16455729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:5.25, Z:4.17 [[ 9.97334164e-01 -4.97096382e-02 -5.34183177e-02 8.07857065e+01] [ 4.95735544e-02 9.98762976e-01 -3.87033460e-03 5.24840844e+00] [ 5.35446310e-02 1.21188105e-03 9.98564722e-01 4.17074399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.84, Y:5.26, Z:4.17 [[ 9.97335659e-01 -4.96801787e-02 -5.34178113e-02 8.08428431e+01] [ 4.95436792e-02 9.98764432e-01 -3.87731201e-03 5.25739562e+00] [ 5.35444355e-02 1.22046663e-03 9.98564722e-01 4.17180444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:5.26, Z:4.17 [[ 9.97385493e-01 -4.86706627e-02 -5.34167095e-02 8.08993624e+01] [ 4.85319077e-02 9.98814048e-01 -3.89243181e-03 5.26255582e+00] [ 5.35428071e-02 1.28984020e-03 9.98564722e-01 4.17350449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.96, Y:5.27, Z:4.18 [[ 9.97517252e-01 -4.58918939e-02 -5.34159630e-02 8.09567648e+01] [ 4.57486130e-02 9.98945361e-01 -3.90264942e-03 5.27137757e+00] [ 5.35387284e-02 1.44925390e-03 9.98564722e-01 4.17521910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.01, Y:5.28, Z:4.18 [[ 9.97641888e-01 -4.30988957e-02 -5.34148753e-02 8.10130136e+01] [ 4.29508236e-02 9.99069507e-01 -3.91748111e-03 5.27824631e+00] [ 5.35340122e-02 1.61403037e-03 9.98564722e-01 4.17931759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.07, Y:5.29, Z:4.18 [[ 9.97563427e-01 -4.48788431e-02 -5.34144097e-02 8.10711859e+01] [ 4.47329793e-02 9.98991273e-01 -3.92381850e-03 5.28894473e+00] [ 5.35366256e-02 1.52487215e-03 9.98564722e-01 4.18025537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.13, Y:5.30, Z:4.18 [[ 9.97475552e-01 -4.67924389e-02 -5.34133887e-02 8.11277591e+01] [ 4.66485733e-02 9.98903602e-01 -3.93766876e-03 5.29675359e+00] [ 5.35390794e-02 1.43606994e-03 9.98564722e-01 4.17868216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.19, Y:5.30, Z:4.18 [[ 9.97281288e-01 -5.07651114e-02 -5.34128892e-02 8.11850960e+01] [ 5.06265731e-02 9.98709864e-01 -3.94443178e-03 5.30306400e+00] [ 5.35442188e-02 1.22959646e-03 9.98564722e-01 4.18228612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:5.31, Z:4.19 [[ 9.97388038e-01 -4.86239491e-02 -5.34117240e-02 8.12426892e+01] [ 4.84815030e-02 9.98816230e-01 -3.96014795e-03 5.30530649e+00] [ 5.35410548e-02 1.36032354e-03 9.98564722e-01 4.19329906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:5.31, Z:4.20 [[ 9.97322440e-01 -4.99517469e-02 -5.34113633e-02 8.13014057e+01] [ 4.98109422e-02 9.98750794e-01 -3.96500725e-03 5.31494496e+00] [ 5.35427005e-02 1.29392037e-03 9.98564722e-01 4.19618370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.36, Y:5.33, Z:4.19 [[ 9.97015968e-01 -5.57358726e-02 -5.34104026e-02 8.13592387e+01] [ 5.56026648e-02 9.98445051e-01 -3.97790595e-03 5.32932248e+00] [ 5.35490642e-02 9.96275045e-04 9.98564723e-01 4.18940112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:5.33, Z:4.20 [[ 9.97366705e-01 -4.90623194e-02 -5.34092184e-02 8.14159992e+01] [ 4.89187032e-02 9.98794779e-01 -3.99374249e-03 5.32771482e+00] [ 5.35407908e-02 1.37051608e-03 9.98564723e-01 4.20134177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:81.47, Y:5.34, Z:4.19 [[ 9.96894818e-01 -5.78638981e-02 -5.34087107e-02 8.14744248e+01] [ 5.77325297e-02 9.98324071e-01 -4.00052080e-03 5.34366241e+00] [ 5.35506872e-02 9.04678478e-04 9.98564723e-01 4.19487243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.53, Y:5.36, Z:4.19 [[ 9.96772711e-01 -5.99314798e-02 -5.34076783e-02 8.15321767e+01] [ 5.98023403e-02 9.98202167e-01 -4.01425634e-03 5.35594715e+00] [ 5.35522405e-02 8.07397018e-04 9.98564723e-01 4.19371113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.59, Y:5.36, Z:4.20 [[ 9.96839853e-01 -5.88052166e-02 -5.34065017e-02 8.15900270e+01] [ 5.86736269e-02 9.98269085e-01 -4.02984956e-03 5.35947047e+00] [ 5.35510357e-02 8.83561491e-04 9.98564723e-01 4.20040173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.65, Y:5.36, Z:4.21 [[ 9.97281715e-01 -5.07646747e-02 -5.34053169e-02 8.16469827e+01] [ 5.06207267e-02 9.98709756e-01 -4.04548998e-03 5.36216522e+00] [ 5.35417790e-02 1.33107723e-03 9.98564723e-01 4.21088212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:5.37, Z:4.22 [[ 9.97192869e-01 -5.24813605e-02 -5.34049541e-02 8.17051177e+01] [ 5.23396150e-02 9.98621129e-01 -4.05027359e-03 5.36984403e+00] [ 5.35438795e-02 1.24370921e-03 9.98564723e-01 4.21633845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.76, Y:5.37, Z:4.22 [[ 9.97031576e-01 -5.54621547e-02 -5.34039819e-02 8.17635732e+01] [ 5.53239953e-02 9.98460188e-01 -4.06305302e-03 5.37170866e+00] [ 5.35470954e-02 1.09647052e-03 9.98564723e-01 4.22050284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.82, Y:5.39, Z:4.22 [[ 9.96701718e-01 -6.11049194e-02 -5.34029395e-02 8.18218659e+01] [ 6.09741173e-02 9.98131022e-01 -4.07670715e-03 5.38574393e+00] [ 5.35522375e-02 8.07063917e-04 9.98564723e-01 4.21586123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77038572299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:5.39, Z:4.22 [[ 9.96810762e-01 -5.93003446e-02 -5.34019975e-02 8.18796959e+01] [ 5.91662962e-02 9.98239765e-01 -4.08901016e-03 5.39224009e+00] [ 5.35504772e-02 9.16370939e-04 9.98564723e-01 4.21702880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:81.94, Y:5.39, Z:4.22 [[ 9.97072243e-01 -5.47292868e-02 -5.34008120e-02 8.19379916e+01] [ 5.45878621e-02 9.98500535e-01 -4.10443389e-03 5.39253495e+00] [ 5.35453721e-02 1.17738094e-03 9.98564723e-01 4.21770100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:5.40, Z:4.22 [[ 9.97144518e-01 -5.33966436e-02 -5.34004567e-02 8.19961567e+01] [ 5.32530629e-02 9.98572595e-01 -4.10905108e-03 5.39790095e+00] [ 5.35436422e-02 1.25357988e-03 9.98564723e-01 4.22330182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:82.05, Y:5.39, Z:4.24 [[ 9.97338852e-01 -4.96358547e-02 -5.33994043e-02 8.20547193e+01] [ 4.94861602e-02 9.98766301e-01 -4.12268264e-03 5.38705398e+00] [ 5.35381584e-02 1.46918010e-03 9.98564724e-01 4.23638293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.11, Y:5.39, Z:4.24 [[ 9.96988103e-01 -5.62429188e-02 -5.33990346e-02 8.21137608e+01] [ 5.61024295e-02 9.98416487e-01 -4.12746572e-03 5.39376197e+00] [ 5.35466173e-02 1.11921865e-03 9.98564724e-01 4.23520225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:82.17, Y:5.39, Z:4.23 [[ 9.97026866e-01 -5.55525510e-02 -5.33979663e-02 8.21709480e+01] [ 5.54103352e-02 9.98455079e-01 -4.14124057e-03 5.39194567e+00] [ 5.35455272e-02 1.17012890e-03 9.98564724e-01 4.23448843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13038572299999 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:82.23, Y:5.38, Z:4.25 [[ 9.97563706e-01 -4.48931876e-02 -5.33971340e-02 8.22297233e+01] [ 4.47351429e-02 9.98990254e-01 -4.15194519e-03 5.38013655e+00] [ 5.35296105e-02 1.75310142e-03 9.98564724e-01 4.24957793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19038572299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:82.29, Y:5.39, Z:4.25 [[ 9.97710044e-01 -4.15153297e-02 -5.33961248e-02 8.22874898e+01] [ 4.13517643e-02 9.99135969e-01 -4.16488296e-03 5.38585553e+00] [ 5.35228954e-02 1.94732160e-03 9.98564724e-01 4.24904321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:82.35, Y:5.38, Z:4.24 [[ 9.97887937e-01 -3.69950441e-02 -5.33950475e-02 8.23465887e+01] [ 3.68242853e-02 9.99313019e-01 -4.17864874e-03 5.38477722e+00] [ 5.35129555e-02 2.20358871e-03 9.98564724e-01 4.24359618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:5.39, Z:4.25 [[ 9.97841616e-01 -3.82254899e-02 -5.33940252e-02 8.24047000e+01] [ 3.80557927e-02 9.99266824e-01 -4.19167198e-03 5.38514716e+00] [ 5.35151067e-02 2.15067279e-03 9.98564724e-01 4.24776423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:5.38, Z:4.25 [[ 9.97695212e-01 -4.18744349e-02 -5.33928433e-02 8.24625554e+01] [ 4.17091493e-02 9.99120939e-01 -4.20667266e-03 5.38461868e+00] [ 5.35220598e-02 1.97000710e-03 9.98564724e-01 4.24904149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:5.38, Z:4.25 [[ 9.97467320e-01 -4.69923125e-02 -5.33916540e-02 8.25211465e+01] [ 4.68335391e-02 9.98893787e-01 -4.22171330e-03 5.38068848e+00] [ 5.35309795e-02 1.71050093e-03 9.98564724e-01 4.25427354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49038572299999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:5.38, Z:4.25 [[ 9.97260402e-01 -5.11971981e-02 -5.33904180e-02 8.25787776e+01] [ 5.10436069e-02 9.98687436e-01 -4.23728810e-03 5.38345279e+00] [ 5.35372769e-02 1.50044013e-03 9.98564724e-01 4.25401840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55038572299999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:5.38, Z:4.26 [[ 9.97037349e-01 -5.53719134e-02 -5.33898484e-02 8.26368892e+01] [ 5.52239146e-02 9.98464974e-01 -4.24445223e-03 5.38103189e+00] [ 5.35429170e-02 1.28348097e-03 9.98564724e-01 4.25935500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:82.69, Y:5.38, Z:4.26 [[ 9.96881525e-01 -5.81109048e-02 -5.33886557e-02 8.26948450e+01] [ 5.79660284e-02 9.98309470e-01 -4.25940266e-03 5.38360801e+00] [ 5.35459183e-02 1.15139148e-03 9.98564724e-01 4.26185992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.75, Y:5.38, Z:4.26 [[ 9.96556733e-01 -6.34379116e-02 -5.33882894e-02 8.27542353e+01] [ 6.33004233e-02 9.97985408e-01 -4.26398811e-03 5.38332306e+00] [ 5.35512323e-02 8.69804735e-04 9.98564724e-01 4.26458953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:82.81, Y:5.39, Z:4.27 [[ 9.96417523e-01 -6.55890226e-02 -5.33872640e-02 8.28125729e+01] [ 6.54539330e-02 9.97846427e-01 -4.27678852e-03 5.38998611e+00] [ 5.35528010e-02 7.67060622e-04 9.98564725e-01 4.27301123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.87, Y:5.39, Z:4.27 [[ 9.96437277e-01 -6.52890707e-02 -5.33862301e-02 8.28712436e+01] [ 6.51528618e-02 9.97866075e-01 -4.28965594e-03 5.39448292e+00] [ 5.35523755e-02 7.96107414e-04 9.98564725e-01 4.27097676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.93, Y:5.40, Z:4.28 [[ 9.96565216e-01 -6.33071166e-02 -5.33852019e-02 8.29298480e+01] [ 6.31673829e-02 9.97993673e-01 -4.30241424e-03 5.40191167e+00] [ 5.35504671e-02 9.15432883e-04 9.98564725e-01 4.27626691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.99, Y:5.41, Z:4.29 [[ 9.96507531e-01 -6.42096002e-02 -5.33841493e-02 8.29866837e+01] [ 6.40704628e-02 9.97936046e-01 -4.31543507e-03 5.40877124e+00] [ 5.35510593e-02 8.80016393e-04 9.98564725e-01 4.28669154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.05, Y:5.42, Z:4.28 [[ 9.96391470e-01 -6.59864472e-02 -5.33837802e-02 8.30452783e+01] [ 6.58496131e-02 9.97820207e-01 -4.31999622e-03 5.41558290e+00] [ 5.35524759e-02 7.89106110e-04 9.98564725e-01 4.28449074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.10, Y:5.42, Z:4.29 [[ 9.96334035e-01 -6.68488969e-02 -5.33827222e-02 8.31023091e+01] [ 6.67126012e-02 9.97762824e-01 -4.33303116e-03 5.41928408e+00] [ 5.35529540e-02 7.55846160e-04 9.98564725e-01 4.29000738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.16, Y:5.42, Z:4.29 [[ 9.96340157e-01 -6.67582432e-02 -5.33819043e-02 8.31597503e+01] [ 6.66212790e-02 9.97768882e-01 -4.34308464e-03 5.42305138e+00] [ 5.35527397e-02 7.70818893e-04 9.98564725e-01 4.29437170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.22, Y:5.43, Z:4.29 [[ 9.96436591e-01 -6.53041012e-02 -5.33806523e-02 8.32181289e+01] [ 6.51642308e-02 9.97865035e-01 -4.35841807e-03 5.43343545e+00] [ 5.35513090e-02 8.64378095e-04 9.98564725e-01 4.28760798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.28, Y:5.44, Z:4.29 [[ 9.96617127e-01 -6.24893922e-02 -5.33795606e-02 8.32761784e+01] [ 6.23447739e-02 9.98045098e-01 -4.37174788e-03 5.43866880e+00] [ 5.35483967e-02 1.02902218e-03 9.98564725e-01 4.29165512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:5.44, Z:4.30 [[ 9.96644310e-01 -6.20554328e-02 -5.33782994e-02 8.33336093e+01] [ 6.19093713e-02 9.98072133e-01 -4.38709395e-03 5.43951776e+00] [ 5.35476361e-02 1.06775527e-03 9.98564725e-01 4.29834523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.39, Y:5.45, Z:4.31 [[ 9.96785282e-01 -5.97488196e-02 -5.33777161e-02 8.33922603e+01] [ 5.95990750e-02 9.98212724e-01 -4.39417848e-03 5.44529054e+00] [ 5.35448624e-02 1.19878993e-03 9.98564725e-01 4.30781348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.45, Y:5.45, Z:4.31 [[ 9.96675702e-01 -6.15506276e-02 -5.33766390e-02 8.34509138e+01] [ 6.14027653e-02 9.98103340e-01 -4.40722354e-03 5.45115511e+00] [ 5.35466691e-02 1.11509938e-03 9.98564725e-01 4.31016691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:5.45, Z:4.31 [[ 9.96665125e-01 -6.17225811e-02 -5.33755770e-02 8.35095151e+01] [ 6.15742785e-02 9.98092717e-01 -4.42004912e-03 5.45297492e+00] [ 5.35465915e-02 1.11874616e-03 9.98564725e-01 4.31237801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.57, Y:5.46, Z:4.31 [[ 9.96641773e-01 -6.20993570e-02 -5.33745777e-02 8.35681627e+01] [ 6.19509499e-02 9.98069355e-01 -4.43208298e-03 5.45741008e+00] [ 5.35467598e-02 1.11059325e-03 9.98564726e-01 4.31342148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.63, Y:5.46, Z:4.32 [[ 9.96967217e-01 -5.66360323e-02 -5.33734749e-02 8.36267881e+01] [ 5.64790948e-02 9.98393886e-01 -4.44532417e-03 5.46091707e+00] [ 5.35395165e-02 1.41735692e-03 9.98564726e-01 4.32023014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.69, Y:5.47, Z:4.32 [[ 9.97014004e-01 -5.58074785e-02 -5.33722828e-02 8.36853562e+01] [ 5.56485923e-02 9.98440457e-01 -4.45959043e-03 5.46871049e+00] [ 5.35379250e-02 1.47618170e-03 9.98564726e-01 4.32237017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:5.48, Z:4.33 [[ 9.96890456e-01 -5.79736585e-02 -5.33710945e-02 8.37423340e+01] [ 5.78171136e-02 9.98317167e-01 -4.47376694e-03 5.47546670e+00] [ 5.35406405e-02 1.37409293e-03 9.98564726e-01 4.32970542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:5.48, Z:4.33 [[ 9.96978521e-01 -5.64393299e-02 -5.33706934e-02 8.38007405e+01] [ 5.62803336e-02 9.98404961e-01 -4.47854748e-03 5.47734169e+00] [ 5.35383313e-02 1.46129522e-03 9.98564726e-01 4.33099928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:5.48, Z:4.33 [[ 9.97083821e-01 -5.45487567e-02 -5.33693453e-02 8.38588513e+01] [ 5.43861998e-02 9.98509860e-01 -4.49455513e-03 5.48408624e+00] [ 5.35349899e-02 1.57889233e-03 9.98564726e-01 4.32998348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.92, Y:5.49, Z:4.33 [[ 9.97158406e-01 -5.31683590e-02 -5.33688964e-02 8.39166913e+01] [ 5.30035434e-02 9.98584185e-01 -4.49987898e-03 5.49287422e+00] [ 5.35325871e-02 1.65835153e-03 9.98564726e-01 4.33231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930385723 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:83.98, Y:5.50, Z:4.33 [[ 9.97020073e-01 -5.57033019e-02 -5.33677453e-02 8.39758665e+01] [ 5.55413837e-02 9.98446184e-01 -4.51348980e-03 5.49744955e+00] [ 5.35362379e-02 1.53592151e-03 9.98564726e-01 4.33203142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.03, Y:5.50, Z:4.34 [[ 9.97191734e-01 -5.25419921e-02 -5.33665048e-02 8.40334874e+01] [ 5.23747717e-02 9.98617234e-01 -4.52810947e-03 5.50280995e+00] [ 5.35306273e-02 1.72033483e-03 9.98564726e-01 4.34141342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.09, Y:5.51, Z:4.35 [[ 9.97240803e-01 -5.16028269e-02 -5.33659986e-02 8.40898152e+01] [ 5.14339455e-02 9.98666106e-01 -4.53406787e-03 5.50814940e+00] [ 5.35287847e-02 1.77673361e-03 9.98564726e-01 4.34659759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.15, Y:5.51, Z:4.35 [[ 9.97268213e-01 -5.10709588e-02 -5.33654226e-02 8.41477857e+01] [ 5.09009555e-02 9.98693383e-01 -4.54083710e-03 5.51050742e+00] [ 5.35275993e-02 1.81208150e-03 9.98564726e-01 4.35064886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:5.52, Z:4.35 [[ 9.97281961e-01 -5.08031388e-02 -5.33641345e-02 8.42069417e+01] [ 5.06319464e-02 9.98706989e-01 -4.55592538e-03 5.51617624e+00] [ 5.35265893e-02 1.84161221e-03 9.98564726e-01 4.35158941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:5.52, Z:4.35 [[ 9.97393515e-01 -4.85651846e-02 -5.33629060e-02 8.42647095e+01] [ 4.83900286e-02 9.98818060e-01 -4.57026925e-03 5.52198221e+00] [ 5.35217902e-02 1.97612436e-03 9.98564726e-01 4.35303678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:5.52, Z:4.36 [[ 9.97428215e-01 -4.78479483e-02 -5.33622537e-02 8.43236213e+01] [ 4.76713617e-02 9.98852584e-01 -4.57787218e-03 5.52357976e+00] [ 5.35200668e-02 2.02224758e-03 9.98564726e-01 4.35696275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:5.53, Z:4.36 [[ 9.97184601e-01 -5.26826089e-02 -5.33611612e-02 8.43816209e+01] [ 5.25122504e-02 9.98609729e-01 -4.59057238e-03 5.52702285e+00] [ 5.35288180e-02 1.77553343e-03 9.98564727e-01 4.36330511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.44, Y:5.53, Z:4.37 [[ 9.96971011e-01 -5.65812025e-02 -5.33607560e-02 8.44401768e+01] [ 5.64161660e-02 9.98396765e-01 -4.59527686e-03 5.53166947e+00] [ 5.35352125e-02 1.57094855e-03 9.98564727e-01 4.36758303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.50, Y:5.54, Z:4.37 [[ 9.96756688e-01 -6.02399727e-02 -5.33596310e-02 8.44980731e+01] [ 6.00794733e-02 9.98182959e-01 -4.60830329e-03 5.53715463e+00] [ 5.35402785e-02 1.38753860e-03 9.98564727e-01 4.37173153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.56, Y:5.54, Z:4.38 [[ 9.96674924e-01 -6.15790829e-02 -5.33583343e-02 8.45559457e+01] [ 6.14196992e-02 9.98101320e-01 -4.62326887e-03 5.54173918e+00] [ 5.35417206e-02 1.33064331e-03 9.98564727e-01 4.37613850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:5.55, Z:4.38 [[ 9.96583057e-01 -6.30494935e-02 -5.33570203e-02 8.46147692e+01] [ 6.28914056e-02 9.98009597e-01 -4.63838469e-03 5.54527726e+00] [ 5.35432662e-02 1.26683759e-03 9.98564727e-01 4.37962420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:5.56, Z:4.38 [[ 9.97030100e-01 -5.55348835e-02 -5.33559489e-02 8.46728819e+01] [ 5.53653888e-02 9.98455329e-01 -4.65067710e-03 5.55517792e+00] [ 5.35318063e-02 1.68279220e-03 9.98564727e-01 4.38020688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:5.56, Z:4.38 [[ 9.97329368e-01 -4.98738585e-02 -5.33547615e-02 8.47307517e+01] [ 4.96955499e-02 9.98753522e-01 -4.66425948e-03 5.56384918e+00] [ 5.35208806e-02 2.00030874e-03 9.98564727e-01 4.37648108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:5.57, Z:4.38 [[ 9.97183315e-01 -5.27138233e-02 -5.33543639e-02 8.47885110e+01] [ 5.25393284e-02 9.98607942e-01 -4.66880261e-03 5.56719607e+00] [ 5.35262020e-02 1.85244962e-03 9.98564727e-01 4.38175522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:5.57, Z:4.39 [[ 9.96730713e-01 -6.06733829e-02 -5.33537816e-02 8.48471311e+01] [ 6.05099118e-02 9.98156646e-01 -4.67544792e-03 5.56875732e+00] [ 5.35391070e-02 1.43172992e-03 9.98564727e-01 4.39185828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:5.57, Z:4.40 [[ 9.96381878e-01 -6.61561746e-02 -5.33527264e-02 8.49053156e+01] [ 6.59999082e-02 9.97808619e-01 -4.68745851e-03 5.57156820e+00] [ 5.35459146e-02 1.14922367e-03 9.98564727e-01 4.39782478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.96, Y:5.58, Z:4.40 [[ 9.96319598e-01 -6.70886346e-02 -5.33514152e-02 8.49636421e+01] [ 6.69329072e-02 9.97746398e-01 -4.70233528e-03 5.57775724e+00] [ 5.35466556e-02 1.11406348e-03 9.98564727e-01 4.39836065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:5.58, Z:4.40 [[ 9.96340977e-01 -6.67713487e-02 -5.33502018e-02 8.50212544e+01] [ 6.66144323e-02 9.97767646e-01 -4.71606205e-03 5.58341522e+00] [ 5.35460031e-02 1.14491247e-03 9.98564727e-01 4.40009879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:5.59, Z:4.40 [[ 9.96500528e-01 -6.43474194e-02 -5.33489257e-02 8.50792358e+01] [ 6.41862629e-02 9.97926724e-01 -4.73045278e-03 5.58908859e+00] [ 5.35427111e-02 1.28963052e-03 9.98564727e-01 4.40067619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.14, Y:5.59, Z:4.40 [[ 9.96595822e-01 -6.28553732e-02 -5.33476332e-02 8.51374800e+01] [ 6.26913042e-02 9.98021686e-01 -4.74498427e-03 5.59097063e+00] [ 5.35403426e-02 1.38439879e-03 9.98564728e-01 4.40385215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.20, Y:5.59, Z:4.40 [[ 9.96617482e-01 -6.25121340e-02 -5.33463007e-02 8.51957651e+01] [ 6.23467751e-02 9.98043197e-01 -4.75991918e-03 5.59470401e+00] [ 5.35394652e-02 1.41784886e-03 9.98564728e-01 4.40293475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.25, Y:5.60, Z:4.41 [[ 9.96632501e-01 -6.22725752e-02 -5.33458993e-02 8.52534126e+01] [ 6.21066332e-02 9.98058148e-01 -4.76441309e-03 5.59738442e+00] [ 5.35390017e-02 1.43523473e-03 9.98564728e-01 4.40803126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.31, Y:5.60, Z:4.41 [[ 9.96642256e-01 -6.21173845e-02 -5.33445740e-02 8.53118412e+01] [ 6.19504293e-02 9.98067785e-01 -4.77920568e-03 5.60199835e+00] [ 5.35383726e-02 1.45843907e-03 9.98564728e-01 4.41362087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.37, Y:5.61, Z:4.42 [[ 9.96595696e-01 -6.28609537e-02 -5.33434165e-02 8.53699811e+01] [ 6.26943729e-02 9.98021268e-01 -4.79209101e-03 5.60965464e+00] [ 5.35390996e-02 1.43144523e-03 9.98564728e-01 4.41955013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.43, Y:5.62, Z:4.42 [[ 9.96636860e-01 -6.22059726e-02 -5.33421602e-02 8.54262324e+01] [ 6.20377093e-02 9.98062235e-01 -4.80603449e-03 5.61669096e+00] [ 5.35377597e-02 1.48064569e-03 9.98564728e-01 4.42341104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.48, Y:5.62, Z:4.42 [[ 9.96630577e-01 -6.23077751e-02 -5.33407449e-02 8.54840385e+01] [ 6.21388200e-02 9.98055869e-01 -4.82169171e-03 5.62128179e+00] [ 5.35374724e-02 1.49091444e-03 9.98564728e-01 4.42461598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.54, Y:5.63, Z:4.42 [[ 9.96575025e-01 -6.31912140e-02 -5.33393792e-02 8.55418372e+01] [ 6.30227169e-02 9.98000372e-01 -4.83675268e-03 5.62635134e+00] [ 5.35383605e-02 1.45859434e-03 9.98564728e-01 4.42480082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.60, Y:5.63, Z:4.43 [[ 9.96452005e-01 -6.51026692e-02 -5.33389595e-02 8.55994441e+01] [ 6.49366591e-02 9.97877643e-01 -4.84137676e-03 5.63125975e+00] [ 5.35409417e-02 1.36054575e-03 9.98564728e-01 4.42635022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670385723 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:85.66, Y:5.64, Z:4.43 [[ 9.96391426e-01 -6.60244853e-02 -5.33375426e-02 8.56568380e+01] [ 6.58589618e-02 9.97817121e-01 -4.85693634e-03 5.63787849e+00] [ 5.35417899e-02 1.32665455e-03 9.98564728e-01 4.42604674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:5.64, Z:4.43 [[ 9.96448755e-01 -6.51546543e-02 -5.33361933e-02 8.57145188e+01] [ 6.49870960e-02 9.97874212e-01 -4.87170939e-03 5.64150582e+00] [ 5.35402264e-02 1.38824445e-03 9.98564728e-01 4.43209635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:5.65, Z:4.44 [[ 9.96343958e-01 -6.67393303e-02 -5.33346048e-02 8.57720763e+01] [ 6.65731122e-02 9.97769572e-01 -4.88903830e-03 5.64523636e+00] [ 5.35419369e-02 1.32051314e-03 9.98564729e-01 4.43569706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:5.65, Z:4.44 [[ 9.96170117e-01 -6.92868284e-02 -5.33332337e-02 8.58293242e+01] [ 6.91234583e-02 9.97596060e-01 -4.90394965e-03 5.65165779e+00] [ 5.35448029e-02 1.19859054e-03 9.98564729e-01 4.44226605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:5.66, Z:4.45 [[ 9.95958225e-01 -7.22691192e-02 -5.33328104e-02 8.58867323e+01] [ 7.21097731e-02 9.97384623e-01 -4.90854841e-03 5.65941308e+00] [ 5.35480615e-02 1.04289231e-03 9.98564729e-01 4.44627482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:5.66, Z:4.45 [[ 9.95940462e-01 -7.25145163e-02 -5.33314324e-02 8.59431670e+01] [ 7.23547226e-02 9.97366810e-01 -4.92347551e-03 5.66459621e+00] [ 5.35480240e-02 1.04470748e-03 9.98564729e-01 4.44713267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:5.67, Z:4.45 [[ 9.96098359e-01 -7.03127327e-02 -5.33308401e-02 8.60019190e+01] [ 7.01494434e-02 9.97524311e-01 -4.92988329e-03 5.67293633e+00] [ 5.35454431e-02 1.16951991e-03 9.98564729e-01 4.44688995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:5.68, Z:4.45 [[ 9.96203822e-01 -6.88033198e-02 -5.33296253e-02 8.60607467e+01] [ 6.86371688e-02 9.97629443e-01 -4.94298957e-03 5.68232791e+00] [ 5.35432985e-02 1.26383061e-03 9.98564729e-01 4.44604142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.12, Y:5.69, Z:4.45 [[ 9.96056349e-01 -7.09071871e-02 -5.33284167e-02 8.61194792e+01] [ 7.07433515e-02 9.97482239e-01 -4.95599394e-03 5.68810265e+00] [ 5.35455641e-02 1.16381830e-03 9.98564729e-01 4.45083315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.18, Y:5.69, Z:4.46 [[ 9.95703305e-01 -7.57042698e-02 -5.33272107e-02 8.61783254e+01] [ 7.55466114e-02 9.97129891e-01 -4.96893787e-03 5.68970509e+00] [ 5.35503255e-02 9.18897799e-04 9.98564729e-01 4.45899102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.24, Y:5.70, Z:4.46 [[ 9.95539983e-01 -7.78233762e-02 -5.33260107e-02 8.62352536e+01] [ 7.76680667e-02 9.96966827e-01 -4.98178239e-03 5.69731702e+00] [ 5.35519628e-02 8.17835399e-04 9.98564729e-01 4.46190201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.29, Y:5.71, Z:4.46 [[ 9.95740866e-01 -7.52097661e-02 -5.33255874e-02 8.62924346e+01] [ 7.50504692e-02 9.97167270e-01 -4.98630949e-03 5.70502298e+00] [ 5.35495496e-02 9.62961781e-04 9.98564729e-01 4.46407987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.35, Y:5.71, Z:4.47 [[ 9.95815402e-01 -7.42173650e-02 -5.33241698e-02 8.63487025e+01] [ 7.40558376e-02 9.97241555e-01 -5.00142349e-03 5.70979151e+00] [ 5.35482705e-02 1.03152849e-03 9.98564729e-01 4.46992015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.41, Y:5.72, Z:4.47 [[ 9.95316549e-01 -8.06325069e-02 -5.33232155e-02 8.64055037e+01] [ 8.04796286e-02 9.96743655e-01 -5.01157773e-03 5.72485732e+00] [ 5.35536728e-02 6.96673673e-04 9.98564729e-01 4.46528544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:5.73, Z:4.47 [[ 9.95477653e-01 -7.86195166e-02 -5.33218048e-02 8.64631608e+01] [ 7.84629512e-02 9.96904358e-01 -5.02654207e-03 5.72859849e+00] [ 5.35519239e-02 8.20024137e-04 9.98564730e-01 4.46806111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.52, Y:5.74, Z:4.47 [[ 9.95592123e-01 -7.71574314e-02 -5.33203016e-02 8.65198197e+01] [ 7.69979197e-02 9.97018502e-01 -5.04243802e-03 5.73746563e+00] [ 5.35503888e-02 9.14659278e-04 9.98564730e-01 4.46824910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:5.74, Z:4.47 [[ 9.95487850e-01 -7.84919975e-02 -5.33192821e-02 8.65775399e+01] [ 7.83338221e-02 9.96914378e-01 -5.05319500e-03 5.74139589e+00] [ 5.35513943e-02 8.53691071e-04 9.98564730e-01 4.47183754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:5.74, Z:4.48 [[ 9.95551023e-01 -7.76876704e-02 -5.33177854e-02 8.66353598e+01] [ 7.75274996e-02 9.96977328e-01 -5.06893765e-03 5.73937231e+00] [ 5.35504172e-02 9.12791474e-04 9.98564730e-01 4.47940661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.69, Y:5.75, Z:4.48 [[ 9.95358180e-01 -8.01208814e-02 -5.33173262e-02 8.66932521e+01] [ 7.99639390e-02 9.96784844e-01 -5.07376415e-03 5.74732206e+00] [ 5.35524171e-02 7.86749240e-04 9.98564730e-01 4.48438448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:5.76, Z:4.49 [[ 9.95264053e-01 -8.12827024e-02 -5.33159088e-02 8.67518657e+01] [ 8.11266300e-02 9.96690813e-01 -5.08861490e-03 5.75709594e+00] [ 5.35530928e-02 7.39175487e-04 9.98564730e-01 4.48725057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.81, Y:5.76, Z:4.49 [[ 9.95096301e-01 -8.33120407e-02 -5.33146762e-02 8.68087625e+01] [ 8.31581880e-02 9.96523302e-01 -5.10149610e-03 5.76415137e+00] [ 5.35543332e-02 6.42928038e-04 9.98564730e-01 4.49090158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.87, Y:5.77, Z:4.49 [[ 9.95033457e-01 -8.40596784e-02 -5.33140696e-02 8.68656214e+01] [ 8.39065586e-02 9.96460536e-01 -5.10782725e-03 5.77417653e+00] [ 5.35547287e-02 6.09058891e-04 9.98564730e-01 4.49410006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.92, Y:5.78, Z:4.49 [[ 9.95087803e-01 -8.34147636e-02 -5.33126780e-02 8.69237197e+01] [ 8.32599431e-02 9.96514698e-01 -5.12231159e-03 5.78481204e+00] [ 5.35541436e-02 6.58339251e-04 9.98564730e-01 4.49369273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.98, Y:5.79, Z:4.49 [[ 9.94955936e-01 -8.49739515e-02 -5.33114692e-02 8.69821678e+01] [ 8.48206947e-02 9.96383000e-01 -5.13486156e-03 5.79388656e+00] [ 5.35549711e-02 5.87045135e-04 9.98564730e-01 4.49409943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:5.80, Z:4.50 [[ 9.94727079e-01 -8.76131338e-02 -5.33102012e-02 8.70400325e+01] [ 8.74629596e-02 9.96154470e-01 -5.14799241e-03 5.79828092e+00] [ 5.35562270e-02 4.58179472e-04 9.98564730e-01 4.50159864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:5.81, Z:4.50 [[ 9.94338949e-01 -9.19142545e-02 -5.33087604e-02 8.70977669e+01] [ 9.17694573e-02 9.95766896e-01 -5.16286981e-03 5.81099823e+00] [ 5.35576402e-02 2.41526539e-04 9.98564730e-01 4.50041508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:5.81, Z:4.51 [[ 9.94069712e-01 -9.47824768e-02 -5.33074988e-02 8.71555128e+01] [ 9.46411030e-02 9.95498002e-01 -5.17586337e-03 5.80885343e+00] [ 5.35580897e-02 1.00088527e-04 9.98564731e-01 4.50828993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.21, Y:5.82, Z:4.51 [[ 9.93190912e-01 -1.03586646e-01 -5.33068450e-02 8.72131159e+01] [ 1.03457572e-01 9.94620366e-01 -5.18258767e-03 5.81955994e+00] [ 5.35569205e-02 -3.67697781e-04 9.98564731e-01 4.50891292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:5.82, Z:4.51 [[ 9.93370592e-01 -1.01849372e-01 -5.33064067e-02 8.72710329e+01] [ 1.01717556e-01 9.94799795e-01 -5.18709161e-03 5.82304821e+00] [ 5.35575045e-02 -2.69493166e-04 9.98564731e-01 4.51291703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:5.82, Z:4.52 [[ 9.93486232e-01 -1.00715904e-01 -5.33049050e-02 8.73290766e+01] [ 1.00581632e-01 9.94915207e-01 -5.20247915e-03 5.82488072e+00] [ 5.35578329e-02 -1.92902914e-04 9.98564731e-01 4.51729359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47038572299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:5.83, Z:4.52 [[ 9.93918574e-01 -9.63562651e-02 -5.33042046e-02 8.73862050e+01] [ 9.62153411e-02 9.95346908e-01 -5.20964459e-03 5.83177929e+00] [ 5.35581572e-02 4.92802943e-05 9.98564731e-01 4.52056139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.44, Y:5.85, Z:4.52 [[ 9.94373534e-01 -9.15428699e-02 -5.33026934e-02 8.74436207e+01] [ 9.13942056e-02 9.95801084e-01 -5.22506121e-03 5.84502921e+00] [ 5.35571970e-02 3.24105258e-04 9.98564731e-01 4.51740024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.50, Y:5.85, Z:4.53 [[ 9.94804029e-01 -8.67399336e-02 -5.33022290e-02 8.75005481e+01] [ 8.65841237e-02 9.96230816e-01 -5.22979433e-03 5.84937129e+00] [ 5.35549551e-02 5.87493679e-04 9.98564731e-01 4.52580966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.56, Y:5.86, Z:4.53 [[ 9.95117867e-01 -8.30623377e-02 -5.33017747e-02 8.75589224e+01] [ 8.29010075e-02 9.96544040e-01 -5.23442085e-03 5.85669939e+00] [ 5.35523491e-02 7.90094892e-04 9.98564731e-01 4.53002034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.62, Y:5.86, Z:4.53 [[ 9.95484232e-01 -7.85506148e-02 -5.33005100e-02 8.76168687e+01] [ 7.83821338e-02 9.96909578e-01 -5.24726761e-03 5.85952327e+00] [ 5.35479650e-02 1.04576446e-03 9.98564731e-01 4.52833693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.67, Y:5.86, Z:4.53 [[ 9.95882685e-01 -7.33265300e-02 -5.33000645e-02 8.76745759e+01] [ 7.31503311e-02 9.97307098e-01 -5.25178850e-03 5.86132273e+00] [ 5.35416281e-02 1.33124787e-03 9.98564731e-01 4.52942097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.73, Y:5.87, Z:4.54 [[ 9.95482380e-01 -7.85746877e-02 -5.32996238e-02 8.77330155e+01] [ 7.84057600e-02 9.96907673e-01 -5.25625730e-03 5.86659987e+00] [ 5.35478127e-02 1.05351401e-03 9.98564731e-01 4.53627765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:5.87, Z:4.54 [[ 9.95193068e-01 -8.21586602e-02 -5.32983294e-02 8.77901048e+01] [ 8.19941646e-02 9.96618879e-01 -5.26935008e-03 5.87173955e+00] [ 5.35510441e-02 8.73868678e-04 9.98564731e-01 4.53881102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:5.88, Z:4.54 [[ 9.94909594e-01 -8.55233665e-02 -5.32977818e-02 8.78480772e+01] [ 8.53633969e-02 9.96335920e-01 -5.27488258e-03 5.87515357e+00] [ 5.35536202e-02 6.98351580e-04 9.98564731e-01 4.54231572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:5.88, Z:4.54 [[ 9.94445862e-01 -9.07575313e-02 -5.32963262e-02 8.79062259e+01] [ 9.06042834e-02 9.95872926e-01 -5.28954899e-03 5.88212953e+00] [ 5.35564348e-02 4.31294658e-04 9.98564731e-01 4.54011245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:5.89, Z:4.54 [[ 9.94256374e-01 -9.28111988e-02 -5.32948878e-02 8.79637625e+01] [ 9.26601238e-02 9.95683669e-01 -5.30400291e-03 5.88718988e+00] [ 5.35571203e-02 3.35227803e-04 9.98564731e-01 4.54120658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.02, Y:5.89, Z:4.54 [[ 9.94190018e-01 -9.35202352e-02 -5.32932818e-02 8.80218771e+01] [ 9.33693158e-02 9.95617330e-01 -5.32009051e-03 5.89180410e+00] [ 5.35572510e-02 3.13223624e-04 9.98564731e-01 4.54291555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.08, Y:5.90, Z:4.55 [[ 9.94340097e-01 -9.19112463e-02 -5.32925378e-02 8.80799257e+01] [ 9.17576185e-02 9.95767120e-01 -5.32753270e-03 5.89968978e+00] [ 5.35566171e-02 4.07383024e-04 9.98564731e-01 4.54668551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.14, Y:5.91, Z:4.55 [[ 9.94243512e-01 -9.29510059e-02 -5.32911661e-02 8.81377792e+01] [ 9.27981369e-02 9.95670617e-01 -5.34121909e-03 5.90634401e+00] [ 5.35569199e-02 3.65151502e-04 9.98564732e-01 4.54885894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:88.20, Y:5.91, Z:4.55 [[ 9.94148099e-01 -9.39667896e-02 -5.32897742e-02 8.81951720e+01] [ 9.38146363e-02 9.95575280e-01 -5.35506995e-03 5.91231632e+00] [ 5.35571806e-02 3.24371822e-04 9.98564732e-01 4.55041611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:5.92, Z:4.55 [[ 9.94054004e-01 -9.49579310e-02 -5.32881584e-02 8.82527212e+01] [ 9.48063414e-02 9.95481245e-01 -5.37110140e-03 5.91786058e+00] [ 5.35573909e-02 2.87109516e-04 9.98564732e-01 4.55378647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:5.92, Z:4.57 [[ 9.94042364e-01 -9.50805961e-02 -5.32865800e-02 8.83112825e+01] [ 9.49283456e-02 9.95469534e-01 -5.38671503e-03 5.92418365e+00] [ 5.35573390e-02 2.96216062e-04 9.98564732e-01 4.56655988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:5.93, Z:4.57 [[ 9.94337757e-01 -9.19408267e-02 -5.32851659e-02 8.83696035e+01] [ 9.17833222e-02 9.95764357e-01 -5.40066704e-03 5.93244134e+00] [ 5.35560108e-02 4.79397597e-04 9.98564732e-01 4.57389374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:5.94, Z:4.56 [[ 9.94126119e-01 -9.42025169e-02 -5.32836307e-02 8.84289503e+01] [ 9.40474485e-02 9.95552985e-01 -5.41577126e-03 5.93825096e+00] [ 5.35568569e-02 3.72770149e-04 9.98564732e-01 4.56291888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.49, Y:5.95, Z:4.56 [[ 9.93872564e-01 -9.68417281e-02 -5.32823226e-02 8.84852091e+01] [ 9.66897604e-02 9.95299764e-01 -5.42861084e-03 5.94544145e+00] [ 5.35575991e-02 2.43492371e-04 9.98564732e-01 4.56311230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:5.95, Z:4.57 [[ 9.93581275e-01 -9.97865380e-02 -5.32813080e-02 8.85426231e+01] [ 9.96382674e-02 9.95008863e-01 -5.43855094e-03 5.95367135e+00] [ 5.35580678e-02 9.47851664e-05 9.98564732e-01 4.57014588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:88.60, Y:5.96, Z:4.58 [[ 9.93683642e-01 -9.87627767e-02 -5.32797622e-02 8.85998840e+01] [ 9.86122255e-02 9.95110992e-01 -5.45365235e-03 5.95749152e+00] [ 5.35578949e-02 1.65169207e-04 9.98564732e-01 4.57758889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:5.97, Z:4.58 [[ 9.93727709e-01 -9.83192239e-02 -5.32782407e-02 8.86566521e+01] [ 9.81672408e-02 9.95154907e-01 -5.46847653e-03 5.97071307e+00] [ 5.35577590e-02 2.03998769e-04 9.98564732e-01 4.57563259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.71, Y:5.98, Z:4.58 [[ 9.94064170e-01 -9.48579051e-02 -5.32766809e-02 8.87144202e+01] [ 9.47001404e-02 9.95490740e-01 -5.48363100e-03 5.97842743e+00] [ 5.35566082e-02 4.05771934e-04 9.98564733e-01 4.57804722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.77, Y:5.99, Z:4.58 [[ 9.94225855e-01 -9.31482416e-02 -5.32762013e-02 8.87707962e+01] [ 9.29877745e-02 9.95652124e-01 -5.48828612e-03 5.98535814e+00] [ 5.35557872e-02 5.02560574e-04 9.98564733e-01 4.58132520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.83, Y:5.99, Z:4.59 [[ 9.94200721e-01 -9.34165004e-02 -5.32755542e-02 8.88285149e+01] [ 9.32560819e-02 9.95626995e-01 -5.49456086e-03 5.99432815e+00] [ 5.35558625e-02 4.94426927e-04 9.98564733e-01 4.58577725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:88.89, Y:6.00, Z:4.59 [[ 9.94223380e-01 -9.31759172e-02 -5.32739992e-02 8.88860352e+01] [ 9.30143480e-02 9.95649524e-01 -5.50959596e-03 6.00107186e+00] [ 5.35555937e-02 5.22522812e-04 9.98564733e-01 4.58853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:6.01, Z:4.59 [[ 9.93969235e-01 -9.58499058e-02 -5.32724575e-02 8.89429282e+01] [ 9.56913765e-02 9.95395721e-01 -5.52446323e-03 6.00951390e+00] [ 5.35566955e-02 3.93431711e-04 9.98564733e-01 4.58871942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:89.00, Y:6.02, Z:4.59 [[ 9.93641810e-01 -9.91871065e-02 -5.32716839e-02 8.90001635e+01] [ 9.90329688e-02 9.95068776e-01 -5.53191274e-03 6.01580837e+00] [ 5.35576837e-02 2.21086769e-04 9.98564733e-01 4.59252055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:89.06, Y:6.02, Z:4.60 [[ 9.93098965e-01 -1.04483175e-01 -5.32701864e-02 8.90577923e+01] [ 1.04335876e-01 9.94526653e-01 -5.54629579e-03 6.02312403e+00] [ 5.35581148e-02 -4.99709488e-05 9.98564733e-01 4.59603483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27038572299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:89.12, Y:6.03, Z:4.60 [[ 9.92656058e-01 -1.08611251e-01 -5.32686336e-02 8.91151794e+01] [ 1.08469090e-01 9.94084267e-01 -5.56116925e-03 6.03091329e+00] [ 5.35575162e-02 -2.57671890e-04 9.98564733e-01 4.60094876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33038572299999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:89.17, Y:6.03, Z:4.61 [[ 9.93138589e-01 -1.04107485e-01 -5.32670087e-02 8.91725353e+01] [ 1.03958015e-01 9.94566052e-01 -5.57669042e-03 6.03019033e+00] [ 5.35581337e-02 8.93947869e-07 9.98564733e-01 4.61396455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390385723 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:89.23, Y:6.04, Z:4.61 [[ 9.92931723e-01 -1.06062588e-01 -5.32665083e-02 8.92312445e+01] [ 1.05915672e-01 9.94359451e-01 -5.58146614e-03 6.04096300e+00] [ 5.35580406e-02 -9.97432509e-05 9.98564733e-01 4.60602381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:89.29, Y:6.05, Z:4.61 [[ 9.93634128e-01 -9.92675279e-02 -5.32651625e-02 8.92885073e+01] [ 9.91101623e-02 9.95060742e-01 -5.59427918e-03 6.04874779e+00] [ 5.35574024e-02 2.79547813e-04 9.98564733e-01 4.60727129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:89.35, Y:6.04, Z:4.62 [[ 9.94427243e-01 -9.09804772e-02 -5.32636030e-02 8.93468704e+01] [ 9.08104309e-02 9.95852401e-01 -5.60908848e-03 6.04371460e+00] [ 5.35530045e-02 7.40939654e-04 9.98564733e-01 4.61947267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.40, Y:6.05, Z:4.62 [[ 9.94016732e-01 -9.53617953e-02 -5.32622179e-02 8.94049378e+01] [ 9.51973279e-02 9.95442545e-01 -5.62221043e-03 6.05428979e+00] [ 5.35556218e-02 5.18150417e-04 9.98564733e-01 4.61808228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.46, Y:6.05, Z:4.63 [[ 9.94381043e-01 -9.14857154e-02 -5.32607283e-02 8.94623410e+01] [ 9.13149366e-02 9.95806113e-01 -5.63628625e-03 6.05408190e+00] [ 5.35529985e-02 7.41116164e-04 9.98564734e-01 4.62971158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.52, Y:6.06, Z:4.63 [[ 9.94125828e-01 -9.42188248e-02 -5.32602281e-02 8.95206746e+01] [ 9.40517110e-02 9.95551332e-01 -5.64100972e-03 6.05934931e+00] [ 5.35547803e-02 5.98657874e-04 9.98564734e-01 4.62502476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.58, Y:6.06, Z:4.64 [[ 9.94567209e-01 -8.94404460e-02 -5.32585574e-02 8.95772942e+01] [ 8.92656418e-02 9.95991790e-01 -5.65673894e-03 6.06059021e+00] [ 5.35510272e-02 8.71847747e-04 9.98564734e-01 4.63536720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.64, Y:6.06, Z:4.64 [[ 9.95230613e-01 -8.17292694e-02 -5.32574327e-02 8.96352338e+01] [ 8.15428637e-02 9.96653723e-01 -5.66730867e-03 6.06048040e+00] [ 5.35424035e-02 1.29751550e-03 9.98564734e-01 4.63872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:6.06, Z:4.64 [[ 9.95459636e-01 -7.88918378e-02 -5.32559079e-02 8.96938110e+01] [ 7.87006120e-02 9.96882106e-01 -5.68160078e-03 6.06183256e+00] [ 5.35380936e-02 1.46453169e-03 9.98564734e-01 4.63967393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:6.07, Z:4.64 [[ 9.95532582e-01 -7.79670875e-02 -5.32542238e-02 8.97511703e+01] [ 7.77736991e-02 9.96954759e-01 -5.69734276e-03 6.06777072e+00] [ 5.35362571e-02 1.53011237e-03 9.98564734e-01 4.63683992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.81, Y:6.07, Z:4.64 [[ 9.95453417e-01 -7.89725303e-02 -5.32525469e-02 8.98105640e+01] [ 7.87797428e-02 9.96875676e-01 -5.71297409e-03 6.06973290e+00] [ 5.35373367e-02 1.49177764e-03 9.98564734e-01 4.63737621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05038572299999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:6.07, Z:4.64 [[ 9.95176012e-01 -8.23955907e-02 -5.32510318e-02 8.98684108e+01] [ 8.22069424e-02 9.96598826e-01 -5.72706092e-03 6.06847636e+00] [ 5.35418004e-02 1.32182913e-03 9.98564734e-01 4.64399656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:6.07, Z:4.65 [[ 9.94945301e-01 -8.51372645e-02 -5.32493678e-02 8.99274267e+01] [ 8.49517117e-02 9.96368521e-01 -5.74249119e-03 6.07086778e+00] [ 5.35448939e-02 1.18983968e-03 9.98564734e-01 4.64896050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:6.08, Z:4.65 [[ 9.94891288e-01 -8.57670448e-02 -5.32479086e-02 8.99852453e+01] [ 8.55816708e-02 9.96314532e-01 -5.75599019e-03 6.07734140e+00] [ 5.35453394e-02 1.16953950e-03 9.98564734e-01 4.65109706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:6.08, Z:4.65 [[ 9.94898622e-01 -8.56829742e-02 -5.32462151e-02 9.00431562e+01] [ 8.54966441e-02 9.96321741e-01 -5.77161382e-03 6.08299383e+00] [ 5.35448908e-02 1.18979793e-03 9.98564735e-01 4.65251312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.10, Y:6.09, Z:4.66 [[ 9.94803456e-01 -8.67812180e-02 -5.32456951e-02 9.01014294e+01] [ 8.65962026e-02 9.96226747e-01 -5.77640687e-03 6.08588664e+00] [ 5.35460693e-02 1.13551451e-03 9.98564735e-01 4.65624517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.16, Y:6.09, Z:4.67 [[ 9.94779936e-01 -8.70514609e-02 -5.32439956e-02 9.01593344e+01] [ 8.68659964e-02 9.96203168e-01 -5.79202985e-03 6.08910305e+00] [ 5.35460418e-02 1.13670235e-03 9.98564735e-01 4.66567306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.22, Y:6.09, Z:4.67 [[ 9.94532500e-01 -8.98350816e-02 -5.32425074e-02 9.02182097e+01] [ 8.96528704e-02 9.95956152e-01 -5.80567832e-03 6.09140699e+00] [ 5.35487564e-02 1.00059216e-03 9.98564735e-01 4.66942620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.28, Y:6.10, Z:4.67 [[ 9.94399005e-01 -9.13017191e-02 -5.32411016e-02 9.02768317e+01] [ 9.11209192e-02 9.95822837e-01 -5.81854175e-03 6.09783638e+00] [ 5.35499477e-02 9.34574007e-04 9.98564735e-01 4.67384542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.33, Y:6.10, Z:4.68 [[ 9.94471690e-01 -9.05074328e-02 -5.32396741e-02 9.03345562e+01] [ 9.03247982e-02 9.95895287e-01 -5.83157356e-03 6.10459084e+00] [ 5.35489413e-02 9.90471990e-04 9.98564735e-01 4.67686822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.39, Y:6.11, Z:4.68 [[ 9.94734697e-01 -8.75698235e-02 -5.32391726e-02 9.03927564e+01] [ 8.73827403e-02 9.96157716e-01 -5.83614850e-03 6.11342999e+00] [ 5.35456831e-02 1.15323461e-03 9.98564735e-01 4.68294219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.45, Y:6.12, Z:4.69 [[ 9.94868016e-01 -8.60428575e-02 -5.32377431e-02 9.04499876e+01] [ 8.58528944e-02 9.96290654e-01 -5.84915961e-03 6.11939972e+00] [ 5.35435443e-02 1.24852748e-03 9.98564735e-01 4.68783779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.51, Y:6.13, Z:4.69 [[ 9.94879027e-01 -8.59157637e-02 -5.32372434e-02 9.05074464e+01] [ 8.57253758e-02 9.96301608e-01 -5.85370458e-03 6.12689386e+00] [ 5.35432767e-02 1.25994522e-03 9.98564735e-01 4.68925367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77038572299999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:90.57, Y:6.14, Z:4.69 [[ 9.94805766e-01 -8.67608934e-02 -5.32356597e-02 9.05651528e+01] [ 8.65709457e-02 9.96228406e-01 -5.86807153e-03 6.13500552e+00] [ 5.35439956e-02 1.22892999e-03 9.98564735e-01 4.68995854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:6.14, Z:4.69 [[ 9.94730978e-01 -8.76144851e-02 -5.32351738e-02 9.06241162e+01] [ 8.74255226e-02 9.96153749e-01 -5.87247642e-03 6.14145968e+00] [ 5.35449320e-02 1.18742132e-03 9.98564735e-01 4.69262874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:6.15, Z:4.70 [[ 9.94550638e-01 -8.96392135e-02 -5.32338215e-02 9.06813423e+01] [ 8.94524930e-02 9.95973705e-01 -5.88470994e-03 6.14892197e+00] [ 5.35469872e-02 1.09074398e-03 9.98564735e-01 4.69525723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:6.16, Z:4.70 [[ 9.94239225e-01 -9.30299655e-02 -5.32333470e-02 9.07388430e+01] [ 9.28478690e-02 9.95662891e-01 -5.88899929e-03 6.15688664e+00] [ 5.35503216e-02 9.12471260e-04 9.98564735e-01 4.70012512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:6.17, Z:4.70 [[ 9.93321783e-01 -1.02363193e-01 -5.32316838e-02 9.07972882e+01] [ 1.02193672e-01 9.94747001e-01 -5.90399487e-03 6.16598521e+00] [ 5.35564096e-02 4.24625492e-04 9.98564735e-01 4.69994419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.85, Y:6.18, Z:4.70 [[ 9.93372547e-01 -1.01870154e-01 -5.32302118e-02 9.08542371e+01] [ 1.01699215e-01 9.94797595e-01 -5.91723631e-03 6.17763595e+00] [ 5.35560765e-02 4.64549336e-04 9.98564735e-01 4.70123305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.91, Y:6.19, Z:4.70 [[ 9.93607912e-01 -9.95485624e-02 -5.32296996e-02 9.09117205e+01] [ 9.93740475e-02 9.95032527e-01 -5.92184062e-03 6.18582241e+00] [ 5.35547933e-02 5.94336992e-04 9.98564735e-01 4.70139968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.97, Y:6.19, Z:4.71 [[ 9.93745409e-01 -9.81673853e-02 -5.32280707e-02 9.09694755e+01] [ 9.79901081e-02 9.95169683e-01 -5.93644640e-03 6.18956355e+00] [ 5.35537276e-02 6.83491956e-04 9.98564736e-01 4.70793572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.03, Y:6.19, Z:4.72 [[ 9.94640641e-01 -8.86394523e-02 -5.32263429e-02 9.10277390e+01] [ 8.84477075e-02 9.96063039e-01 -5.95189705e-03 6.18763566e+00] [ 5.35443658e-02 1.21225068e-03 9.98564736e-01 4.71703549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.09, Y:6.21, Z:4.71 [[ 9.93956641e-01 -9.60064348e-02 -5.32255657e-02 9.10850886e+01] [ 9.58248624e-02 9.95380374e-01 -5.95883965e-03 6.20585916e+00] [ 5.35517704e-02 8.22495735e-04 9.98564736e-01 4.71435168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.14, Y:6.20, Z:4.73 [[ 9.94987091e-01 -8.46634045e-02 -5.32240318e-02 9.11438386e+01] [ 8.44648746e-02 9.96408558e-01 -5.97250880e-03 6.19964566e+00] [ 5.35385337e-02 1.44700798e-03 9.98564736e-01 4.72662303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.20, Y:6.21, Z:4.73 [[ 9.95165087e-01 -8.25451226e-02 -5.32236048e-02 9.12014350e+01] [ 8.23433639e-02 9.96586100e-01 -5.97631201e-03 6.20710003e+00] [ 5.35352201e-02 1.56480641e-03 9.98564736e-01 4.72927772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:6.22, Z:4.72 [[ 9.94770803e-01 -8.71685274e-02 -5.32230836e-02 9.12595765e+01] [ 8.69731260e-02 9.96192704e-01 -5.98095013e-03 6.22254221e+00] [ 5.35417981e-02 1.32069661e-03 9.98564736e-01 4.72490799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:6.22, Z:4.73 [[ 9.95326485e-01 -8.05769418e-02 -5.32216613e-02 9.13176589e+01] [ 8.03714509e-02 9.96746962e-01 -5.99357932e-03 6.22012368e+00] [ 5.35314735e-02 1.68806610e-03 9.98564736e-01 4.73497308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.37, Y:6.24, Z:4.73 [[ 9.94789272e-01 -8.69587142e-02 -5.32211145e-02 9.13749636e+01] [ 8.67620783e-02 9.96211002e-01 -5.99843061e-03 6.23617495e+00] [ 5.35410757e-02 1.34959991e-03 9.98564736e-01 4.73311723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:6.24, Z:4.74 [[ 9.95282175e-01 -8.11237582e-02 -5.32196205e-02 9.14328648e+01] [ 8.09180820e-02 9.96702626e-01 -6.01165727e-03 6.23584762e+00] [ 5.35318237e-02 1.67686571e-03 9.98564736e-01 4.74161332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.49, Y:6.24, Z:4.75 [[ 9.95114909e-01 -8.31507751e-02 -5.32190457e-02 9.14920763e+01] [ 8.29477208e-02 9.96535737e-01 -6.01674119e-03 6.23818136e+00] [ 5.35349776e-02 1.57295031e-03 9.98564736e-01 4.74853052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.55, Y:6.25, Z:4.75 [[ 9.94970245e-01 -8.48647779e-02 -5.32182486e-02 9.15506899e+01] [ 8.46637950e-02 9.96391367e-01 -6.02378376e-03 6.24697117e+00] [ 5.35374105e-02 1.48782671e-03 9.98564736e-01 4.75188361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.61, Y:6.26, Z:4.75 [[ 9.94633919e-01 -8.87205939e-02 -5.32167553e-02 9.16086208e+01] [ 8.85244168e-02 9.96055713e-01 -6.03694752e-03 6.25996644e+00] [ 5.35424547e-02 1.29357055e-03 9.98564736e-01 4.74591685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:6.26, Z:4.76 [[ 9.94669925e-01 -8.83169018e-02 -5.32152678e-02 9.16668773e+01] [ 8.81194482e-02 9.96091542e-01 -6.05003067e-03 6.25817093e+00] [ 5.35415982e-02 1.32848352e-03 9.98564736e-01 4.76064946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.72, Y:6.27, Z:4.76 [[ 9.94261020e-01 -9.28080328e-02 -5.32136621e-02 9.17246044e+01] [ 9.26162475e-02 9.95683412e-01 -6.06412119e-03 6.27162153e+00] [ 5.35467598e-02 1.10086962e-03 9.98564736e-01 4.75851991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.78, Y:6.28, Z:4.77 [[ 9.94218195e-01 -9.32665634e-02 -5.32121214e-02 9.17818456e+01] [ 9.30747124e-02 9.95640578e-01 -6.07761112e-03 6.27633121e+00] [ 5.35469852e-02 1.08976866e-03 9.98564736e-01 4.76770392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.84, Y:6.28, Z:4.77 [[ 9.93848544e-01 -9.71267194e-02 -5.32115795e-02 9.18409587e+01] [ 9.69401397e-02 9.95271628e-01 -6.08235149e-03 6.28106084e+00] [ 5.35507342e-02 8.86598225e-04 9.98564736e-01 4.76986038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.90, Y:6.29, Z:4.78 [[ 9.93799837e-01 -9.76246496e-02 -5.32100711e-02 9.18980546e+01] [ 9.74380780e-02 9.95222923e-01 -6.09551949e-03 6.28864005e+00] [ 5.35509554e-02 8.73039216e-04 9.98564737e-01 4.77612605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:6.30, Z:4.78 [[ 9.93750581e-01 -9.81250584e-02 -5.32095373e-02 9.19556854e+01] [ 9.79389542e-02 9.95173728e-01 -6.10017546e-03 6.29968435e+00] [ 5.35513137e-02 8.50766473e-04 9.98564737e-01 4.77621197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:6.30, Z:4.78 [[ 9.93722244e-01 -9.84125315e-02 -5.32078420e-02 9.20137075e+01] [ 9.82260494e-02 9.95145342e-01 -6.11492655e-03 6.30386651e+00] [ 5.35513215e-02 8.50142422e-04 9.98564737e-01 4.78271664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:6.31, Z:4.79 [[ 9.93696622e-01 -9.86711989e-02 -5.32073122e-02 9.20712995e+01] [ 9.84848406e-02 9.95119735e-01 -6.11953313e-03 6.31217690e+00] [ 5.35514681e-02 8.40845733e-04 9.98564737e-01 4.78740118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:6.32, Z:4.79 [[ 9.93719677e-01 -9.84390226e-02 -5.32067820e-02 9.21284986e+01] [ 9.82520852e-02 9.95142715e-01 -6.12413920e-03 6.32268108e+00] [ 5.35511958e-02 8.58000350e-04 9.98564737e-01 4.78816428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:6.33, Z:4.79 [[ 9.93753928e-01 -9.80930711e-02 -5.32060073e-02 9.21863578e+01] [ 9.79052784e-02 9.95176853e-01 -6.13086250e-03 6.32993451e+00] [ 5.35507821e-02 8.83419731e-04 9.98564737e-01 4.79271706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:6.34, Z:4.79 [[ 9.94137732e-01 -9.41247539e-02 -5.32043246e-02 9.22441576e+01] [ 9.39305024e-02 9.95559789e-01 -6.14543064e-03 6.33620512e+00] [ 5.35465234e-02 1.11189553e-03 9.98564737e-01 4.79064722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:6.35, Z:4.80 [[ 9.94359952e-01 -9.17483979e-02 -5.32026041e-02 9.23009885e+01] [ 9.15499535e-02 9.95781430e-01 -6.16028929e-03 6.34917253e+00] [ 5.35433619e-02 1.25484902e-03 9.98564737e-01 4.79856131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:6.35, Z:4.79 [[ 9.94421833e-01 -9.10757115e-02 -5.32018119e-02 9.23591106e+01] [ 9.08759402e-02 9.95843125e-01 -6.16712347e-03 6.35261430e+00] [ 5.35423338e-02 1.29795755e-03 9.98564737e-01 4.79495795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:6.36, Z:4.80 [[ 9.94381875e-01 -9.15112461e-02 -5.32013057e-02 9.24167952e+01] [ 9.13118640e-02 9.95803222e-01 -6.17148740e-03 6.36352003e+00] [ 5.35427921e-02 1.27890482e-03 9.98564737e-01 4.79704560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.47, Y:6.37, Z:4.80 [[ 9.94237326e-01 -9.30696410e-02 -5.31994570e-02 9.24736117e+01] [ 9.28716368e-02 9.95658865e-01 -6.18738234e-03 6.36991880e+00] [ 5.35443685e-02 1.21100582e-03 9.98564737e-01 4.80093612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.53, Y:6.38, Z:4.80 [[ 9.94211305e-01 -9.33476536e-02 -5.31986588e-02 9.25301862e+01] [ 9.31496803e-02 9.95632848e-01 -6.19423759e-03 6.37970600e+00] [ 5.35445498e-02 1.20294298e-03 9.98564737e-01 4.80362769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:6.39, Z:4.81 [[ 9.94176958e-01 -9.37131546e-02 -5.31979329e-02 9.25880402e+01] [ 9.35153707e-02 9.95598528e-01 -6.20046627e-03 6.38768254e+00] [ 5.35448489e-02 1.18953629e-03 9.98564737e-01 4.80790217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:6.39, Z:4.81 [[ 9.94124636e-01 -9.42674841e-02 -5.31963234e-02 9.26453927e+01] [ 9.40697560e-02 9.95546214e-01 -6.21424400e-03 6.39317307e+00] [ 5.35451995e-02 1.17356789e-03 9.98564737e-01 4.81099713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.70, Y:6.40, Z:4.82 [[ 9.93418227e-01 -1.01441798e-01 -5.31957563e-02 9.27040920e+01] [ 1.01254078e-01 9.94841160e-01 -6.21909506e-03 6.39865685e+00] [ 5.35522041e-02 7.91875114e-04 9.98564737e-01 4.81669673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.76, Y:6.41, Z:4.81 [[ 9.93183878e-01 -1.03711947e-01 -5.31941473e-02 9.27615485e+01] [ 1.03526745e-01 9.94607141e-01 -6.23282704e-03 6.41065470e+00] [ 5.35536974e-02 6.83326431e-04 9.98564737e-01 4.81433181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.82, Y:6.42, Z:4.82 [[ 9.92861800e-01 -1.06752143e-01 -5.31923447e-02 9.28202239e+01] [ 1.06570476e-01 9.94285519e-01 -6.24817329e-03 6.41595072e+00] [ 5.35553839e-02 5.34839072e-04 9.98564737e-01 4.81649341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.88, Y:6.42, Z:4.82 [[ 9.92477509e-01 -1.10268471e-01 -5.31907689e-02 9.28775379e+01] [ 1.10091132e-01 9.93901774e-01 -6.26155943e-03 6.42347550e+00] [ 5.35568521e-02 3.58624969e-04 9.98564738e-01 4.81979125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.94, Y:6.43, Z:4.82 [[ 9.92364953e-01 -1.11277161e-01 -5.31901631e-02 9.29363666e+01] [ 1.11100994e-01 9.93789363e-01 -6.26670110e-03 6.43164919e+00] [ 5.35571590e-02 3.09374566e-04 9.98564738e-01 4.82067171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.99, Y:6.44, Z:4.83 [[ 9.92595406e-01 -1.09203149e-01 -5.31886479e-02 9.29948524e+01] [ 1.09023318e-01 9.94019358e-01 -6.27953496e-03 6.43874371e+00] [ 5.35562906e-02 4.34234696e-04 9.98564738e-01 4.82627397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.05, Y:6.44, Z:4.83 [[ 9.93036434e-01 -1.05117903e-01 -5.31870931e-02 9.30529159e+01] [ 1.04931510e-01 9.94459542e-01 -6.29267661e-03 6.44479271e+00] [ 5.35538852e-02 6.67855133e-04 9.98564738e-01 4.83155744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.11, Y:6.45, Z:4.84 [[ 9.93434053e-01 -1.01292047e-01 -5.31855575e-02 9.31113370e+01] [ 1.01099480e-01 9.94856338e-01 -6.30562893e-03 6.45454425e+00] [ 5.35506990e-02 8.87194295e-04 9.98564738e-01 4.83702732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.17, Y:6.46, Z:4.84 [[ 9.93724501e-01 -9.84026143e-02 -5.31840273e-02 9.31688202e+01] [ 9.82052233e-02 9.95146125e-01 -6.31850861e-03 6.46098954e+00] [ 5.35476365e-02 1.05590754e-03 9.98564738e-01 4.84122010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:6.47, Z:4.84 [[ 9.93875844e-01 -9.68629987e-02 -5.31823915e-02 9.32274319e+01] [ 9.66626707e-02 9.95297057e-01 -6.33224716e-03 6.46572486e+00] [ 5.35456382e-02 1.15271549e-03 9.98564738e-01 4.84467113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.29, Y:6.47, Z:4.85 [[ 9.93665490e-01 -9.89984471e-02 -5.31808387e-02 9.32860766e+01] [ 9.88004773e-02 9.95087033e-01 -6.34526170e-03 6.47242326e+00] [ 5.35477341e-02 1.05077533e-03 9.98564738e-01 4.84834031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:6.48, Z:4.85 [[ 9.93562660e-01 -1.00026070e-01 -5.31791898e-02 9.33445567e+01] [ 9.98288322e-02 9.94984305e-01 -6.35905123e-03 6.47673955e+00] [ 5.35485301e-02 1.00929944e-03 9.98564738e-01 4.85243992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.40, Y:6.48, Z:4.86 [[ 9.93148762e-01 -1.04056180e-01 -5.31775211e-02 9.34020087e+01] [ 1.03863966e-01 9.94571094e-01 -6.37297478e-03 6.48212731e+00] [ 5.35519728e-02 8.06083750e-04 9.98564738e-01 4.85697075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:6.49, Z:4.86 [[ 9.93030309e-01 -1.05180885e-01 -5.31769374e-02 9.34595243e+01] [ 1.04990022e-01 9.94452824e-01 -6.37784185e-03 6.48790761e+00] [ 5.35527826e-02 7.50342462e-04 9.98564738e-01 4.86149883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:6.49, Z:4.86 [[ 9.92478947e-01 -1.10263045e-01 -5.31751837e-02 9.35183578e+01] [ 1.10078685e-01 9.93902319e-01 -6.39242963e-03 6.49262780e+00] [ 5.35557872e-02 4.90897538e-04 9.98564738e-01 4.86220482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:6.50, Z:4.86 [[ 9.92095314e-01 -1.13663782e-01 -5.31736165e-02 9.35765514e+01] [ 1.13483604e-01 9.93519221e-01 -6.40543953e-03 6.50312042e+00] [ 5.35570766e-02 3.20472886e-04 9.98564738e-01 4.86444046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.63, Y:6.51, Z:4.86 [[ 9.92109072e-01 -1.13544412e-01 -5.31719477e-02 9.36336119e+01] [ 1.13363322e-01 9.93532863e-01 -6.41926301e-03 6.51332145e+00] [ 5.35569489e-02 3.40860416e-04 9.98564739e-01 4.85878316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.69, Y:6.52, Z:4.86 [[ 9.92254622e-01 -1.12265625e-01 -5.31713600e-02 9.36915284e+01] [ 1.12082440e-01 9.93678146e-01 -6.42412747e-03 6.51972568e+00] [ 5.35564271e-02 4.14794439e-04 9.98564739e-01 4.86183808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:93.75, Y:6.53, Z:4.86 [[ 9.92092372e-01 -1.13691414e-01 -5.31694179e-02 9.37495247e+01] [ 1.13509415e-01 9.93516048e-01 -6.44016076e-03 6.52801406e+00] [ 5.35568610e-02 3.54004859e-04 9.98564739e-01 4.86331841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:6.54, Z:4.86 [[ 9.91304826e-01 -1.20365942e-01 -5.31674817e-02 9.38070126e+01] [ 1.20192674e-01 9.92729590e-01 -6.45610597e-03 6.53653836e+00] [ 5.35580276e-02 9.62720731e-06 9.98564739e-01 4.86314425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.86, Y:6.55, Z:4.87 [[ 9.91331628e-01 -1.20145269e-01 -5.31668890e-02 9.38648257e+01] [ 1.19971421e-01 9.92756321e-01 -6.46098364e-03 6.54589144e+00] [ 5.35580217e-02 2.64701892e-05 9.98564739e-01 4.86740690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:6.56, Z:4.87 [[ 9.91709845e-01 -1.16983089e-01 -5.31652242e-02 9.39218235e+01] [ 1.16803966e-01 9.93133884e-01 -6.47465365e-03 6.55624260e+00] [ 5.35576106e-02 2.11068712e-04 9.98564739e-01 4.86687545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:6.56, Z:4.87 [[ 9.92159857e-01 -1.13103220e-01 -5.31646382e-02 9.39795692e+01] [ 1.12918271e-01 9.93583152e-01 -6.47946174e-03 6.56367634e+00] [ 5.35563368e-02 4.25402789e-04 9.98564739e-01 4.86681139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.04, Y:6.57, Z:4.87 [[ 9.92259364e-01 -1.12227160e-01 -5.31640729e-02 9.40373199e+01] [ 1.12040706e-01 9.93682463e-01 -6.48409708e-03 6.57374720e+00] [ 5.35558987e-02 4.77365786e-04 9.98564739e-01 4.86888218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.09, Y:6.58, Z:4.87 [[ 9.92393413e-01 -1.11036426e-01 -5.31622675e-02 9.40936997e+01] [ 1.10847474e-01 9.93816181e-01 -6.49886580e-03 6.58353526e+00] [ 5.35551325e-02 5.56528571e-04 9.98564739e-01 4.86643718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.15, Y:6.60, Z:4.87 [[ 9.92829230e-01 -1.07069959e-01 -5.31614930e-02 9.41509010e+01] [ 1.06874984e-01 9.94251186e-01 -6.50519521e-03 6.59642626e+00] [ 5.35523884e-02 7.76914262e-04 9.98564739e-01 4.86932238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:6.61, Z:4.87 [[ 9.93050724e-01 -1.04996689e-01 -5.31597189e-02 9.42088890e+01] [ 1.04797971e-01 9.94472161e-01 -6.51966017e-03 6.60505913e+00] [ 5.35504033e-02 9.03322585e-04 9.98564739e-01 4.87037638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.27, Y:6.61, Z:4.88 [[ 9.93085414e-01 -1.04668979e-01 -5.31579306e-02 9.42657416e+01] [ 1.04469014e-01 9.94506676e-01 -6.53420864e-03 6.61276218e+00] [ 5.35498459e-02 9.35670696e-04 9.98564739e-01 4.87769802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.32, Y:6.62, Z:4.88 [[ 9.93435881e-01 -1.01289618e-01 -5.31560399e-02 9.43226060e+01] [ 1.01083997e-01 9.94856336e-01 -6.54955392e-03 6.62341486e+00] [ 5.35460249e-02 1.13333687e-03 9.98564739e-01 4.88042345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:94.38, Y:6.63, Z:4.89 [[ 9.93746277e-01 -9.81979295e-02 -5.31554607e-02 9.43802808e+01] [ 9.79876388e-02 9.95166049e-01 -6.55425099e-03 6.63143580e+00] [ 5.35421237e-02 1.30468443e-03 9.98564739e-01 4.88589403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.44, Y:6.64, Z:4.89 [[ 9.93727626e-01 -9.83875522e-02 -5.31534949e-02 9.44385757e+01] [ 9.81766822e-02 9.95147312e-01 -6.57015485e-03 6.64098764e+00] [ 5.35419790e-02 1.31051061e-03 9.98564740e-01 4.88829927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.50, Y:6.65, Z:4.89 [[ 9.93775666e-01 -9.79020504e-02 -5.31517989e-02 9.44960848e+01] [ 9.76897550e-02 9.95195139e-01 -6.58384695e-03 6.65004597e+00] [ 5.35409840e-02 1.35048067e-03 9.98564740e-01 4.88842278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:6.66, Z:4.89 [[ 9.93800333e-01 -9.76523951e-02 -5.31498640e-02 9.45547946e+01] [ 9.74389102e-02 9.95219627e-01 -6.59943032e-03 6.65728006e+00] [ 5.35402380e-02 1.37965123e-03 9.98564740e-01 4.89313095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:6.66, Z:4.90 [[ 9.93539081e-01 -1.00276477e-01 -5.31481199e-02 9.46121130e+01] [ 1.00065992e-01 9.94958823e-01 -6.61344617e-03 6.66283901e+00] [ 5.35433639e-02 1.25239790e-03 9.98564740e-01 4.89664811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:6.66, Z:4.90 [[ 9.93119566e-01 -1.04349755e-01 -5.31475044e-02 9.46711784e+01] [ 1.04144829e-01 9.94540121e-01 -6.61838912e-03 6.66353478e+00] [ 5.35479527e-02 1.03781400e-03 9.98564740e-01 4.90418611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:6.67, Z:4.91 [[ 9.93146246e-01 -1.04096376e-01 -5.31458200e-02 9.47290650e+01] [ 1.03890365e-01 9.94566644e-01 -6.63188706e-03 6.67022799e+00] [ 5.35474153e-02 1.06509510e-03 9.98564740e-01 4.91037130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:6.67, Z:4.91 [[ 9.93625344e-01 -9.94202514e-02 -5.31440422e-02 9.47872380e+01] [ 9.92067969e-02 9.95044643e-01 -6.64610274e-03 6.67460070e+00] [ 5.35414517e-02 1.33148591e-03 9.98564740e-01 4.91292264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.84, Y:6.68, Z:4.91 [[ 9.93997321e-01 -9.56308013e-02 -5.31420288e-02 9.48446944e+01] [ 9.54110786e-02 9.95415663e-01 -6.66216356e-03 6.68123623e+00] [ 5.35355158e-02 1.55183444e-03 9.98564740e-01 4.91428786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.90, Y:6.68, Z:4.92 [[ 9.94549247e-01 -8.97102497e-02 -5.31400666e-02 9.49037736e+01] [ 8.94812520e-02 9.95966120e-01 -6.67777789e-03 6.68340202e+00] [ 5.35247711e-02 1.88633928e-03 9.98564740e-01 4.91841790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.96, Y:6.69, Z:4.92 [[ 9.94596036e-01 -8.91910436e-02 -5.31383372e-02 9.49614586e+01] [ 8.89605735e-02 9.96012671e-01 -6.69151159e-03 6.68608907e+00] [ 5.35232800e-02 1.92813395e-03 9.98564740e-01 4.92263955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.02, Y:6.69, Z:4.93 [[ 9.94476447e-01 -9.05158887e-02 -5.31363445e-02 9.50175494e+01] [ 9.02864635e-02 9.95893251e-01 -6.70729771e-03 6.69258100e+00] [ 5.35252439e-02 1.87275696e-03 9.98564741e-01 4.92723686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.07, Y:6.70, Z:4.93 [[ 9.94113741e-01 -9.44165828e-02 -5.31354752e-02 9.50749964e+01] [ 9.41923501e-02 9.95531376e-01 -6.71417750e-03 6.69506632e+00] [ 5.35319625e-02 1.66970083e-03 9.98564741e-01 4.93493422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.13, Y:6.70, Z:4.94 [[ 9.93753897e-01 -9.81319199e-02 -5.31349036e-02 9.51337345e+01] [ 9.79127464e-02 9.95172323e-01 -6.71869789e-03 6.70011100e+00] [ 5.35377042e-02 1.47414787e-03 9.98564741e-01 4.94009507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.19, Y:6.70, Z:4.94 [[ 9.93423650e-01 -1.01421427e-01 -5.31332837e-02 9.51905646e+01] [ 1.01206267e-01 9.94842690e-01 -6.73148477e-03 6.70327762e+00] [ 5.35419757e-02 1.30979486e-03 9.98564741e-01 4.94342806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.25, Y:6.71, Z:4.95 [[ 9.93053004e-01 -1.04988902e-01 -5.31324825e-02 9.52489397e+01] [ 1.04778503e-01 9.94472758e-01 -6.73780252e-03 6.70693628e+00] [ 5.35462009e-02 1.12385307e-03 9.98564741e-01 4.94557431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:6.71, Z:4.95 [[ 9.93120331e-01 -1.04351026e-01 -5.31306975e-02 9.53078173e+01] [ 1.04138964e-01 9.94539838e-01 -6.75184864e-03 6.71293626e+00] [ 5.35451576e-02 1.17242239e-03 9.98564741e-01 4.94795608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:6.72, Z:4.94 [[ 9.93020273e-01 -1.05299815e-01 -5.31289620e-02 9.53654994e+01] [ 1.05088380e-01 9.94439873e-01 -6.76547746e-03 6.72179727e+00] [ 5.35459618e-02 1.13501971e-03 9.98564741e-01 4.94327266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:6.73, Z:4.95 [[ 9.93026933e-01 -1.05237297e-01 -5.31283463e-02 9.54239064e+01] [ 1.05025514e-01 9.94446481e-01 -6.77030894e-03 6.72765034e+00] [ 5.35457861e-02 1.14326724e-03 9.98564741e-01 4.95156336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:6.74, Z:4.96 [[ 9.93000959e-01 -1.05482945e-01 -5.31266710e-02 9.54807030e+01] [ 1.05270812e-01 9.94420455e-01 -6.78342980e-03 6.73550138e+00] [ 5.35457845e-02 1.14326451e-03 9.98564741e-01 4.95829517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.54, Y:6.75, Z:4.96 [[ 9.93242047e-01 -1.03188438e-01 -5.31260915e-02 9.55387932e+01] [ 1.02972784e-01 9.94661012e-01 -6.78796529e-03 6.74545128e+00] [ 5.35428915e-02 1.27155101e-03 9.98564741e-01 4.96214149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:6.75, Z:4.97 [[ 9.93326189e-01 -1.02376168e-01 -5.31243966e-02 9.55963723e+01] [ 1.02158645e-01 9.94744869e-01 -6.80120430e-03 6.75268849e+00] [ 5.35415022e-02 1.32869795e-03 9.98564741e-01 4.96548310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.65, Y:6.76, Z:4.97 [[ 9.93527517e-01 -1.00404568e-01 -5.31224604e-02 9.56544677e+01] [ 1.00183424e-01 9.94945637e-01 -6.81629444e-03 6.75962435e+00] [ 5.35383472e-02 1.45018613e-03 9.98564741e-01 4.96673615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.71, Y:6.77, Z:4.97 [[ 9.93724521e-01 -9.84366958e-02 -5.31205514e-02 9.57118831e+01] [ 9.82119508e-02 9.95142074e-01 -6.83113907e-03 6.76893780e+00] [ 5.35349305e-02 1.57119742e-03 9.98564741e-01 4.96642980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.77, Y:6.78, Z:4.97 [[ 9.93556601e-01 -1.00117680e-01 -5.31199632e-02 9.57690683e+01] [ 9.98950893e-02 9.94974494e-01 -6.83570976e-03 6.77619450e+00] [ 5.35373839e-02 1.48524109e-03 9.98564741e-01 4.96905345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.83, Y:6.78, Z:4.97 [[ 9.93121967e-01 -1.04341863e-01 -5.31181154e-02 9.58263083e+01] [ 1.04124538e-01 9.94540677e-01 -6.85003823e-03 6.78209363e+00] [ 5.35428722e-02 1.27202420e-03 9.98564741e-01 4.97229131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.89, Y:6.79, Z:4.98 [[ 9.92836384e-01 -1.07026064e-01 -5.31162494e-02 9.58851011e+01] [ 1.06811802e-01 9.94255560e-01 -6.86447762e-03 6.78926628e+00] [ 5.35458043e-02 1.14186082e-03 9.98564742e-01 4.97517176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:6.80, Z:4.98 [[ 9.92298523e-01 -1.11903875e-01 -5.31146374e-02 9.59418756e+01] [ 1.11695924e-01 9.93718636e-01 -6.87692805e-03 6.79772480e+00] [ 5.35505599e-02 8.91277025e-04 9.98564742e-01 4.97959322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:6.80, Z:4.99 [[ 9.91871551e-01 -1.15627644e-01 -5.31137893e-02 9.59999563e+01] [ 1.15424674e-01 9.93292385e-01 -6.88347156e-03 6.80441835e+00] [ 5.35534421e-02 6.96877769e-04 9.98564742e-01 4.98592337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:6.81, Z:4.99 [[ 9.91615163e-01 -1.17806925e-01 -5.31121239e-02 9.60572941e+01] [ 1.17606391e-01 9.93036343e-01 -6.89629823e-03 6.81130447e+00] [ 5.35547009e-02 5.92148662e-04 9.98564742e-01 4.99109769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:6.82, Z:4.99 [[ 9.92033384e-01 -1.14231913e-01 -5.31115401e-02 9.61153000e+01] [ 1.14026017e-01 9.93453797e-01 -6.90079150e-03 6.81964517e+00] [ 5.35521518e-02 7.89718167e-04 9.98564742e-01 4.99277928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:6.83, Z:4.99 [[ 9.92523814e-01 -1.09890010e-01 -5.31099213e-02 9.61726731e+01] [ 1.09677236e-01 9.93943213e-01 -6.91322757e-03 6.82879065e+00] [ 5.35479405e-02 1.03659362e-03 9.98564742e-01 4.99465480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:6.83, Z:5.00 [[ 9.92726368e-01 -1.08045857e-01 -5.31079136e-02 9.62305690e+01] [ 1.07829624e-01 9.94145244e-01 -6.92861685e-03 6.83497159e+00] [ 5.35455881e-02 1.15161431e-03 9.98564742e-01 4.99972932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:6.85, Z:5.00 [[ 9.92588272e-01 -1.09308224e-01 -5.31058752e-02 9.62889288e+01] [ 1.09092962e-01 9.94007296e-01 -6.94420513e-03 6.84891918e+00] [ 5.35466862e-02 1.09925936e-03 9.98564742e-01 4.99512117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:6.86, Z:5.00 [[ 9.92836397e-01 -1.07031976e-01 -5.31040912e-02 9.63468029e+01] [ 1.06812733e-01 9.94254811e-01 -6.95782126e-03 6.85511319e+00] [ 5.35437075e-02 1.23578510e-03 9.98564742e-01 4.99989892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:6.86, Z:5.01 [[ 9.93053899e-01 -1.04995828e-01 -5.31020609e-02 9.64045637e+01] [ 1.04772850e-01 9.94471731e-01 -6.97328255e-03 6.85828857e+00] [ 5.35406640e-02 1.36119117e-03 9.98564742e-01 5.01026577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:6.87, Z:5.02 [[ 9.92736054e-01 -1.07960010e-01 -5.31014390e-02 9.64626623e+01] [ 1.07741013e-01 9.94154506e-01 -6.97801510e-03 6.86753095e+00] [ 5.35443814e-02 1.20612435e-03 9.98564742e-01 5.01655398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:6.87, Z:5.02 [[ 9.92509388e-01 -1.10025146e-01 -5.30997440e-02 9.65200609e+01] [ 1.09808412e-01 9.93928187e-01 -6.99088961e-03 6.87465749e+00] [ 5.35465059e-02 1.10772501e-03 9.98564742e-01 5.02124770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:6.88, Z:5.02 [[ 9.92407788e-01 -1.10938754e-01 -5.30977810e-02 9.65779485e+01] [ 1.10722530e-01 9.93826665e-01 -7.00576753e-03 6.88342971e+00] [ 5.35472017e-02 1.07345760e-03 9.98564742e-01 5.02116482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:6.89, Z:5.01 [[ 9.91916166e-01 -1.15252441e-01 -5.30960882e-02 9.66365587e+01] [ 1.15041702e-01 9.93335868e-01 -7.01857348e-03 6.89408188e+00] [ 5.35511566e-02 8.53572113e-04 9.98564743e-01 5.01433296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13038572299999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:96.69, Y:6.90, Z:5.02 [[ 9.91924733e-01 -1.15179545e-01 -5.30942260e-02 9.66937560e+01] [ 1.14967950e-01 9.93344307e-01 -7.03263237e-03 6.90030005e+00] [ 5.35508626e-02 8.71707672e-04 9.98564743e-01 5.01774737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:6.91, Z:5.02 [[ 9.91893356e-01 -1.15450408e-01 -5.30921307e-02 9.67510032e+01] [ 1.15238356e-01 9.93312862e-01 -7.04841543e-03 6.90956224e+00] [ 5.35508387e-02 8.73026567e-04 9.98564743e-01 5.02254081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:6.92, Z:5.03 [[ 9.91698478e-01 -1.17113508e-01 -5.30900567e-02 9.68089147e+01] [ 1.16903002e-01 9.93118214e-01 -7.06400306e-03 6.91517541e+00] [ 5.35519925e-02 7.98974065e-04 9.98564743e-01 5.02902575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:6.92, Z:5.03 [[ 9.91043646e-01 -1.22532264e-01 -5.30880086e-02 9.68664444e+01] [ 1.22328699e-01 9.92464393e-01 -7.07936147e-03 6.92413652e+00] [ 5.35554085e-02 5.21769169e-04 9.98564743e-01 5.03350164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:96.92, Y:6.93, Z:5.04 [[ 9.90442145e-01 -1.27303723e-01 -5.30859613e-02 9.69231465e+01] [ 1.27106181e-01 9.91863743e-01 -7.09468089e-03 6.93293005e+00] [ 5.35572195e-02 2.79317148e-04 9.98564743e-01 5.04421392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:96.98, Y:6.94, Z:5.05 [[ 9.89746299e-01 -1.32605472e-01 -5.30853288e-02 9.69808363e+01] [ 1.32415292e-01 9.91168900e-01 -7.09941002e-03 6.94192372e+00] [ 5.35579476e-02 -2.69450931e-06 9.98564743e-01 5.04892315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:97.04, Y:6.96, Z:5.05 [[ 9.89313568e-01 -1.35796971e-01 -5.30833910e-02 9.70390238e+01] [ 1.35610605e-01 9.90736674e-01 -7.11386953e-03 6.95516538e+00] [ 5.35577042e-02 -1.60823120e-04 9.98564743e-01 5.04735665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.10, Y:6.97, Z:5.04 [[ 9.88978695e-01 -1.38215326e-01 -5.30816741e-02 9.70976541e+01] [ 1.38031753e-01 9.90402164e-01 -7.12665798e-03 6.96596972e+00] [ 5.35572182e-02 -2.78843644e-04 9.98564743e-01 5.04382055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.15, Y:6.98, Z:5.05 [[ 9.88731104e-01 -1.39976140e-01 -5.30799694e-02 9.71546302e+01] [ 1.39794422e-01 9.90154811e-01 -7.13933233e-03 6.97911853e+00] [ 5.35567232e-02 -3.61403696e-04 9.98564743e-01 5.04687725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:97.21, Y:6.99, Z:5.06 [[ 9.88692454e-01 -1.40249695e-01 -5.30778049e-02 9.72107076e+01] [ 1.40067509e-01 9.90116101e-01 -7.15538840e-03 6.99367366e+00] [ 5.35567303e-02 -3.59997396e-04 9.98564744e-01 5.05859691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:7.00, Z:5.06 [[ 9.88682639e-01 -1.40319120e-01 -5.30771420e-02 9.72687341e+01] [ 1.40136770e-01 9.90106265e-01 -7.16030174e-03 7.00444978e+00] [ 5.35567381e-02 -3.58793231e-04 9.98564744e-01 5.06093995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:7.03, Z:5.06 [[ 9.88848649e-01 -1.39145099e-01 -5.30753363e-02 9.73242902e+01] [ 1.38960342e-01 9.90271964e-01 -7.17366188e-03 7.02538035e+00] [ 5.35571974e-02 -2.81701020e-04 9.98564744e-01 5.06074485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:7.04, Z:5.06 [[ 9.88963491e-01 -1.38327364e-01 -5.30730988e-02 9.73811803e+01] [ 1.38140543e-01 9.90386537e-01 -7.19017787e-03 7.04024623e+00] [ 5.35574808e-02 -2.20723265e-04 9.98564744e-01 5.06120693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91038572299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:97.44, Y:7.05, Z:5.06 [[ 9.89289683e-01 -1.35975777e-01 -5.30708194e-02 9.74379333e+01] [ 1.35784673e-01 9.90712159e-01 -7.20696254e-03 7.05223290e+00] [ 5.35578784e-02 -7.64301648e-05 9.98564744e-01 5.06320245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:7.07, Z:5.07 [[ 9.89360476e-01 -1.35459998e-01 -5.30701175e-02 9.74949826e+01] [ 1.35267875e-01 9.90782815e-01 -7.21212779e-03 7.06880392e+00] [ 5.35579152e-02 -4.32878639e-05 9.98564744e-01 5.07241997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:97.55, Y:7.08, Z:5.07 [[ 9.89881526e-01 -1.31599145e-01 -5.30681631e-02 9.75528234e+01] [ 1.31400706e-01 9.91302997e-01 -7.22648000e-03 7.08195934e+00] [ 5.35576277e-02 1.80164968e-04 9.98564744e-01 5.06847321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.61, Y:7.10, Z:5.08 [[ 9.89806792e-01 -1.32160803e-01 -5.30663384e-02 9.76087841e+01] [ 1.31962453e-01 9.91228276e-01 -7.23985457e-03 7.09766251e+00] [ 5.35576801e-02 1.63293064e-04 9.98564744e-01 5.07728483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.67, Y:7.12, Z:5.07 [[ 9.89372645e-01 -1.35372844e-01 -5.30656370e-02 9.76653139e+01] [ 1.35178833e-01 9.90794728e-01 -7.24499178e-03 7.11704554e+00] [ 5.35579286e-02 -5.35421204e-06 9.98564744e-01 5.07124589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.72, Y:7.13, Z:5.08 [[ 9.89484911e-01 -1.34550166e-01 -5.30647127e-02 9.77221819e+01] [ 1.34354610e-01 9.90906782e-01 -7.25175530e-03 7.12661519e+00] [ 5.35579086e-02 4.60136596e-05 9.98564744e-01 5.07581306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:7.14, Z:5.08 [[ 9.90084247e-01 -1.30067454e-01 -5.30626138e-02 9.77781830e+01] [ 1.29864639e-01 9.91505101e-01 -7.26708134e-03 7.14071811e+00] [ 5.35570630e-02 3.04065577e-04 9.98564744e-01 5.08028563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.83, Y:7.15, Z:5.08 [[ 9.90867149e-01 -1.23962930e-01 -5.30611511e-02 9.78348213e+01] [ 1.23750791e-01 9.92286640e-01 -7.27774556e-03 7.15452378e+00] [ 5.35540420e-02 6.44919579e-04 9.98564744e-01 5.07976349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:7.16, Z:5.08 [[ 9.91545256e-01 -1.18417010e-01 -5.30604961e-02 9.78917987e+01] [ 1.18196677e-01 9.92963499e-01 -7.28251789e-03 7.16328674e+00] [ 5.35495099e-02 9.49371754e-04 9.98564744e-01 5.08402791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.95, Y:7.17, Z:5.09 [[ 9.92491661e-01 -1.10204868e-01 -5.30583577e-02 9.79487355e+01] [ 1.09971972e-01 9.93907895e-01 -7.29806465e-03 7.17342047e+00] [ 5.35394029e-02 1.40833608e-03 9.98564744e-01 5.08609929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.01, Y:7.18, Z:5.09 [[ 9.92953889e-01 -1.05959640e-01 -5.30577916e-02 9.80076934e+01] [ 1.05720470e-01 9.94369077e-01 -7.30217767e-03 7.17782129e+00] [ 5.35327634e-02 1.64143106e-03 9.98564744e-01 5.09062185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.07, Y:7.18, Z:5.10 [[ 9.92940188e-01 -1.06089014e-01 -5.30556765e-02 9.80654121e+01] [ 1.05849210e-01 9.94355268e-01 -7.31751347e-03 7.18085446e+00] [ 5.35324992e-02 1.64995176e-03 9.98564745e-01 5.09647812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63038572299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.12, Y:7.19, Z:5.09 [[ 9.92218901e-01 -1.12635816e-01 -5.30549337e-02 9.81236106e+01] [ 1.12405063e-01 9.93635485e-01 -7.32289550e-03 7.19462294e+00] [ 5.35420851e-02 1.30227217e-03 9.98564745e-01 5.09141121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69038572299999 meters Centerline goodness : 0.998295 with order 1 Centerline is valid? [True, True] Translation: X:98.18, Y:7.19, Z:5.10 [[ 9.92847211e-01 -1.06956949e-01 -5.30530543e-02 9.81824332e+01] [ 1.06717369e-01 9.94262329e-01 -7.33648585e-03 7.19182874e+00] [ 5.35333415e-02 1.62232714e-03 9.98564745e-01 5.09621432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:98.24, Y:7.20, Z:5.11 [[ 9.92082520e-01 -1.13832017e-01 -5.30522844e-02 9.82410842e+01] [ 1.13601948e-01 9.93499216e-01 -7.34204908e-03 7.19887600e+00] [ 5.35431632e-02 1.25707569e-03 9.98564745e-01 5.10571526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:7.20, Z:5.11 [[ 9.92027269e-01 -1.14312667e-01 -5.30519683e-02 9.82989284e+01] [ 1.14083163e-01 9.93444056e-01 -7.34433249e-03 7.20050613e+00] [ 5.35437128e-02 1.23344178e-03 9.98564745e-01 5.10653340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:98.36, Y:7.20, Z:5.11 [[ 9.92005239e-01 -1.14504598e-01 -5.30499966e-02 9.83580047e+01] [ 1.14274608e-01 9.93421947e-01 -7.35854716e-03 7.20415928e+00] [ 5.35436184e-02 1.23744977e-03 9.98564745e-01 5.11129900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.42, Y:7.21, Z:5.11 [[ 9.91990730e-01 -1.14631195e-01 -5.30479107e-02 9.84157602e+01] [ 1.14400584e-01 9.93407337e-01 -7.37355371e-03 7.20798445e+00] [ 5.35434230e-02 1.24578496e-03 9.98564745e-01 5.11322532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.47, Y:7.21, Z:5.11 [[ 9.92034359e-01 -1.14254126e-01 -5.30455036e-02 9.84743685e+01] [ 1.14022053e-01 9.93450727e-01 -7.39083016e-03 7.21154574e+00] [ 5.35425270e-02 1.28360021e-03 9.98564745e-01 5.11387323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05038572299999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:98.53, Y:7.21, Z:5.12 [[ 9.91908316e-01 -1.15344369e-01 -5.30430885e-02 9.85328975e+01] [ 1.15112928e-01 9.93324788e-01 -7.40812283e-03 7.21195332e+00] [ 5.35434998e-02 1.24223341e-03 9.98564745e-01 5.12425399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:98.59, Y:7.21, Z:5.12 [[ 9.91421735e-01 -1.19455413e-01 -5.30410041e-02 9.85916508e+01] [ 1.19229050e-01 9.92839026e-01 -7.42301643e-03 7.21467396e+00] [ 5.35478984e-02 1.03531130e-03 9.98564745e-01 5.12454322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:98.65, Y:7.21, Z:5.13 [[ 9.91232362e-01 -1.21017662e-01 -5.30389554e-02 9.86512148e+01] [ 1.20792751e-01 9.92649884e-01 -7.43762636e-03 7.21350107e+00] [ 5.35491971e-02 9.65694605e-04 9.98564745e-01 5.13200794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:98.71, Y:7.22, Z:5.13 [[ 9.90759356e-01 -1.24831708e-01 -5.30371815e-02 9.87097177e+01] [ 1.24611578e-01 9.92177629e-01 -7.45025487e-03 7.22122045e+00] [ 5.35523330e-02 7.72362823e-04 9.98564746e-01 5.12995316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.77, Y:7.22, Z:5.13 [[ 9.90675308e-01 -1.25497791e-01 -5.30352565e-02 9.87683480e+01] [ 1.25277884e-01 9.92093615e-01 -7.46393297e-03 7.22355988e+00] [ 5.35526464e-02 7.50189401e-04 9.98564746e-01 5.12776021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.83, Y:7.22, Z:5.14 [[ 9.90793622e-01 -1.24561211e-01 -5.30330500e-02 9.88263187e+01] [ 1.24339125e-01 9.92211589e-01 -7.47957760e-03 7.22223155e+00] [ 5.35516721e-02 8.16634737e-04 9.98564746e-01 5.13819972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:7.23, Z:5.13 [[ 9.89751318e-01 -1.32589201e-01 -5.30323796e-02 9.88844742e+01] [ 1.32378363e-01 9.91171001e-01 -7.48432784e-03 7.23151247e+00] [ 5.35564979e-02 3.87283738e-04 9.98564746e-01 5.13383943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:7.23, Z:5.15 [[ 9.90131025e-01 -1.29723970e-01 -5.30306084e-02 9.89433637e+01] [ 1.29508353e-01 9.91549990e-01 -7.49685724e-03 7.22803775e+00] [ 5.35550213e-02 5.54964189e-04 9.98564746e-01 5.14943965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:7.24, Z:5.14 [[ 9.89599772e-01 -1.33716982e-01 -5.30288508e-02 9.90017594e+01] [ 1.33506426e-01 9.91019498e-01 -7.50926908e-03 7.23884759e+00] [ 5.35567419e-02 3.51478644e-04 9.98564746e-01 5.14120935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590385723 meters Centerline goodness : 0.997741 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:7.24, Z:5.14 [[ 9.89897548e-01 -1.31495212e-01 -5.30269196e-02 9.90602976e+01] [ 1.31280740e-01 9.91316687e-01 -7.52288130e-03 7.24194297e+00] [ 5.35556931e-02 4.85468505e-04 9.98564746e-01 5.14383534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:7.25, Z:5.15 [[ 9.89215901e-01 -1.36528810e-01 -5.30262655e-02 9.91185150e+01] [ 1.36321312e-01 9.90636077e-01 -7.52748920e-03 7.24659891e+00] [ 5.35574508e-02 2.17701908e-04 9.98564746e-01 5.15025845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:7.25, Z:5.15 [[ 9.89132559e-01 -1.37131794e-01 -5.30250026e-02 9.91766060e+01] [ 1.36924686e-01 9.90552792e-01 -7.53637480e-03 7.25383040e+00] [ 5.35575410e-02 1.94041856e-04 9.98564746e-01 5.15295505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:7.26, Z:5.16 [[ 9.89290905e-01 -1.35985606e-01 -5.30228269e-02 9.92344727e+01] [ 1.35776033e-01 9.90710776e-01 -7.55165113e-03 7.25831482e+00] [ 5.35572018e-02 2.71550657e-04 9.98564746e-01 5.15599348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:7.27, Z:5.16 [[ 9.89252122e-01 -1.36267996e-01 -5.30214381e-02 9.92919725e+01] [ 1.36058307e-01 9.90671975e-01 -7.56138974e-03 7.26552498e+00] [ 5.35572282e-02 2.66113729e-04 9.98564746e-01 5.15997192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:7.27, Z:5.16 [[ 9.89440003e-01 -1.34897946e-01 -5.30190904e-02 9.93496875e+01] [ 1.34685411e-01 9.90859433e-01 -7.57781581e-03 7.27307902e+00] [ 5.35566976e-02 3.56896135e-04 9.98564746e-01 5.16232780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.41, Y:7.28, Z:5.17 [[ 9.89730654e-01 -1.32749549e-01 -5.30168778e-02 9.94087003e+01] [ 1.32533105e-01 9.91149493e-01 -7.59326408e-03 7.27736778e+00] [ 5.35556540e-02 4.88794795e-04 9.98564747e-01 5.16729602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:99.47, Y:7.28, Z:5.18 [[ 9.90396746e-01 -1.27685952e-01 -5.30149337e-02 9.94660022e+01] [ 1.27461529e-01 9.91814345e-01 -7.60681322e-03 7.28042295e+00] [ 5.35522550e-02 7.76398545e-04 9.98564747e-01 5.17596721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:7.29, Z:5.18 [[ 9.90722145e-01 -1.25136410e-01 -5.30142554e-02 9.95240320e+01] [ 1.24908087e-01 9.92139120e-01 -7.61153801e-03 7.28930036e+00] [ 5.35499972e-02 9.19010036e-04 9.98564747e-01 5.17870609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:7.29, Z:5.18 [[ 9.90681642e-01 -1.25457440e-01 -5.30124007e-02 9.95833765e+01] [ 1.25228886e-01 9.92098581e-01 -7.62443388e-03 7.29201776e+00] [ 5.35500694e-02 9.14702803e-04 9.98564747e-01 5.18095138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:7.30, Z:5.18 [[ 9.90599606e-01 -1.26104318e-01 -5.30105783e-02 9.96418186e+01] [ 1.25876013e-01 9.92016585e-01 -7.63708345e-03 7.30076218e+00] [ 5.35504420e-02 8.92531624e-04 9.98564747e-01 5.18375339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.70, Y:7.31, Z:5.19 [[ 9.91281987e-01 -1.20623902e-01 -5.30084503e-02 9.96992784e+01] [ 1.20386976e-01 9.92697550e-01 -7.65182510e-03 7.30609587e+00] [ 5.35443517e-02 1.20358935e-03 9.98564747e-01 5.18684889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.76, Y:7.31, Z:5.19 [[ 9.91734680e-01 -1.16843918e-01 -5.30077657e-02 9.97579506e+01] [ 1.16601344e-01 9.93149286e-01 -7.65656466e-03 7.31294289e+00] [ 5.35392477e-02 1.41250400e-03 9.98564747e-01 5.18881748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.82, Y:7.32, Z:5.19 [[ 9.91319426e-01 -1.20316921e-01 -5.30059753e-02 9.98157400e+01] [ 1.20078641e-01 9.92734762e-01 -7.66893957e-03 7.32288968e+00] [ 5.35435775e-02 1.23748328e-03 9.98564747e-01 5.19201123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:7.33, Z:5.20 [[ 9.91462418e-01 -1.19133782e-01 -5.30039211e-02 9.98733366e+01] [ 1.18893056e-01 9.92877339e-01 -7.68311079e-03 7.32702084e+00] [ 5.35417102e-02 1.31571742e-03 9.98564747e-01 5.19805567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:7.34, Z:5.20 [[ 9.91362464e-01 -1.19963189e-01 -5.30028201e-02 9.99317366e+01] [ 1.19723242e-01 9.92777517e-01 -7.69069922e-03 7.33798431e+00] [ 5.35426089e-02 1.27860109e-03 9.98564747e-01 5.20010785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:7.35, Z:5.20 [[ 9.91103913e-01 -1.22081608e-01 -5.30010851e-02 9.99887733e+01] [ 1.21844048e-01 9.92519369e-01 -7.70263757e-03 7.34637139e+00] [ 5.35449539e-02 1.17624750e-03 9.98564747e-01 5.20434933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:7.36, Z:5.21 [[ 9.90611834e-01 -1.26012474e-01 -5.30004743e-02 1.00046222e+02] [ 1.25780306e-01 9.92028185e-01 -7.70683783e-03 7.35549271e+00] [ 5.35491220e-02 9.68068859e-04 9.98564747e-01 5.21058941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:7.36, Z:5.21 [[ 9.90719402e-01 -1.25164270e-01 -5.29997425e-02 1.00103479e+02] [ 1.24930621e-01 9.92135508e-01 -7.71186696e-03 7.36285665e+00] [ 5.35481767e-02 1.01900549e-03 9.98564747e-01 5.21329641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.16, Y:7.37, Z:5.21 [[ 9.90681256e-01 -1.25466145e-01 -5.29990215e-02 1.00160321e+02] [ 1.25232663e-01 9.92097390e-01 -7.71681935e-03 7.37474828e+00] [ 5.35483904e-02 1.00769971e-03 9.98564747e-01 5.20686996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:7.38, Z:5.22 [[ 9.90627957e-01 -1.25886523e-01 -5.29984369e-02 1.00219147e+02] [ 1.25653426e-01 9.92044155e-01 -7.72083173e-03 7.37896897e+00] [ 5.35487382e-02 9.89036575e-04 9.98564747e-01 5.21716370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85038572299999 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:100.28, Y:7.39, Z:5.22 [[ 9.90531036e-01 -1.26647660e-01 -5.29965737e-02 1.00277506e+02] [ 1.26414969e-01 9.91947301e-01 -7.73359968e-03 7.38751642e+00] [ 5.35492506e-02 9.60810281e-04 9.98564747e-01 5.21674389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91038572299999 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:100.33, Y:7.40, Z:5.22 [[ 9.90507276e-01 -1.26834210e-01 -5.29945162e-02 1.00334760e+02] [ 1.26601033e-01 9.91923461e-01 -7.74767355e-03 7.39545302e+00] [ 5.35491740e-02 9.64966540e-04 9.98564747e-01 5.22229491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.39, Y:7.40, Z:5.23 [[ 9.90506938e-01 -1.26837186e-01 -5.29937248e-02 1.00391243e+02] [ 1.26603724e-01 9.91923075e-01 -7.75308286e-03 7.40363274e+00] [ 5.35490777e-02 9.70279443e-04 9.98564747e-01 5.23314249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:100.45, Y:7.42, Z:5.23 [[ 9.90353638e-01 -1.28028984e-01 -5.29929377e-02 1.00449408e+02] [ 1.27796938e-01 9.91770008e-01 -7.75845922e-03 7.41511479e+00] [ 5.35501139e-02 9.11283127e-04 9.98564747e-01 5.22701208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.51, Y:7.42, Z:5.23 [[ 9.90488188e-01 -1.26984607e-01 -5.29911204e-02 1.00506681e+02] [ 1.26750406e-01 9.91904203e-01 -7.77085166e-03 7.42247757e+00] [ 5.35488936e-02 9.80290766e-04 9.98564748e-01 5.23238281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.56, Y:7.43, Z:5.24 [[ 9.90544961e-01 -1.26541964e-01 -5.29887951e-02 1.00563196e+02] [ 1.26306283e-01 9.91960730e-01 -7.78667539e-03 7.43042165e+00] [ 5.35481451e-02 1.02023432e-03 9.98564748e-01 5.24428298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:7.44, Z:5.25 [[ 9.90421709e-01 -1.27503345e-01 -5.29880732e-02 1.00619062e+02] [ 1.27268777e-01 9.91837663e-01 -7.79158477e-03 7.43893708e+00] [ 5.35490198e-02 9.73227448e-04 9.98564748e-01 5.24832241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.68, Y:7.45, Z:5.25 [[ 9.90357539e-01 -1.28001418e-01 -5.29866212e-02 1.00676219e+02] [ 1.27767034e-01 9.91773524e-01 -7.80144670e-03 7.44700117e+00] [ 5.35493243e-02 9.56278116e-04 9.98564748e-01 5.25167223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33038572299999 meters Centerline goodness : 0.998030 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:7.45, Z:5.25 [[ 9.90246225e-01 -1.28860629e-01 -5.29844480e-02 1.00734848e+02] [ 1.28626686e-01 9.91662283e-01 -7.81617838e-03 7.45346541e+00] [ 5.35498763e-02 9.24727187e-04 9.98564748e-01 5.25070934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:7.47, Z:5.25 [[ 9.90134210e-01 -1.29719458e-01 -5.29821505e-02 1.00791665e+02] [ 1.29485912e-01 9.91550333e-01 -7.83172137e-03 7.46635560e+00] [ 5.35503956e-02 8.94013197e-04 9.98564748e-01 5.25459873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:7.48, Z:5.26 [[ 9.89746502e-01 -1.32645546e-01 -5.29813305e-02 1.00849703e+02] [ 1.32415890e-01 9.91163261e-01 -7.83726489e-03 7.47523914e+00] [ 5.35527265e-02 7.41335499e-04 9.98564748e-01 5.25720742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:7.48, Z:5.26 [[ 9.89340242e-01 -1.35643198e-01 -5.29793198e-02 1.00906783e+02] [ 1.35417108e-01 9.90757574e-01 -7.85083322e-03 7.48142729e+00] [ 5.35545745e-02 5.92838958e-04 9.98564748e-01 5.26369480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.96, Y:7.49, Z:5.27 [[ 9.89800605e-01 -1.32242937e-01 -5.29770504e-02 1.00963993e+02] [ 1.32011160e-01 9.91217019e-01 -7.86611736e-03 7.49166249e+00] [ 5.35519924e-02 7.92325842e-04 9.98564748e-01 5.26955373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.02, Y:7.51, Z:5.26 [[ 9.89476895e-01 -1.34643907e-01 -5.29763495e-02 1.01022017e+02] [ 1.34415314e-01 9.90893825e-01 -7.87083480e-03 7.50651522e+00] [ 5.35536976e-02 6.67176516e-04 9.98564748e-01 5.26158303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.08, Y:7.51, Z:5.26 [[ 9.89441841e-01 -1.34902019e-01 -5.29744193e-02 1.01079636e+02] [ 1.34673102e-01 9.90858719e-01 -7.88380455e-03 7.51436664e+00] [ 5.35537064e-02 6.66336720e-04 9.98564748e-01 5.26427441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.14, Y:7.52, Z:5.27 [[ 9.89007105e-01 -1.38053938e-01 -5.29722267e-02 1.01137150e+02] [ 1.37828749e-01 9.90424580e-01 -7.89850977e-03 7.52318413e+00] [ 5.35554158e-02 5.10586531e-04 9.98564748e-01 5.26697100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.19, Y:7.53, Z:5.27 [[ 9.88809194e-01 -1.39465225e-01 -5.29700662e-02 1.01194005e+02] [ 1.39241285e-01 9.90226868e-01 -7.91297254e-03 7.53298275e+00] [ 5.35559672e-02 4.48799926e-04 9.98564749e-01 5.27147353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870385723 meters Centerline goodness : 0.996663 with order 1 Centerline is valid? [True, True] Translation: X:101.25, Y:7.54, Z:5.28 [[ 9.89921383e-01 -1.31339484e-01 -5.29678644e-02 1.01251713e+02] [ 1.31103121e-01 9.91337038e-01 -7.92768368e-03 7.53667502e+00] [ 5.35502237e-02 9.03531272e-04 9.98564749e-01 5.28424870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.31, Y:7.55, Z:5.29 [[ 9.90621587e-01 -1.25950031e-01 -5.29665992e-02 1.01309618e+02] [ 1.25705516e-01 9.92035857e-01 -7.93612785e-03 7.54618997e+00] [ 5.35443211e-02 1.20350590e-03 9.98564749e-01 5.28991808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.37, Y:7.56, Z:5.29 [[ 9.91298817e-01 -1.20505018e-01 -5.29641025e-02 1.01366840e+02] [ 1.20251847e-01 9.92711563e-01 -7.95275537e-03 7.55601758e+00] [ 5.35364239e-02 1.51452582e-03 9.98564749e-01 5.29173308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.42, Y:7.57, Z:5.28 [[ 9.91388762e-01 -1.19763800e-01 -5.29618254e-02 1.01424103e+02] [ 1.19508765e-01 9.92801172e-01 -7.96789096e-03 7.56823426e+00] [ 5.35348272e-02 1.56987519e-03 9.98564749e-01 5.28435313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.48, Y:7.57, Z:5.29 [[ 9.91109343e-01 -1.22054889e-01 -5.29610671e-02 1.01482139e+02] [ 1.21802851e-01 9.92522291e-01 -7.97292821e-03 7.57365920e+00] [ 5.35381745e-02 1.45123468e-03 9.98564749e-01 5.29096865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.54, Y:7.58, Z:5.29 [[ 9.90916721e-01 -1.23609996e-01 -5.29586637e-02 1.01539720e+02] [ 1.23359324e-01 9.92329912e-01 -7.98886053e-03 7.58290887e+00] [ 5.35399691e-02 1.38335051e-03 9.98564749e-01 5.28900760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.60, Y:7.59, Z:5.29 [[ 9.90769103e-01 -1.24787992e-01 -5.29579283e-02 1.01596732e+02] [ 1.24538741e-01 9.92182545e-01 -7.99373267e-03 7.58999552e+00] [ 5.35414539e-02 1.32462966e-03 9.98564749e-01 5.29072948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:7.60, Z:5.30 [[ 9.90604880e-01 -1.26085305e-01 -5.29572321e-02 1.01653985e+02] [ 1.25837658e-01 9.92018604e-01 -7.99834195e-03 7.60073897e+00] [ 5.35430328e-02 1.25918248e-03 9.98564749e-01 5.29955066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:7.61, Z:5.31 [[ 9.90246017e-01 -1.28874264e-01 -5.29551725e-02 1.01711150e+02] [ 1.28629872e-01 9.91660307e-01 -8.01195479e-03 7.60618720e+00] [ 5.35460774e-02 1.12218926e-03 9.98564749e-01 5.31020748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.77, Y:7.61, Z:5.31 [[ 9.89464115e-01 -1.34746396e-01 -5.29544508e-02 1.01769488e+02] [ 1.34510142e-01 9.90879788e-01 -8.01672210e-03 7.61322374e+00] [ 5.35517194e-02 8.09348121e-04 9.98564749e-01 5.30844977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.83, Y:7.63, Z:5.31 [[ 9.89387019e-01 -1.35312218e-01 -5.29521457e-02 1.01826211e+02] [ 1.35075961e-01 9.90802691e-01 -8.03191926e-03 7.62690692e+00] [ 5.35519452e-02 7.94114707e-04 9.98564749e-01 5.30524298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.88, Y:7.63, Z:5.31 [[ 9.89861122e-01 -1.31800154e-01 -5.29497683e-02 1.01884647e+02] [ 1.31558038e-01 9.91275804e-01 -8.04756133e-03 7.63169163e+00] [ 5.35484940e-02 1.00000047e-03 9.98564749e-01 5.30888387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.94, Y:7.64, Z:5.32 [[ 9.90443122e-01 -1.27353685e-01 -5.29477191e-02 1.01941821e+02] [ 1.27104500e-01 9.91856575e-01 -8.06102141e-03 7.63861216e+00] [ 5.35431441e-02 1.25408988e-03 9.98564750e-01 5.31705223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650385723 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:102.00, Y:7.65, Z:5.32 [[ 9.90468704e-01 -1.27155009e-01 -5.29466658e-02 1.01999415e+02] [ 1.26905170e-01 9.91882043e-01 -8.06793360e-03 7.64662716e+00] [ 5.35427252e-02 1.27183010e-03 9.98564750e-01 5.31509932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.06, Y:7.65, Z:5.32 [[ 9.90054393e-01 -1.30341989e-01 -5.29458585e-02 1.02057172e+02] [ 1.30096417e-01 9.91468479e-01 -8.07322828e-03 7.65391936e+00] [ 5.35464304e-02 1.10486863e-03 9.98564750e-01 5.32173703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.12, Y:7.66, Z:5.33 [[ 9.89869253e-01 -1.31741025e-01 -5.29449262e-02 1.02115378e+02] [ 1.31497125e-01 9.91283628e-01 -8.07933741e-03 7.66315834e+00] [ 5.35478187e-02 1.03538209e-03 9.98564750e-01 5.32530186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.17, Y:7.67, Z:5.32 [[ 9.89961784e-01 -1.31044745e-01 -5.29428157e-02 1.02172439e+02] [ 1.30799113e-01 9.91375859e-01 -8.09314368e-03 7.67452740e+00] [ 5.35467934e-02 1.08702963e-03 9.98564750e-01 5.32360332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.23, Y:7.68, Z:5.32 [[ 9.90056725e-01 -1.30326503e-01 -5.29403714e-02 1.02230165e+02] [ 1.30078992e-01 9.91470473e-01 -8.10910177e-03 7.68433965e+00] [ 5.35456459e-02 1.14204061e-03 9.98564750e-01 5.32420503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.29, Y:7.69, Z:5.33 [[ 9.90139014e-01 -1.29700712e-01 -5.29382466e-02 1.02287812e+02] [ 1.29451567e-01 9.91552474e-01 -8.12294946e-03 7.69399433e+00] [ 5.35446017e-02 1.18991019e-03 9.98564750e-01 5.32682186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.34, Y:7.70, Z:5.33 [[ 9.90594052e-01 -1.26179266e-01 -5.29359723e-02 1.02344766e+02] [ 1.25924307e-01 9.92006475e-01 -8.13774383e-03 7.70408173e+00] [ 5.35396418e-02 1.39527503e-03 9.98564750e-01 5.33312088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:7.72, Z:5.33 [[ 9.89813392e-01 -1.32163961e-01 -5.29352153e-02 1.02402367e+02] [ 1.31917280e-01 9.91227284e-01 -8.14266488e-03 7.71623516e+00] [ 5.35469965e-02 1.07664911e-03 9.98564750e-01 5.32543167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:7.72, Z:5.35 [[ 9.89150034e-01 -1.37040820e-01 -5.29341537e-02 1.02459995e+02] [ 1.36800742e-01 9.90565062e-01 -8.14956061e-03 7.72009702e+00] [ 5.35515457e-02 8.19706670e-04 9.98564750e-01 5.34508497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:7.73, Z:5.35 [[ 9.88624063e-01 -1.40785807e-01 -5.29322051e-02 1.02517647e+02] [ 1.40550413e-01 9.90039878e-01 -8.16219692e-03 7.73069993e+00] [ 5.35541154e-02 6.29700999e-04 9.98564750e-01 5.34951442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.58, Y:7.74, Z:5.35 [[ 9.87942654e-01 -1.45491244e-01 -5.29302386e-02 1.02575701e+02] [ 1.45261911e-01 9.89359463e-01 -8.17492940e-03 7.74151853e+00] [ 5.35564131e-02 3.87613826e-04 9.98564750e-01 5.34613934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.63, Y:7.75, Z:5.36 [[ 9.88388128e-01 -1.42434253e-01 -5.29281794e-02 1.02632452e+02] [ 1.42199825e-01 9.89804103e-01 -8.18824006e-03 7.74881597e+00] [ 5.35548150e-02 5.66781397e-04 9.98564750e-01 5.35628830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.69, Y:7.76, Z:5.35 [[ 9.89343749e-01 -1.35637870e-01 -5.29274472e-02 1.02690644e+02] [ 1.35393463e-01 9.90758036e-01 -8.19296997e-03 7.76119391e+00] [ 5.35495707e-02 9.39633248e-04 9.98564750e-01 5.35000238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.75, Y:7.77, Z:5.36 [[ 9.89714753e-01 -1.32904534e-01 -5.29253469e-02 1.02747350e+02] [ 1.32655498e-01 9.91128232e-01 -8.20651555e-03 7.76828050e+00] [ 5.35464886e-02 1.10127126e-03 9.98564750e-01 5.35597915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.80, Y:7.78, Z:5.36 [[ 9.90266428e-01 -1.28729994e-01 -5.29243771e-02 1.02804280e+02] [ 1.28474665e-01 9.91678784e-01 -8.21276498e-03 7.77694824e+00] [ 5.35412111e-02 1.33338381e-03 9.98564750e-01 5.35658347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.86, Y:7.79, Z:5.36 [[ 9.90835907e-01 -1.24271042e-01 -5.29236670e-02 1.02861355e+02] [ 1.24009115e-01 9.92247053e-01 -8.21733865e-03 7.78526313e+00] [ 5.35345298e-02 1.57901711e-03 9.98564750e-01 5.36117296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:7.79, Z:5.37 [[ 9.90966216e-01 -1.23228595e-01 -5.29213848e-02 1.02918413e+02] [ 1.22964401e-01 9.92376940e-01 -8.23201033e-03 7.79254632e+00] [ 5.35323809e-02 1.65019775e-03 9.98564751e-01 5.36894107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:102.98, Y:7.80, Z:5.37 [[ 9.90979634e-01 -1.23121699e-01 -5.29189128e-02 1.02975880e+02] [ 1.22856507e-01 9.92390171e-01 -8.24787077e-03 7.80337459e+00] [ 5.35317008e-02 1.67203921e-03 9.98564751e-01 5.37016954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.03, Y:7.82, Z:5.37 [[ 9.91075158e-01 -1.22351461e-01 -5.29164537e-02 1.03031271e+02] [ 1.22084332e-01 9.92485329e-01 -8.26361796e-03 7.81546407e+00] [ 5.35298697e-02 1.72959659e-03 9.98564751e-01 5.37303621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:7.82, Z:5.37 [[ 9.90978089e-01 -1.23136256e-01 -5.29139806e-02 1.03089462e+02] [ 1.22869400e-01 9.92388312e-01 -8.27942348e-03 7.82102182e+00] [ 5.35307131e-02 1.70321820e-03 9.98564751e-01 5.37341811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.15, Y:7.83, Z:5.37 [[ 9.91185408e-01 -1.21457285e-01 -5.29113857e-02 1.03146737e+02] [ 1.21187158e-01 9.92595008e-01 -8.29597388e-03 7.83033113e+00] [ 5.35271837e-02 1.81066779e-03 9.98564751e-01 5.37192026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:7.84, Z:5.37 [[ 9.91238260e-01 -1.21026314e-01 -5.29088149e-02 1.03203769e+02] [ 1.20754703e-01 9.92647574e-01 -8.31233718e-03 7.83825646e+00] [ 5.35258183e-02 1.85051842e-03 9.98564751e-01 5.37391466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:7.85, Z:5.38 [[ 9.91183789e-01 -1.21471892e-01 -5.29081824e-02 1.03261534e+02] [ 1.21200700e-01 9.92593184e-01 -8.31636125e-03 7.84730668e+00] [ 5.35265053e-02 1.83053373e-03 9.98564751e-01 5.37544492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:7.85, Z:5.39 [[ 9.90836873e-01 -1.24270251e-01 -5.29074218e-02 1.03319228e+02] [ 1.24002781e-01 9.92246979e-01 -8.32119691e-03 7.85315912e+00] [ 5.35313067e-02 1.68428129e-03 9.98564751e-01 5.38754782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:7.86, Z:5.39 [[ 9.90509004e-01 -1.26858059e-01 -5.29050698e-02 1.03376441e+02] [ 1.26593477e-01 9.91919654e-01 -8.33612420e-03 7.86094434e+00] [ 5.35350830e-02 1.55956932e-03 9.98564751e-01 5.39154917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.43, Y:7.87, Z:5.40 [[ 9.90340949e-01 -1.28163702e-01 -5.29043432e-02 1.03433976e+02] [ 1.27900733e-01 9.91751902e-01 -8.34073265e-03 7.86905793e+00] [ 5.35369622e-02 1.49366479e-03 9.98564751e-01 5.39561465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.49, Y:7.88, Z:5.40 [[ 9.90325146e-01 -1.28286721e-01 -5.29020046e-02 1.03491401e+02] [ 1.28023138e-01 9.91735984e-01 -8.35553956e-03 7.87827467e+00] [ 5.35367263e-02 1.50202029e-03 9.98564751e-01 5.39939920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:7.89, Z:5.40 [[ 9.90431698e-01 -1.27462447e-01 -5.28996866e-02 1.03548556e+02] [ 1.27196908e-01 9.91842168e-01 -8.37018941e-03 7.88887452e+00] [ 5.35350246e-02 1.56142433e-03 9.98564752e-01 5.40117478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33038572299999 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:103.61, Y:7.90, Z:5.40 [[ 9.90082074e-01 -1.30151269e-01 -5.28973924e-02 1.03606197e+02] [ 1.29888788e-01 9.91493117e-01 -8.38466311e-03 7.90040098e+00] [ 5.35386750e-02 1.43072645e-03 9.98564752e-01 5.39663140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.66, Y:7.91, Z:5.41 [[ 9.90591413e-01 -1.26217040e-01 -5.28952779e-02 1.03663307e+02] [ 1.25948245e-01 9.92001267e-01 -8.39798097e-03 7.91094785e+00] [ 5.35321510e-02 1.65690042e-03 9.98564752e-01 5.40537690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:7.92, Z:5.41 [[ 9.90495036e-01 -1.26971507e-01 -5.28944285e-02 1.03720886e+02] [ 1.26703501e-01 9.91905039e-01 -8.40332761e-03 7.91724889e+00] [ 5.35332334e-02 1.62154500e-03 9.98564752e-01 5.41121304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:7.93, Z:5.41 [[ 9.90588014e-01 -1.26245073e-01 -5.28920419e-02 1.03777241e+02] [ 1.25975233e-01 9.91997668e-01 -8.41832284e-03 7.92952538e+00] [ 5.35315540e-02 1.67600243e-03 9.98564752e-01 5.41247908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:7.94, Z:5.41 [[ 9.90836294e-01 -1.24281729e-01 -5.28913010e-02 1.03834161e+02] [ 1.24008848e-01 9.92245362e-01 -8.42297535e-03 7.94017286e+00] [ 5.35279700e-02 1.78680038e-03 9.98564752e-01 5.41268342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:7.95, Z:5.41 [[ 9.90568086e-01 -1.26402104e-01 -5.28902153e-02 1.03892111e+02] [ 1.26131876e-01 9.91977665e-01 -8.42978716e-03 7.95304848e+00] [ 5.35314551e-02 1.67913608e-03 9.98564752e-01 5.41207650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:7.96, Z:5.42 [[ 9.90825531e-01 -1.24368896e-01 -5.28880443e-02 1.03949349e+02] [ 1.24095050e-01 9.92234412e-01 -8.44338590e-03 7.95904444e+00] [ 5.35274321e-02 1.80277781e-03 9.98564752e-01 5.42361011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:7.97, Z:5.42 [[ 9.90534768e-01 -1.26664156e-01 -5.28872876e-02 1.04007176e+02] [ 1.26393322e-01 9.91944231e-01 -8.44812314e-03 7.96967286e+00] [ 5.35313142e-02 1.68355971e-03 9.98564752e-01 5.42493050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.06, Y:7.98, Z:5.43 [[ 9.90101301e-01 -1.30009934e-01 -5.28850704e-02 1.04064000e+02] [ 1.29743124e-01 9.91511531e-01 -8.46197995e-03 7.97817619e+00] [ 5.35362986e-02 1.51674310e-03 9.98564752e-01 5.42942828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.12, Y:7.99, Z:5.43 [[ 9.88988713e-01 -1.38219455e-01 -5.28839064e-02 1.04121964e+02] [ 1.37963966e-01 9.90401038e-01 -8.46924808e-03 7.99166732e+00] [ 5.35468907e-02 1.07991731e-03 9.98564752e-01 5.42847361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:8.00, Z:5.43 [[ 9.88271888e-01 -1.43255718e-01 -5.28817005e-02 1.04178228e+02] [ 1.43006691e-01 9.89685367e-01 -8.48299933e-03 8.00155050e+00] [ 5.35514833e-02 8.21072767e-04 9.98564752e-01 5.43021233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.24, Y:8.01, Z:5.43 [[ 9.88036825e-01 -1.44868470e-01 -5.28806116e-02 1.04235338e+02] [ 1.44621387e-01 9.89450645e-01 -8.48978208e-03 8.01202419e+00] [ 5.35526570e-02 7.40549952e-04 9.98564752e-01 5.43310871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:8.03, Z:5.43 [[ 9.87935265e-01 -1.45560360e-01 -5.28781080e-02 1.04291845e+02] [ 1.45313435e-01 9.89349112e-01 -8.50534708e-03 8.02640351e+00] [ 5.35529506e-02 7.18832827e-04 9.98564752e-01 5.43260539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:8.04, Z:5.44 [[ 9.88087277e-01 -1.44525728e-01 -5.28757690e-02 1.04349228e+02] [ 1.44276545e-01 9.89500728e-01 -8.51986359e-03 8.03793842e+00] [ 5.35519514e-02 7.89635538e-04 9.98564753e-01 5.43621218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:8.05, Z:5.45 [[ 9.88820759e-01 -1.39419996e-01 -5.28731698e-02 1.04405843e+02] [ 1.39162655e-01 9.90232747e-01 -8.53596341e-03 8.04764629e+00] [ 5.35468281e-02 1.08256715e-03 9.98564753e-01 5.45056167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:104.46, Y:8.06, Z:5.45 [[ 9.88968629e-01 -1.38367483e-01 -5.28723902e-02 1.04462625e+02] [ 1.38108381e-01 9.90380296e-01 -8.54078913e-03 8.05801880e+00] [ 5.35455410e-02 1.14445230e-03 9.98564753e-01 5.45356634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:104.52, Y:8.07, Z:5.46 [[ 9.89006363e-01 -1.38098452e-01 -5.28699493e-02 1.04519874e+02] [ 1.37838161e-01 9.90417810e-01 -8.55587258e-03 8.06916381e+00] [ 5.35448922e-02 1.17431583e-03 9.98564753e-01 5.45529492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.58, Y:8.08, Z:5.45 [[ 9.88171414e-01 -1.43951882e-01 -5.28688209e-02 1.04577022e+02] [ 1.43699579e-01 9.89584311e-01 -8.56283997e-03 8.08492990e+00] [ 5.35507926e-02 8.64326379e-04 9.98564753e-01 5.45315216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:8.09, Z:5.46 [[ 9.87529270e-01 -1.48293800e-01 -5.28667250e-02 1.04634076e+02] [ 1.48047018e-01 9.88943141e-01 -8.57576041e-03 8.09376297e+00] [ 5.35539172e-02 6.42053420e-04 9.98564753e-01 5.45974580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:8.10, Z:5.47 [[ 9.87509825e-01 -1.48424146e-01 -5.28641573e-02 1.04690656e+02] [ 1.48176705e-01 9.88923581e-01 -8.59155929e-03 8.10131620e+00] [ 5.35538066e-02 6.51012548e-04 9.98564753e-01 5.46994341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:8.12, Z:5.47 [[ 9.86423323e-01 -1.55481482e-01 -5.28633723e-02 1.04747572e+02] [ 1.55243898e-01 9.87838769e-01 -8.59638676e-03 8.11676548e+00] [ 5.35570676e-02 2.72960395e-04 9.98564753e-01 5.46612218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.80, Y:8.13, Z:5.47 [[ 9.85609850e-01 -1.60557685e-01 -5.28625915e-02 1.04804893e+02] [ 1.60327133e-01 9.87026459e-01 -8.60118535e-03 8.12905061e+00] [ 5.35577629e-02 2.10523600e-06 9.98564753e-01 5.46855221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:8.14, Z:5.47 [[ 9.84909441e-01 -1.64800460e-01 -5.28602135e-02 1.04861352e+02] [ 1.64575228e-01 9.86326905e-01 -8.61577552e-03 8.14400020e+00] [ 5.35573345e-02 -2.13723036e-04 9.98564753e-01 5.46905468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:8.16, Z:5.47 [[ 9.85209487e-01 -1.62997958e-01 -5.28576715e-02 1.04918448e+02] [ 1.62769297e-01 9.86626401e-01 -8.63134251e-03 8.15804438e+00] [ 5.35576654e-02 -9.99255118e-05 9.98564753e-01 5.47009325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:104.97, Y:8.17, Z:5.47 [[ 9.85884913e-01 -1.58862427e-01 -5.28551643e-02 1.04974768e+02] [ 1.58627001e-01 9.87300719e-01 -8.64666808e-03 8.17350353e+00] [ 5.35575724e-02 1.40363405e-04 9.98564753e-01 5.47293721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.03, Y:8.19, Z:5.48 [[ 9.86861678e-01 -1.52678184e-01 -5.28526233e-02 1.05030870e+02] [ 1.52433056e-01 9.88275837e-01 -8.66217225e-03 8.18746672e+00] [ 5.35554953e-02 4.91878968e-04 9.98564754e-01 5.47624486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.09, Y:8.20, Z:5.48 [[ 9.88030443e-01 -1.44922482e-01 -5.28518431e-02 1.05087537e+02] [ 1.44666000e-01 9.89442587e-01 -8.66692984e-03 8.19992747e+00] [ 5.35498974e-02 9.17325804e-04 9.98564754e-01 5.48491515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.14, Y:8.21, Z:5.49 [[ 9.88373494e-01 -1.42564892e-01 -5.28496815e-02 1.05144825e+02] [ 1.42304338e-01 9.89784891e-01 -8.68009152e-03 8.21457975e+00] [ 5.35472925e-02 1.05843342e-03 9.98564754e-01 5.48987539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:8.23, Z:5.50 [[ 9.88432674e-01 -1.42154827e-01 -5.28474674e-02 1.05200288e+02] [ 1.41892969e-01 9.89843830e-01 -8.69355094e-03 8.23048225e+00] [ 5.35465697e-02 1.09430577e-03 9.98564754e-01 5.49645429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:8.24, Z:5.50 [[ 9.88390654e-01 -1.42447129e-01 -5.28462913e-02 1.05258471e+02] [ 1.42185306e-01 9.89801817e-01 -8.70069389e-03 8.23979711e+00] [ 5.35467440e-02 1.08571842e-03 9.98564754e-01 5.49946997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13038572299999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:8.26, Z:5.49 [[ 9.87676624e-01 -1.47317276e-01 -5.28441787e-02 1.05315229e+02] [ 1.47061727e-01 9.89088936e-01 -8.71350644e-03 8.25818186e+00] [ 5.35512425e-02 8.34770440e-04 9.98564754e-01 5.49338209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.37, Y:8.27, Z:5.49 [[ 9.87512042e-01 -1.48417308e-01 -5.28419374e-02 1.05370839e+02] [ 1.48162606e-01 9.88924507e-01 -8.72707746e-03 8.26982470e+00] [ 5.35519362e-02 7.88894938e-04 9.98564754e-01 5.49366087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.43, Y:8.28, Z:5.50 [[ 9.87108565e-01 -1.51077889e-01 -5.28408280e-02 1.05428712e+02] [ 1.50826635e-01 9.88521647e-01 -8.73378943e-03 8.27872707e+00] [ 5.35537848e-02 6.51394087e-04 9.98564754e-01 5.49554426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:105.49, Y:8.29, Z:5.50 [[ 9.87036836e-01 -1.51546519e-01 -5.28387769e-02 1.05485608e+02] [ 1.51295272e-01 9.88449920e-01 -8.74618047e-03 8.28933798e+00] [ 5.35539381e-02 6.38545170e-04 9.98564754e-01 5.49564704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.54, Y:8.30, Z:5.50 [[ 9.87467802e-01 -1.48713407e-01 -5.28361879e-02 1.05543494e+02] [ 1.48457271e-01 9.88880008e-01 -8.76179301e-03 8.29539551e+00] [ 5.35516460e-02 8.08072216e-04 9.98564754e-01 5.50307556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.60, Y:8.30, Z:5.51 [[ 9.87522150e-01 -1.48352979e-01 -5.28336743e-02 1.05600522e+02] [ 1.48095519e-01 9.88934115e-01 -8.77692442e-03 8.30376786e+00] [ 5.35511058e-02 8.42976882e-04 9.98564754e-01 5.50725814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49038572299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:105.66, Y:8.31, Z:5.51 [[ 9.87766064e-01 -1.46721142e-01 -5.28309426e-02 1.05658316e+02] [ 1.46460471e-01 9.89177440e-01 -8.79333624e-03 8.31053614e+00] [ 5.35493449e-02 9.48114372e-04 9.98564754e-01 5.50965885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.72, Y:8.31, Z:5.53 [[ 9.88195143e-01 -1.43803121e-01 -5.28301217e-02 1.05717343e+02] [ 1.43538020e-01 9.89605693e-01 -8.79826583e-03 8.31094343e+00] [ 5.35462072e-02 1.11127250e-03 9.98564754e-01 5.52577678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.78, Y:8.32, Z:5.53 [[ 9.87879798e-01 -1.45954522e-01 -5.28278581e-02 1.05775347e+02] [ 1.45691767e-01 9.89290787e-01 -8.81183638e-03 8.31849976e+00] [ 5.35482406e-02 1.00845113e-03 9.98564755e-01 5.52994595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.83, Y:8.33, Z:5.53 [[ 9.87560326e-01 -1.48101487e-01 -5.28256682e-02 1.05832665e+02] [ 1.47841098e-01 9.88971754e-01 -8.82494460e-03 8.32703038e+00] [ 5.35500812e-02 9.05360359e-04 9.98564755e-01 5.53114291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.89, Y:8.33, Z:5.53 [[ 9.86706191e-01 -1.53689370e-01 -5.28248984e-02 1.05891457e+02] [ 1.53436729e-01 9.88119026e-01 -8.82955036e-03 8.33471563e+00] [ 5.35542952e-02 6.06892391e-04 9.98564755e-01 5.52556626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:105.95, Y:8.34, Z:5.53 [[ 9.85495570e-01 -1.61270667e-01 -5.28228403e-02 1.05949311e+02] [ 1.61028237e-01 9.86910193e-01 -8.84184596e-03 8.34009480e+00] [ 5.35573299e-02 2.07631209e-04 9.98564755e-01 5.53204295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85038572299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:106.01, Y:8.34, Z:5.54 [[ 9.85180009e-01 -1.63188168e-01 -5.28201821e-02 1.06007150e+02] [ 1.62947641e-01 9.86594956e-01 -8.85769735e-03 8.34337748e+00] [ 5.35575966e-02 1.19502271e-04 9.98564755e-01 5.54471648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.06, Y:8.35, Z:5.55 [[ 9.85150448e-01 -1.63366815e-01 -5.28192971e-02 1.06064729e+02] [ 1.63126261e-01 9.86565391e-01 -8.86297133e-03 8.35224246e+00] [ 5.35576059e-02 1.15145715e-04 9.98564755e-01 5.54625710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:8.36, Z:5.55 [[ 9.85457551e-01 -1.61504790e-01 -5.28168294e-02 1.06123057e+02] [ 1.61260776e-01 9.86871901e-01 -8.87765284e-03 8.36115912e+00] [ 5.35572283e-02 2.31267110e-04 9.98564755e-01 5.54693820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:8.37, Z:5.55 [[ 9.86093346e-01 -1.57577035e-01 -5.28146791e-02 1.06181233e+02] [ 1.57326703e-01 9.87506592e-01 -8.89042727e-03 8.36523492e+00] [ 5.35557709e-02 4.57631840e-04 9.98564755e-01 5.55176399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:8.37, Z:5.55 [[ 9.86382182e-01 -1.55759625e-01 -5.28122129e-02 1.06238059e+02] [ 1.55505907e-01 9.87794823e-01 -8.90505289e-03 8.37462599e+00] [ 5.35546782e-02 5.71174460e-04 9.98564755e-01 5.55371304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:8.38, Z:5.56 [[ 9.86928867e-01 -1.52258136e-01 -5.28097584e-02 1.06295523e+02] [ 1.51998629e-01 9.88340456e-01 -8.91958541e-03 8.38068608e+00] [ 5.35521002e-02 7.75985452e-04 9.98564755e-01 5.55826526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:8.38, Z:5.56 [[ 9.87283848e-01 -1.49939975e-01 -5.28072650e-02 1.06353344e+02] [ 1.49676365e-01 9.88694677e-01 -8.93432286e-03 8.38434573e+00] [ 5.35498739e-02 9.16713162e-04 9.98564755e-01 5.56204715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:8.39, Z:5.56 [[ 9.87264865e-01 -1.50065801e-01 -5.28047455e-02 1.06412005e+02] [ 1.49801576e-01 9.88675579e-01 -8.94918918e-03 8.39447485e+00] [ 5.35497296e-02 9.24985963e-04 9.98564755e-01 5.55506555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.47, Y:8.40, Z:5.57 [[ 9.88064826e-01 -1.44705938e-01 -5.28023816e-02 1.06469799e+02] [ 1.44433318e-01 9.89473941e-01 -8.96311514e-03 8.39628521e+00] [ 5.35435966e-02 1.22971564e-03 9.98564756e-01 5.56952442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.53, Y:8.40, Z:5.57 [[ 9.88206779e-01 -1.43733665e-01 -5.28014731e-02 1.06527833e+02] [ 1.43459372e-01 9.89615569e-01 -8.96846380e-03 8.40287647e+00] [ 5.35422301e-02 1.28783053e-03 9.98564756e-01 5.57383638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:8.41, Z:5.58 [[ 9.88258265e-01 -1.43380173e-01 -5.27989372e-02 1.06584849e+02] [ 1.43104581e-01 9.89666801e-01 -8.98336850e-03 8.41220232e+00] [ 5.35413922e-02 1.32211837e-03 9.98564756e-01 5.57598547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:8.42, Z:5.57 [[ 9.87841738e-01 -1.46223256e-01 -5.27963989e-02 1.06643937e+02] [ 1.45950923e-01 9.89250908e-01 -8.99826146e-03 8.41891994e+00] [ 5.35446407e-02 1.18317509e-03 9.98564756e-01 5.56769838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.70, Y:8.42, Z:5.58 [[ 9.87743067e-01 -1.46889188e-01 -5.27939404e-02 1.06701123e+02] [ 1.46617035e-01 9.89152272e-01 -9.01266334e-03 8.42199400e+00] [ 5.35451088e-02 1.16170472e-03 9.98564756e-01 5.58068950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.76, Y:8.43, Z:5.57 [[ 9.86985943e-01 -1.51893515e-01 -5.27930631e-02 1.06760245e+02] [ 1.51628234e-01 9.88396458e-01 -9.01779926e-03 8.43079526e+00] [ 5.35502218e-02 8.95522215e-04 9.98564756e-01 5.57347754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.82, Y:8.43, Z:5.59 [[ 9.87066066e-01 -1.51372701e-01 -5.27909803e-02 1.06819113e+02] [ 1.51106024e-01 9.88476317e-01 -9.02997543e-03 8.43397740e+00] [ 5.35495256e-02 9.36147156e-04 9.98564756e-01 5.58746157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:106.88, Y:8.44, Z:5.59 [[ 9.86933031e-01 -1.52238455e-01 -5.27886814e-02 1.06876930e+02] [ 1.51972298e-01 9.88343380e-01 -9.04339508e-03 8.43763863e+00] [ 5.35500963e-02 9.02808112e-04 9.98564756e-01 5.58912632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810385723 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:106.94, Y:8.45, Z:5.59 [[ 9.86667601e-01 -1.53949610e-01 -5.27879046e-02 1.06935904e+02] [ 1.53685656e-01 9.88078364e-01 -9.04792713e-03 8.44697312e+00] [ 5.35515112e-02 8.14552817e-04 9.98564756e-01 5.58526207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870385723 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:106.99, Y:8.45, Z:5.59 [[ 9.87235866e-01 -1.50262505e-01 -5.27875471e-02 1.06994215e+02] [ 1.49993171e-01 9.88645612e-01 -9.05001234e-03 8.45158823e+00] [ 5.35480543e-02 1.01672520e-03 9.98564756e-01 5.59425641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.05, Y:8.46, Z:5.60 [[ 9.86957042e-01 -1.52083993e-01 -5.27849972e-02 1.07052369e+02] [ 1.51816468e-01 9.88367132e-01 -9.06486054e-03 8.45759601e+00] [ 5.35495765e-02 9.32996133e-04 9.98564756e-01 5.60055146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99038572299999 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:8.47, Z:5.60 [[ 9.86688217e-01 -1.53819308e-01 -5.27824120e-02 1.07110953e+02] [ 1.53553459e-01 9.88098624e-01 -9.07988848e-03 8.46525046e+00] [ 5.35508908e-02 8.54097044e-04 9.98564756e-01 5.59851025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05038572299999 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:107.17, Y:8.48, Z:5.60 [[ 9.86476326e-01 -1.55173232e-01 -5.27799861e-02 1.07167958e+02] [ 1.54908565e-01 9.87886955e-01 -9.09396782e-03 8.47520266e+00] [ 5.35518002e-02 7.94912041e-04 9.98564756e-01 5.60043600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:107.22, Y:8.49, Z:5.61 [[ 9.86705866e-01 -1.53707916e-01 -5.27769886e-02 1.07223638e+02] [ 1.53440226e-01 9.88115925e-01 -9.11133074e-03 8.48840115e+00] [ 5.35502666e-02 8.92090444e-04 9.98564757e-01 5.60784860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.28, Y:8.51, Z:5.60 [[ 9.86780407e-01 -1.53229198e-01 -5.27753756e-02 1.07279975e+02] [ 1.52960325e-01 9.88190241e-01 -9.12066408e-03 8.50630603e+00] [ 5.35496632e-02 9.27553990e-04 9.98564757e-01 5.60086052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.34, Y:8.51, Z:5.61 [[ 9.88073741e-01 -1.44655898e-01 -5.27726551e-02 1.07336926e+02] [ 1.44373955e-01 9.89481019e-01 -9.13637852e-03 8.51154795e+00] [ 5.35391716e-02 1.40841877e-03 9.98564757e-01 5.61100535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290385723 meters Centerline goodness : 0.997575 with order 1 Centerline is valid? [True, True] Translation: X:107.39, Y:8.52, Z:5.61 [[ 9.88661216e-01 -1.40585099e-01 -5.27714856e-02 1.07394138e+02] [ 1.40297003e-01 9.90067247e-01 -9.14312840e-03 8.52107307e+00] [ 5.35327071e-02 1.63577516e-03 9.98564757e-01 5.61002801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.45, Y:8.53, Z:5.62 [[ 9.88089815e-01 -1.44546827e-01 -5.27705594e-02 1.07450333e+02] [ 1.44264084e-01 9.89496933e-01 -9.14847076e-03 8.53340562e+00] [ 5.35386891e-02 1.42661438e-03 9.98564757e-01 5.61543190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.51, Y:8.54, Z:5.62 [[ 9.88066314e-01 -1.44708502e-01 -5.27675056e-02 1.07508019e+02] [ 1.44425051e-01 9.89473288e-01 -9.16605118e-03 8.54273482e+00] [ 5.35384428e-02 1.43571673e-03 9.98564757e-01 5.61957160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47038572299999 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:8.55, Z:5.62 [[ 9.87406679e-01 -1.49143924e-01 -5.27649524e-02 1.07565734e+02] [ 1.48866010e-01 9.88814758e-01 -9.18072540e-03 8.54825062e+00] [ 5.35440130e-02 1.21020166e-03 9.98564757e-01 5.62140770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.62, Y:8.56, Z:5.63 [[ 9.87226967e-01 -1.50329906e-01 -5.27620661e-02 1.07622133e+02] [ 1.50052799e-01 9.88635204e-01 -9.19728341e-03 8.55779546e+00] [ 5.35450627e-02 1.16271048e-03 9.98564757e-01 5.62506975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.68, Y:8.57, Z:5.63 [[ 9.87217213e-01 -1.50394420e-01 -5.27607211e-02 1.07679681e+02] [ 1.50116994e-01 9.88625387e-01 -9.20499248e-03 8.56869515e+00] [ 5.35449678e-02 1.16704619e-03 9.98564757e-01 5.62986710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.74, Y:8.58, Z:5.63 [[ 9.86982867e-01 -1.51925595e-01 -5.27582652e-02 1.07735561e+02] [ 1.51649602e-01 9.88391323e-01 -9.21904689e-03 8.57856542e+00] [ 5.35464207e-02 1.09827140e-03 9.98564757e-01 5.62999523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710385723 meters Centerline goodness : 0.997788 with order 1 Centerline is valid? [True, True] Translation: X:107.79, Y:8.59, Z:5.63 [[ 9.86834108e-01 -1.52889256e-01 -5.27571582e-02 1.07793568e+02] [ 1.52614300e-01 9.88242768e-01 -9.22537745e-03 8.58718005e+00] [ 5.35473411e-02 1.05242035e-03 9.98564757e-01 5.63122753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77038572299999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:107.85, Y:8.60, Z:5.64 [[ 9.87015059e-01 -1.51717616e-01 -5.27545088e-02 1.07850475e+02] [ 1.51440180e-01 9.88423232e-01 -9.24050312e-03 8.59905852e+00] [ 5.35457292e-02 1.13136343e-03 9.98564757e-01 5.63842380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.91, Y:8.61, Z:5.64 [[ 9.87074461e-01 -1.51330996e-01 -5.27535625e-02 1.07907444e+02] [ 1.51052720e-01 9.88482468e-01 -9.24590214e-03 8.60764588e+00] [ 5.35451633e-02 1.15782478e-03 9.98564758e-01 5.64142206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:8.62, Z:5.64 [[ 9.87123475e-01 -1.51011813e-01 -5.27510941e-02 1.07964824e+02] [ 1.50732331e-01 9.88531243e-01 -9.25996401e-03 8.61840011e+00] [ 5.35444686e-02 1.18943249e-03 9.98564758e-01 5.64355479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.02, Y:8.63, Z:5.65 [[ 9.86664346e-01 -1.53983922e-01 -5.27486536e-02 1.08022614e+02] [ 1.53707939e-01 9.88072804e-01 -9.27384555e-03 8.63123923e+00] [ 5.35475331e-02 1.04228592e-03 9.98564758e-01 5.64982842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:8.64, Z:5.65 [[ 9.86489434e-01 -1.55100975e-01 -5.27473523e-02 1.08079844e+02] [ 1.54826191e-01 9.87898127e-01 -9.28124085e-03 8.63894700e+00] [ 5.35485401e-02 9.89174375e-04 9.98564758e-01 5.65337784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:8.65, Z:5.65 [[ 9.86405337e-01 -1.55635783e-01 -5.27448103e-02 1.08137373e+02] [ 1.55360992e-01 9.87814027e-01 -9.29566452e-03 8.64619426e+00] [ 5.35488015e-02 9.74807027e-04 9.98564758e-01 5.65348355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:8.66, Z:5.65 [[ 9.86416343e-01 -1.55566296e-01 -5.27439638e-02 1.08193791e+02] [ 1.55291149e-01 9.87824964e-01 -9.30046514e-03 8.65904022e+00] [ 5.35486431e-02 9.83460069e-04 9.98564758e-01 5.65495729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19038572299999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:8.67, Z:5.66 [[ 9.86314998e-01 -1.56208459e-01 -5.27412836e-02 1.08249770e+02] [ 1.55933418e-01 9.87723640e-01 -9.31563951e-03 8.66809962e+00] [ 5.35489943e-02 9.64026348e-04 9.98564758e-01 5.65900667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.31, Y:8.68, Z:5.66 [[ 9.85898162e-01 -1.58818425e-01 -5.27401376e-02 1.08306804e+02] [ 1.58546767e-01 9.87307460e-01 -9.32212327e-03 8.67729674e+00] [ 5.35512562e-02 8.28885898e-04 9.98564758e-01 5.66289234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:8.69, Z:5.67 [[ 9.85714241e-01 -1.59956832e-01 -5.27375362e-02 1.08363921e+02] [ 1.59686015e-01 9.87123701e-01 -9.33681649e-03 8.68739029e+00] [ 5.35519595e-02 7.81985952e-04 9.98564758e-01 5.66617209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:8.70, Z:5.67 [[ 9.85512325e-01 -1.61197033e-01 -5.27349377e-02 1.08421241e+02] [ 1.60927206e-01 9.86921975e-01 -9.35147006e-03 8.69767337e+00] [ 5.35526981e-02 7.29502825e-04 9.98564758e-01 5.66974124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:8.71, Z:5.67 [[ 9.85597764e-01 -1.60674645e-01 -5.27323977e-02 1.08477657e+02] [ 1.60403306e-01 9.87007123e-01 -9.36577143e-03 8.71017593e+00] [ 5.35520941e-02 7.72432461e-04 9.98564758e-01 5.67319620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.53, Y:8.72, Z:5.68 [[ 9.85963167e-01 -1.58417794e-01 -5.27298359e-02 1.08534146e+02] [ 1.58142459e-01 9.87371751e-01 -9.38017204e-03 8.72005471e+00] [ 5.35499366e-02 9.09678191e-04 9.98564758e-01 5.67637217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.59, Y:8.73, Z:5.68 [[ 9.86353867e-01 -1.55967076e-01 -5.27287430e-02 1.08591392e+02] [ 1.55687913e-01 9.87761697e-01 -9.38631202e-03 8.73166850e+00] [ 5.35473883e-02 1.04899720e-03 9.98564758e-01 5.67723309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.65, Y:8.75, Z:5.67 [[ 9.85918570e-01 -1.58696292e-01 -5.27262841e-02 1.08648463e+02] [ 1.58420289e-01 9.87327023e-01 -9.40010432e-03 8.74701858e+00] [ 5.35498468e-02 9.14824248e-04 9.98564759e-01 5.67324778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.71, Y:8.75, Z:5.68 [[ 9.86231995e-01 -1.56737416e-01 -5.27241446e-02 1.08706264e+02] [ 1.56457975e-01 9.87639770e-01 -9.41208913e-03 8.75170251e+00] [ 5.35476885e-02 1.03339055e-03 9.98564759e-01 5.68335720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:8.76, Z:5.69 [[ 9.86042023e-01 -1.57928405e-01 -5.27233218e-02 1.08763158e+02] [ 1.57650418e-01 9.87450086e-01 -9.41669595e-03 8.76235760e+00] [ 5.35488124e-02 9.73404197e-04 9.98564759e-01 5.68774795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:8.77, Z:5.69 [[ 9.86148656e-01 -1.57262044e-01 -5.27207562e-02 1.08819691e+02] [ 1.56982340e-01 9.87556378e-01 -9.43103806e-03 8.77377078e+00] [ 5.35478634e-02 1.02417785e-03 9.98564759e-01 5.69082508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.88, Y:8.78, Z:5.69 [[ 9.86342162e-01 -1.56044657e-01 -5.27181563e-02 1.08877887e+02] [ 1.55762440e-01 9.87749383e-01 -9.44554885e-03 8.78334915e+00] [ 5.35462538e-02 1.10503445e-03 9.98564759e-01 5.69434127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.93, Y:8.79, Z:5.70 [[ 9.86799529e-01 -1.53126501e-01 -5.27158834e-02 1.08934236e+02] [ 1.52839447e-01 9.88205771e-01 -9.45821679e-03 8.79344907e+00] [ 5.35424438e-02 1.27629743e-03 9.98564759e-01 5.69841632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.99, Y:8.81, Z:5.70 [[ 9.87004218e-01 -1.51801971e-01 -5.27146602e-02 1.08991528e+02] [ 1.51512666e-01 9.88409999e-01 -9.46502952e-03 8.80565104e+00] [ 5.35405073e-02 1.35508537e-03 9.98564759e-01 5.69735741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.05, Y:8.81, Z:5.70 [[ 9.86618871e-01 -1.54287493e-01 -5.27121674e-02 1.09048908e+02] [ 1.54000989e-01 9.88025225e-01 -9.47889190e-03 8.81443728e+00] [ 5.35434255e-02 1.23432772e-03 9.98564759e-01 5.70210415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:109.11, Y:8.83, Z:5.70 [[ 9.86609054e-01 -1.54351140e-01 -5.27095894e-02 1.09105660e+02] [ 1.54063963e-01 9.88015270e-01 -9.49320559e-03 8.82581474e+00] [ 5.35431664e-02 1.24543434e-03 9.98564759e-01 5.70262056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.16, Y:8.83, Z:5.71 [[ 9.86265723e-01 -1.56530208e-01 -5.27087935e-02 1.09162913e+02] [ 1.56245902e-01 9.87672523e-01 -9.49762269e-03 8.83439744e+00] [ 5.35456920e-02 1.13164674e-03 9.98564759e-01 5.70655093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.22, Y:8.84, Z:5.71 [[ 9.85896590e-01 -1.58839440e-01 -5.27062193e-02 1.09220044e+02] [ 1.58557667e-01 9.87303900e-01 -9.51188684e-03 8.84362614e+00] [ 5.35479186e-02 1.02076164e-03 9.98564759e-01 5.71068193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.28, Y:8.85, Z:5.72 [[ 9.85544292e-01 -1.61011134e-01 -5.27054285e-02 1.09277741e+02] [ 1.60732228e-01 9.86952173e-01 -9.51626660e-03 8.85146528e+00] [ 5.35499621e-02 9.07241280e-04 9.98564759e-01 5.71690572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.33, Y:8.86, Z:5.72 [[ 9.85228225e-01 -1.62934822e-01 -5.27028275e-02 1.09334821e+02] [ 1.62657896e-01 9.86636496e-01 -9.53064954e-03 8.86206294e+00] [ 5.35514078e-02 8.17333898e-04 9.98564759e-01 5.72148790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.39, Y:8.87, Z:5.72 [[ 9.85132137e-01 -1.63515628e-01 -5.27002105e-02 1.09391288e+02] [ 1.63238759e-01 9.86540419e-01 -9.54509851e-03 8.87215047e+00] [ 5.35516606e-02 8.00466301e-04 9.98564759e-01 5.72399982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.45, Y:8.88, Z:5.72 [[ 9.85269312e-01 -1.62687397e-01 -5.26990869e-02 1.09448938e+02] [ 1.62409012e-01 9.86677295e-01 -9.55129798e-03 8.88278522e+00] [ 5.35508684e-02 8.51794134e-04 9.98564760e-01 5.72462495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.51, Y:8.90, Z:5.72 [[ 9.85360682e-01 -1.62133898e-01 -5.26965338e-02 1.09505435e+02] [ 1.61853971e-01 9.86768360e-01 -9.56536318e-03 8.89697267e+00] [ 5.35501419e-02 8.96189530e-04 9.98564760e-01 5.72189500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:8.91, Z:5.73 [[ 9.85295344e-01 -1.62530743e-01 -5.26957492e-02 1.09562043e+02] [ 1.62251151e-01 9.86703089e-01 -9.56968357e-03 8.90717263e+00] [ 5.35504263e-02 8.79018676e-04 9.98564760e-01 5.72675578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:8.92, Z:5.73 [[ 9.85208680e-01 -1.63056100e-01 -5.26931187e-02 1.09618516e+02] [ 1.62776486e-01 9.86616420e-01 -9.58414603e-03 8.91712587e+00] [ 5.35506496e-02 8.65183166e-04 9.98564760e-01 5.73352154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:8.93, Z:5.74 [[ 9.85183568e-01 -1.63208151e-01 -5.26919036e-02 1.09675215e+02] [ 1.62928397e-01 9.86591280e-01 -9.59082167e-03 8.92871418e+00] [ 5.35506729e-02 8.63712521e-04 9.98564760e-01 5.73793052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:8.95, Z:5.73 [[ 9.83480707e-01 -1.73174860e-01 -5.26893406e-02 1.09731879e+02] [ 1.72908621e-01 9.84891037e-01 -9.60488167e-03 8.94774716e+00] [ 5.35565834e-02 3.35774587e-04 9.98564760e-01 5.73363756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:8.95, Z:5.74 [[ 9.85411060e-01 -1.61830588e-01 -5.26868465e-02 1.09790009e+02] [ 1.61547385e-01 9.86818082e-01 -9.61854353e-03 8.95086271e+00] [ 5.35489073e-02 9.66796904e-04 9.98564760e-01 5.74185822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.85, Y:8.97, Z:5.74 [[ 9.84861360e-01 -1.65143379e-01 -5.26855418e-02 1.09845846e+02] [ 1.64864527e-01 9.86269250e-01 -9.62568462e-03 8.97081957e+00] [ 5.35517479e-02 7.93987906e-04 9.98564760e-01 5.73737773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:8.97, Z:5.74 [[ 9.86090063e-01 -1.57641749e-01 -5.26826984e-02 1.09904785e+02] [ 1.57351358e-01 9.87495619e-01 -9.64122189e-03 8.97183612e+00] [ 5.35437930e-02 1.21741895e-03 9.98564760e-01 5.74427183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.96, Y:8.99, Z:5.74 [[ 9.86373913e-01 -1.55856640e-01 -5.26802705e-02 1.09960986e+02] [ 1.55562999e-01 9.87778793e-01 -9.65447021e-03 8.98508304e+00] [ 5.35411673e-02 1.32781672e-03 9.98564760e-01 5.74444315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.02, Y:8.99, Z:5.75 [[ 9.86556463e-01 -1.54697190e-01 -5.26794484e-02 1.10019344e+02] [ 1.54401658e-01 9.87960947e-01 -9.65895364e-03 8.99350314e+00] [ 5.35394507e-02 1.39530895e-03 9.98564760e-01 5.75022807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.07, Y:9.01, Z:5.76 [[ 9.85652148e-01 -1.60358871e-01 -5.26770815e-02 1.10074756e+02] [ 1.60070719e-01 9.87058165e-01 -9.67184490e-03 9.01155787e+00] [ 5.35463095e-02 1.10101638e-03 9.98564760e-01 5.75551547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.13, Y:9.02, Z:5.76 [[ 9.86598218e-01 -1.54432401e-01 -5.26743782e-02 1.10131561e+02] [ 1.54135021e-01 9.88002311e-01 -9.68654527e-03 9.01678913e+00] [ 5.35383238e-02 1.43776192e-03 9.98564760e-01 5.75520992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.19, Y:9.03, Z:5.76 [[ 9.85761649e-01 -1.59685641e-01 -5.26732162e-02 1.10187181e+02] [ 1.59395406e-01 9.87167237e-01 -9.69286004e-03 9.03494566e+00] [ 5.35450838e-02 1.15898100e-03 9.98564760e-01 5.75830661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.24, Y:9.04, Z:5.77 [[ 9.86616921e-01 -1.54314231e-01 -5.26703824e-02 1.10244821e+02] [ 1.54015525e-01 9.88020733e-01 -9.70823442e-03 9.04080981e+00] [ 5.35375485e-02 1.46625174e-03 9.98564761e-01 5.76549314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.30, Y:9.06, Z:5.76 [[ 9.86410886e-01 -1.55626258e-01 -5.26690883e-02 1.10301662e+02] [ 1.55329045e-01 9.87815014e-01 -9.71524985e-03 9.06236740e+00] [ 5.35392642e-02 1.40218905e-03 9.98564761e-01 5.75668868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.36, Y:9.07, Z:5.76 [[ 9.86582372e-01 -1.54536246e-01 -5.26666077e-02 1.10359453e+02] [ 1.54236766e-01 9.87986019e-01 -9.72867876e-03 9.06959853e+00] [ 5.35373055e-02 1.47501573e-03 9.98564761e-01 5.75938893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:9.08, Z:5.76 [[ 9.86227505e-01 -1.56785935e-01 -5.26638203e-02 1.10417739e+02] [ 1.56488853e-01 9.87631661e-01 -9.74374439e-03 9.07801522e+00] [ 5.35401384e-02 1.36824790e-03 9.98564761e-01 5.76498254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:9.09, Z:5.77 [[ 9.85966702e-01 -1.58418574e-01 -5.26613587e-02 1.10474895e+02] [ 1.58123108e-01 9.87371198e-01 -9.75703039e-03 9.09207676e+00] [ 5.35420037e-02 1.29312937e-03 9.98564761e-01 5.76683143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.53, Y:9.09, Z:5.78 [[ 9.87138859e-01 -1.50943410e-01 -5.26589106e-02 1.10533509e+02] [ 1.50636607e-01 9.88540922e-01 -9.77022508e-03 9.09125113e+00] [ 5.35302391e-02 1.71220919e-03 9.98564761e-01 5.77738893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.59, Y:9.11, Z:5.78 [[ 9.86321399e-01 -1.56196121e-01 -5.26580549e-02 1.10590121e+02] [ 1.55896540e-01 9.87725023e-01 -9.77483469e-03 9.10807840e+00] [ 5.35384698e-02 1.43192007e-03 9.98564761e-01 5.77590679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:9.12, Z:5.78 [[ 9.85943827e-01 -1.58562760e-01 -5.26556851e-02 1.10645802e+02] [ 1.58265868e-01 9.87348023e-01 -9.78758362e-03 9.12140830e+00] [ 5.35414329e-02 1.31640995e-03 9.98564761e-01 5.77507925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.70, Y:9.13, Z:5.78 [[ 9.85946610e-01 -1.58545881e-01 -5.26544092e-02 1.10703999e+02] [ 1.58248599e-01 9.87350723e-01 -9.79444283e-03 9.13268728e+00] [ 5.35412376e-02 1.32431122e-03 9.98564761e-01 5.77604002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.76, Y:9.14, Z:5.78 [[ 9.85216219e-01 -1.63023810e-01 -5.26520640e-02 1.10761230e+02] [ 1.62732238e-01 9.86621529e-01 -9.80703407e-03 9.14135603e+00] [ 5.35464399e-02 1.09386082e-03 9.98564761e-01 5.77760826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.82, Y:9.15, Z:5.78 [[ 9.84079565e-01 -1.69750573e-01 -5.26512318e-02 1.10818083e+02] [ 1.69468370e-01 9.85486786e-01 -9.81149993e-03 9.14987269e+00] [ 5.35526009e-02 7.32578180e-04 9.98564761e-01 5.78350146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.87, Y:9.16, Z:5.79 [[ 9.82995140e-01 -1.75921823e-01 -5.26504212e-02 1.10874689e+02] [ 1.75648222e-01 9.84404059e-01 -9.81584756e-03 9.15938177e+00] [ 5.35561102e-02 4.00977581e-04 9.98564761e-01 5.79125111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:9.17, Z:5.79 [[ 9.81723692e-01 -1.82884136e-01 -5.26496545e-02 1.10932684e+02] [ 1.82620306e-01 9.83134473e-01 -9.81995847e-03 9.17189366e+00] [ 5.35576049e-02 2.55898701e-05 9.98564761e-01 5.79339209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:9.18, Z:5.79 [[ 9.80722273e-01 -1.88181009e-01 -5.26472423e-02 1.10988048e+02] [ 1.87924105e-01 9.82134332e-01 -9.83287402e-03 9.18370730e+00] [ 5.35570242e-02 -2.50367346e-04 9.98564761e-01 5.79444841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:9.19, Z:5.80 [[ 9.80301171e-01 -1.90362833e-01 -5.26460512e-02 1.11045879e+02] [ 1.90108730e-01 9.81713736e-01 -9.83924701e-03 9.19382463e+00] [ 5.35563785e-02 -3.63048586e-04 9.98564761e-01 5.80460699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.10, Y:9.21, Z:5.80 [[ 9.79867740e-01 -1.92581723e-01 -5.26449597e-02 1.11102910e+02] [ 1.92330505e-01 9.81280822e-01 -9.84508347e-03 9.20929277e+00] [ 5.35554725e-02 -4.78351985e-04 9.98564761e-01 5.80489258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.16, Y:9.22, Z:5.81 [[ 9.79659564e-01 -1.93638561e-01 -5.26426302e-02 1.11158421e+02] [ 1.93388199e-01 9.81072797e-01 -9.85752386e-03 9.22335357e+00] [ 5.35550492e-02 -5.23445916e-04 9.98564761e-01 5.80528869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.22, Y:9.24, Z:5.81 [[ 9.78927902e-01 -1.97304600e-01 -5.26408338e-02 1.11215544e+02] [ 1.97059015e-01 9.80341973e-01 -9.86710774e-03 9.23675145e+00] [ 5.35528446e-02 -7.14163758e-04 9.98564761e-01 5.81329386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:9.25, Z:5.82 [[ 9.78422356e-01 -1.99797112e-01 -5.26384639e-02 1.11271381e+02] [ 1.99554450e-01 9.79836932e-01 -9.87973419e-03 9.24840886e+00] [ 5.35510533e-02 -8.37686913e-04 9.98564762e-01 5.82140281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:9.26, Z:5.82 [[ 9.78623822e-01 -1.98808233e-01 -5.26374573e-02 1.11328579e+02] [ 1.98563854e-01 9.80038102e-01 -9.88509421e-03 9.26317274e+00] [ 5.35519519e-02 -7.78107697e-04 9.98564762e-01 5.81530776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:9.28, Z:5.82 [[ 9.79325785e-01 -1.95321663e-01 -5.26351068e-02 1.11383750e+02] [ 1.95071576e-01 9.80739067e-01 -9.89759455e-03 9.27745630e+00] [ 5.35545201e-02 -5.74643683e-04 9.98564762e-01 5.81640002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.44, Y:9.29, Z:5.82 [[ 9.80146476e-01 -1.91161067e-01 -5.26339352e-02 1.11439364e+02] [ 1.90904647e-01 9.81558623e-01 -9.90382075e-03 9.29271555e+00] [ 5.35565179e-02 -3.40867806e-04 9.98564762e-01 5.81793103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.50, Y:9.31, Z:5.82 [[ 9.80909618e-01 -1.87206071e-01 -5.26327700e-02 1.11495859e+02] [ 1.86943624e-01 9.82320657e-01 -9.91000938e-03 9.30620776e+00] [ 5.35574711e-02 -1.18537269e-04 9.98564762e-01 5.82074431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:9.32, Z:5.82 [[ 9.81078736e-01 -1.86318511e-01 -5.26300945e-02 1.11552741e+02] [ 1.86054026e-01 9.82489394e-01 -9.92419800e-03 9.32063075e+00] [ 5.35575715e-02 -5.56213743e-05 9.98564762e-01 5.82149277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:9.33, Z:5.82 [[ 9.80603391e-01 -1.88805112e-01 -5.26271664e-02 1.11608338e+02] [ 1.88543373e-01 9.82014561e-01 -9.93970108e-03 9.33319682e+00] [ 5.35573102e-02 -1.75598869e-04 9.98564762e-01 5.82469521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:9.34, Z:5.84 [[ 9.80806953e-01 -1.87745129e-01 -5.26259145e-02 1.11664358e+02] [ 1.87481510e-01 9.82217773e-01 -9.94632507e-03 9.34373139e+00] [ 5.35574827e-02 -1.10961106e-04 9.98564762e-01 5.83824011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85038572299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:9.36, Z:5.85 [[ 9.80133138e-01 -1.91231889e-01 -5.26250523e-02 1.11721234e+02] [ 1.90973044e-01 9.81544842e-01 -9.95088495e-03 9.35635364e+00] [ 5.35567751e-02 -2.96774327e-04 9.98564762e-01 5.84669042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.78, Y:9.37, Z:5.84 [[ 9.80978655e-01 -1.86846802e-01 -5.26227218e-02 1.11777590e+02] [ 1.86580985e-01 9.82389063e-01 -9.96319383e-03 9.36974099e+00] [ 5.35575773e-02 -4.47187881e-05 9.98564762e-01 5.84214336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.84, Y:9.38, Z:5.84 [[ 9.81476025e-01 -1.84216572e-01 -5.26219183e-02 1.11835347e+02] [ 1.83946749e-01 9.82885672e-01 -9.96743591e-03 9.38269569e+00] [ 5.35574964e-02 1.03168588e-04 9.98564762e-01 5.83977444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.89, Y:9.40, Z:5.85 [[ 9.81627001e-01 -1.83411127e-01 -5.26192918e-02 1.11891385e+02] [ 1.83139405e-01 9.83036282e-01 -9.98128239e-03 9.39580872e+00] [ 5.35573512e-02 1.61230524e-04 9.98564762e-01 5.84696369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:9.41, Z:5.85 [[ 9.81490292e-01 -1.84141562e-01 -5.26183661e-02 1.11948934e+02] [ 1.83870627e-01 9.82899725e-01 -9.98616015e-03 9.40724729e+00] [ 5.35574447e-02 1.26347287e-04 9.98564762e-01 5.85320657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:9.42, Z:5.86 [[ 9.80455831e-01 -1.89573025e-01 -5.26158932e-02 1.12005955e+02] [ 1.89309199e-01 9.81866612e-01 -9.99917238e-03 9.41882164e+00] [ 5.35573622e-02 -1.56925758e-04 9.98564762e-01 5.85629301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.06, Y:9.43, Z:5.85 [[ 9.78280590e-01 -2.00496249e-01 -5.26150388e-02 1.12064458e+02] [ 2.00247932e-01 9.79694183e-01 -1.00036660e-02 9.43039907e+00] [ 5.35523450e-02 -7.49660421e-04 9.98564762e-01 5.85033653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.12, Y:9.44, Z:5.85 [[ 9.77811406e-01 -2.02772687e-01 -5.26126671e-02 1.12122121e+02] [ 2.02526991e-01 9.79225457e-01 -1.00161241e-02 9.44374515e+00] [ 5.35506594e-02 -8.61604804e-04 9.98564762e-01 5.85285028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.18, Y:9.46, Z:5.86 [[ 9.78382947e-01 -1.99997481e-01 -5.26100416e-02 1.12179422e+02] [ 1.99747034e-01 9.79796164e-01 -1.00298958e-02 9.45510040e+00] [ 5.35530709e-02 -6.95620786e-04 9.98564762e-01 5.85662143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.24, Y:9.47, Z:5.86 [[ 9.79445051e-01 -1.94730250e-01 -5.26072503e-02 1.12235302e+02] [ 1.94471417e-01 9.80856756e-01 -1.00445152e-02 9.47056023e+00] [ 5.35561478e-02 -3.92555839e-04 9.98564763e-01 5.85688801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:112.29, Y:9.48, Z:5.86 [[ 9.80432056e-01 -1.89698597e-01 -5.26063213e-02 1.12292705e+02] [ 1.89432258e-01 9.81842365e-01 -1.00493781e-02 9.48237637e+00] [ 5.35574679e-02 -1.12601865e-04 9.98564763e-01 5.85901386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.35, Y:9.49, Z:5.86 [[ 9.81710200e-01 -1.82969731e-01 -5.26038138e-02 1.12350138e+02] [ 1.82693023e-01 9.83118510e-01 -1.00624869e-02 9.49397326e+00] [ 5.35569136e-02 2.68096282e-04 9.98564763e-01 5.86402661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.41, Y:9.51, Z:5.87 [[ 9.82006605e-01 -1.81372964e-01 -5.26011059e-02 1.12406657e+02] [ 1.81093209e-01 9.83414313e-01 -1.00766226e-02 9.51004998e+00] [ 5.35563073e-02 3.69606892e-04 9.98564763e-01 5.86635002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.46, Y:9.52, Z:5.88 [[ 9.82964529e-01 -1.76108338e-01 -5.25983647e-02 1.12463807e+02] [ 1.75820279e-01 9.84370562e-01 -1.00909109e-02 9.51709627e+00] [ 5.35533753e-02 6.71148340e-04 9.98564763e-01 5.88024412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69038572299999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:112.52, Y:9.53, Z:5.88 [[ 9.83381864e-01 -1.73763258e-01 -5.25969585e-02 1.12522237e+02] [ 1.73471455e-01 9.84787124e-01 -1.00982351e-02 9.52712979e+00] [ 5.35515097e-02 8.06350336e-04 9.98564763e-01 5.87705135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.58, Y:9.54, Z:5.89 [[ 9.83876566e-01 -1.70940753e-01 -5.25943067e-02 1.12580120e+02] [ 1.70644182e-01 9.85280828e-01 -1.01120274e-02 9.53810325e+00] [ 5.35487196e-02 9.74074327e-04 9.98564763e-01 5.88684176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:112.64, Y:9.55, Z:5.89 [[ 9.84351685e-01 -1.68184138e-01 -5.25914122e-02 1.12637600e+02] [ 1.67882832e-01 9.85754938e-01 -1.01270593e-02 9.54622563e+00] [ 5.35454550e-02 1.13939269e-03 9.98564763e-01 5.88839595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:9.56, Z:5.89 [[ 9.84851825e-01 -1.65231128e-01 -5.25885666e-02 1.12694410e+02] [ 1.64924827e-01 9.86253996e-01 -1.01418143e-02 9.55600935e+00] [ 5.35414274e-02 1.31502403e-03 9.98564763e-01 5.88855185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:9.56, Z:5.89 [[ 9.84540009e-01 -1.67079338e-01 -5.25876870e-02 1.12753261e+02] [ 1.66775426e-01 9.85942700e-01 -1.01463732e-02 9.56303812e+00] [ 5.35436955e-02 1.21917650e-03 9.98564763e-01 5.88787738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99038572299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:112.81, Y:9.57, Z:5.90 [[ 9.85105504e-01 -1.63713006e-01 -5.25851402e-02 1.12810809e+02] [ 1.63403597e-01 9.86506993e-01 -1.01595555e-02 9.56739791e+00] [ 5.35388599e-02 1.41563298e-03 9.98564763e-01 5.89698170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:9.57, Z:5.90 [[ 9.85157364e-01 -1.63400932e-01 -5.25842420e-02 1.12868048e+02] [ 1.63090832e-01 9.86558700e-01 -1.01642021e-02 9.57362506e+00] [ 5.35382816e-02 1.43733075e-03 9.98564763e-01 5.90008965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:9.58, Z:5.90 [[ 9.85381199e-01 -1.62046062e-01 -5.25829557e-02 1.12926059e+02] [ 1.61733681e-01 9.86782028e-01 -1.01708522e-02 9.58063218e+00] [ 5.35360622e-02 1.51773155e-03 9.98564763e-01 5.90306319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:9.59, Z:5.91 [[ 9.86010102e-01 -1.58175234e-01 -5.25801784e-02 1.12985485e+02] [ 1.57856590e-01 9.87409519e-01 -1.01851899e-02 9.58518489e+00] [ 5.35292135e-02 1.74257241e-03 9.98564763e-01 5.90565421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.04, Y:9.60, Z:5.91 [[ 9.86489715e-01 -1.55156770e-01 -5.25777376e-02 1.13041405e+02] [ 1.54833175e-01 9.87887996e-01 -1.01977743e-02 9.59536821e+00] [ 5.35231696e-02 1.91922141e-03 9.98564764e-01 5.90695793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.10, Y:9.60, Z:5.91 [[ 9.87078163e-01 -1.51368454e-01 -5.25765310e-02 1.13099707e+02] [ 1.51039162e-01 9.88475113e-01 -1.02039912e-02 9.60288337e+00] [ 5.35151548e-02 2.13102169e-03 9.98564764e-01 5.91059537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.16, Y:9.61, Z:5.91 [[ 9.87213073e-01 -1.50486978e-01 -5.25739270e-02 1.13157871e+02] [ 1.50155727e-01 9.88609560e-01 -1.02173903e-02 9.61147314e+00] [ 5.35126711e-02 2.19246508e-03 9.98564764e-01 5.91042277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.22, Y:9.62, Z:5.91 [[ 9.86954825e-01 -1.52172372e-01 -5.25713153e-02 1.13215737e+02] [ 1.51842793e-01 9.88351707e-01 -1.02308105e-02 9.61766908e+00] [ 5.35157960e-02 2.11477244e-03 9.98564764e-01 5.91322943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:9.62, Z:5.92 [[ 9.86346697e-01 -1.56065991e-01 -5.25699466e-02 1.13274264e+02] [ 1.55741552e-01 9.87744783e-01 -1.02378390e-02 9.62479845e+00] [ 5.35234689e-02 1.91073363e-03 9.98564764e-01 5.91974832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:9.63, Z:5.93 [[ 9.85625438e-01 -1.60558918e-01 -5.25673890e-02 1.13332842e+02] [ 1.60240154e-01 9.87024828e-01 -1.02509541e-02 9.63124305e+00] [ 5.35312002e-02 1.68019456e-03 9.98564764e-01 5.92548642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:9.64, Z:5.93 [[ 9.84685309e-01 -1.66228117e-01 -5.25647652e-02 1.13389901e+02] [ 1.65916695e-01 9.86086352e-01 -1.02643913e-02 9.64045488e+00] [ 5.35396279e-02 1.38582319e-03 9.98564764e-01 5.92812487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.45, Y:9.65, Z:5.93 [[ 9.83394629e-01 -1.73701621e-01 -5.25618641e-02 1.13448002e+02] [ 1.73400056e-01 9.84797826e-01 -1.02792254e-02 9.65034002e+00] [ 5.35483276e-02 9.94304859e-04 9.98564764e-01 5.92550659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71038572299999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:9.66, Z:5.93 [[ 9.83316706e-01 -1.74143015e-01 -5.25591646e-02 1.13504973e+02] [ 1.73841343e-01 9.84719880e-01 -1.02930100e-02 9.65671622e+00] [ 5.35485100e-02 9.84332902e-04 9.98564764e-01 5.93422180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.56, Y:9.67, Z:5.94 [[ 9.82379870e-01 -1.79352925e-01 -5.25577754e-02 1.13561602e+02] [ 1.79058316e-01 9.83784543e-01 -1.03000988e-02 9.66644721e+00] [ 5.35528799e-02 7.07702976e-04 9.98564764e-01 5.93994967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.62, Y:9.68, Z:5.94 [[ 9.81408467e-01 -1.84594789e-01 -5.25564840e-02 1.13618893e+02] [ 1.84307330e-01 9.82814621e-01 -1.03066838e-02 9.67574126e+00] [ 5.35558411e-02 4.28521436e-04 9.98564764e-01 5.94448109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.68, Y:9.69, Z:5.95 [[ 9.80812058e-01 -1.87738690e-01 -5.25536913e-02 1.13676087e+02] [ 1.87454977e-01 9.82218973e-01 -1.03209043e-02 9.68659377e+00] [ 5.35568657e-02 2.71416356e-04 9.98564764e-01 5.94916312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.73, Y:9.70, Z:5.95 [[ 9.79665979e-01 -1.93630622e-01 -5.25523715e-02 1.13732704e+02] [ 1.93355010e-01 9.81074503e-01 -1.03276198e-02 9.69575444e+00] [ 5.35575352e-02 -4.36465592e-05 9.98564764e-01 5.95417995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.79, Y:9.71, Z:5.96 [[ 9.79105540e-01 -1.96445198e-01 -5.25511621e-02 1.13789458e+02] [ 1.96173305e-01 9.80514787e-01 -1.03337703e-02 9.70866311e+00] [ 5.35572111e-02 -1.91283389e-04 9.98564764e-01 5.95776497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:113.85, Y:9.72, Z:5.96 [[ 9.78548436e-01 -1.99202499e-01 -5.25482842e-02 1.13846189e+02] [ 1.98933792e-01 9.79958294e-01 -1.03483843e-02 9.72221744e+00] [ 5.35565509e-02 -3.27234147e-04 9.98564764e-01 5.95989518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.90, Y:9.73, Z:5.96 [[ 9.77826925e-01 -2.02715274e-01 -5.25454243e-02 1.13903660e+02] [ 2.02450852e-01 9.79237593e-01 -1.03628856e-02 9.73495056e+00] [ 5.35551699e-02 -5.04757352e-04 9.98564765e-01 5.96336787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:9.75, Z:5.96 [[ 9.76839395e-01 -2.07422361e-01 -5.25429377e-02 1.13960481e+02] [ 2.07164059e-01 9.78251196e-01 -1.03754781e-02 9.74827663e+00] [ 5.35522978e-02 -7.49832458e-04 9.98564765e-01 5.96494206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:9.76, Z:5.97 [[ 9.76277084e-01 -2.10053296e-01 -5.25420580e-02 1.14016479e+02] [ 2.09798559e-01 9.77689532e-01 -1.03799307e-02 9.76381010e+00] [ 5.35501588e-02 -8.89559536e-04 9.98564765e-01 5.97454908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:9.78, Z:5.98 [[ 9.76045591e-01 -2.11127045e-01 -5.25392631e-02 1.14074417e+02] [ 2.10873102e-01 9.77458182e-01 -1.03940586e-02 9.77704868e+00] [ 5.35493994e-02 -9.34042364e-04 9.98564765e-01 5.97606512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:114.13, Y:9.79, Z:5.98 [[ 9.76691700e-01 -2.08118298e-01 -5.25366204e-02 1.14130081e+02] [ 2.07859285e-01 9.78103371e-01 -1.04073987e-02 9.79284627e+00] [ 5.35522156e-02 -7.55404434e-04 9.98564765e-01 5.98159036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:9.81, Z:5.98 [[ 9.78148640e-01 -2.01159733e-01 -5.25356925e-02 1.14186772e+02] [ 2.00890426e-01 9.79558383e-01 -1.04120808e-02 9.81089598e+00] [ 5.35562693e-02 -3.69354906e-04 9.98564765e-01 5.98202027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49038572299999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:114.24, Y:9.82, Z:5.98 [[ 9.79453717e-01 -1.94706665e-01 -5.25331480e-02 1.14244208e+02] [ 1.94427381e-01 9.80861517e-01 -1.04249027e-02 9.82355946e+00] [ 5.35575413e-02 -3.17274060e-06 9.98564765e-01 5.97781081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:114.30, Y:9.84, Z:5.99 [[ 9.80453293e-01 -1.89609808e-01 -5.25305744e-02 1.14300689e+02] [ 1.89322512e-01 9.81859480e-01 -1.04378549e-02 9.83827808e+00] [ 5.35567621e-02 2.88608860e-04 9.98564765e-01 5.98880392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:114.36, Y:9.85, Z:5.99 [[ 9.81947595e-01 -1.81713379e-01 -5.25277814e-02 1.14357015e+02] [ 1.81414026e-01 9.83351264e-01 -1.04518920e-02 9.85297580e+00] [ 5.35525088e-02 7.33933959e-04 9.98564765e-01 5.98909876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.41, Y:9.86, Z:5.99 [[ 9.82194862e-01 -1.80372624e-01 -5.25259020e-02 1.14413826e+02] [ 1.80070851e-01 9.83598012e-01 -1.04613281e-02 9.86279226e+00] [ 5.35513100e-02 8.16678800e-04 9.98564765e-01 5.99417662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.47, Y:9.87, Z:6.00 [[ 9.82300959e-01 -1.79794479e-01 -5.25240001e-02 1.14470686e+02] [ 1.79491369e-01 9.83703822e-01 -1.04708684e-02 9.87385212e+00] [ 5.35506640e-02 8.57939342e-04 9.98564765e-01 6.00374745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790385723 meters Centerline goodness : 0.997437 with order 1 Centerline is valid? [True, True] Translation: X:114.53, Y:9.89, Z:6.00 [[ 9.82546387e-01 -1.78448678e-01 -5.25230027e-02 1.14527935e+02] [ 1.78143380e-01 9.83948775e-01 -1.04758690e-02 9.88688311e+00] [ 5.35493492e-02 9.36401983e-04 9.98564765e-01 6.00000811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85038572299999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:114.58, Y:9.90, Z:6.00 [[ 9.82405888e-01 -1.79221026e-01 -5.25213825e-02 1.14584652e+02] [ 1.78916396e-01 9.83808421e-01 -1.04839860e-02 9.90323972e+00] [ 5.35499291e-02 9.02593132e-04 9.98564765e-01 5.99913392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91038572299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:114.64, Y:9.92, Z:6.00 [[ 9.83090924e-01 -1.75425466e-01 -5.25179980e-02 1.14641179e+02] [ 1.75114518e-01 9.84492070e-01 -1.05009126e-02 9.91660348e+00] [ 5.35456801e-02 1.12668800e-03 9.98564765e-01 5.99964017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97038572299999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:9.93, Z:6.00 [[ 9.82903982e-01 -1.76470173e-01 -5.25170475e-02 1.14698030e+02] [ 1.76160460e-01 9.84305401e-01 -1.05056642e-02 9.92689269e+00] [ 5.35467499e-02 1.07463190e-03 9.98564765e-01 5.99527833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:9.93, Z:6.02 [[ 9.84287111e-01 -1.68585117e-01 -5.25161103e-02 1.14756492e+02] [ 1.68263931e-01 9.85685945e-01 -1.05103470e-02 9.92865071e+00] [ 5.35362799e-02 1.50863195e-03 9.98564765e-01 6.02064317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090385723 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:114.81, Y:9.94, Z:6.02 [[ 9.83546128e-01 -1.72856427e-01 -5.25135177e-02 1.14814846e+02] [ 1.72540625e-01 9.84946188e-01 -1.05232845e-02 9.94014928e+00] [ 5.35420065e-02 1.28942055e-03 9.98564766e-01 6.02002232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:114.87, Y:9.95, Z:6.03 [[ 9.82110642e-01 -1.80834986e-01 -5.25109044e-02 1.14871606e+02] [ 1.80529864e-01 9.83513068e-01 -1.05363088e-02 9.94755072e+00] [ 5.35504940e-02 8.68034522e-04 9.98564766e-01 6.02741568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.93, Y:9.96, Z:6.03 [[ 9.81072108e-01 -1.86387477e-01 -5.25092996e-02 1.14928787e+02] [ 1.86089865e-01 9.82476147e-01 -1.05443007e-02 9.95854141e+00] [ 5.35544600e-02 5.73270869e-04 9.98564766e-01 6.02848640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27038572299999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:114.99, Y:9.97, Z:6.03 [[ 9.80656599e-01 -1.88561662e-01 -5.25084201e-02 1.14985866e+02] [ 1.88266929e-01 9.82061245e-01 -1.05486786e-02 9.97045415e+00] [ 5.35555608e-02 4.59032321e-04 9.98564766e-01 6.03450588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33038572299999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:115.04, Y:9.98, Z:6.04 [[ 9.80778079e-01 -1.87929507e-01 -5.25058163e-02 1.15041009e+02] [ 1.87633175e-01 9.82182388e-01 -1.05616229e-02 9.98402592e+00] [ 5.35551287e-02 5.06775143e-04 9.98564766e-01 6.03514102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.10, Y:10.00, Z:6.04 [[ 9.81093089e-01 -1.86278351e-01 -5.25045394e-02 1.15097599e+02] [ 1.85979317e-01 9.82496825e-01 -1.05679672e-02 9.99817626e+00] [ 5.35541268e-02 6.03401165e-04 9.98564766e-01 6.03768789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.16, Y:10.01, Z:6.04 [[ 9.81177099e-01 -1.85836166e-01 -5.25016143e-02 1.15155308e+02] [ 1.85535722e-01 9.82580535e-01 -1.05824790e-02 1.00118819e+01] [ 5.35536716e-02 6.42361095e-04 9.98564766e-01 6.03822014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.21, Y:10.03, Z:6.04 [[ 9.80997554e-01 -1.86782356e-01 -5.24990573e-02 1.15211357e+02] [ 1.86482589e-01 9.82401133e-01 -1.05951492e-02 1.00251304e+01] [ 5.35541203e-02 6.03655356e-04 9.98564766e-01 6.04060100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:115.27, Y:10.04, Z:6.05 [[ 9.80731496e-01 -1.88174717e-01 -5.24977072e-02 1.15267908e+02] [ 1.87876584e-01 9.82135424e-01 -1.06018346e-02 1.00393598e+01] [ 5.35548551e-02 5.34463237e-04 9.98564766e-01 6.04734510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:10.05, Z:6.05 [[ 9.80605261e-01 -1.88832153e-01 -5.24951533e-02 1.15324937e+02] [ 1.88534285e-01 9.82009245e-01 -1.06144652e-02 1.00508214e+01] [ 5.35550781e-02 5.11464206e-04 9.98564766e-01 6.05275515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:10.07, Z:6.04 [[ 9.80457512e-01 -1.89598055e-01 -5.24942363e-02 1.15380866e+02] [ 1.89301041e-01 9.81861677e-01 -1.06189980e-02 1.00681183e+01] [ 5.35554203e-02 4.74262802e-04 9.98564766e-01 6.04387449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.44, Y:10.08, Z:6.05 [[ 9.80984148e-01 -1.86854922e-01 -5.24913202e-02 1.15436308e+02] [ 1.86553212e-01 9.82387312e-01 -1.06333932e-02 1.00820616e+01] [ 5.35537088e-02 6.38765770e-04 9.98564766e-01 6.05284006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:10.09, Z:6.04 [[ 9.81013476e-01 -1.86701139e-01 -5.24904264e-02 1.15494343e+02] [ 1.86398973e-01 9.82416541e-01 -1.06378037e-02 1.00948744e+01] [ 5.35535532e-02 6.51667201e-04 9.98564766e-01 6.04172973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:10.11, Z:6.05 [[ 9.80991904e-01 -1.86815147e-01 -5.24879620e-02 1.15551098e+02] [ 1.86512494e-01 9.82394864e-01 -1.06499495e-02 1.01092829e+01] [ 5.35534761e-02 6.57853554e-04 9.98564766e-01 6.04939477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:10.12, Z:6.05 [[ 9.81009134e-01 -1.86725387e-01 -5.24853285e-02 1.15607487e+02] [ 1.86421913e-01 9.82411916e-01 -1.06629120e-02 1.01205221e+01] [ 5.35532485e-02 6.75998700e-04 9.98564766e-01 6.05347399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:10.14, Z:6.05 [[ 9.79182454e-01 -1.96079903e-01 -5.24823184e-02 1.15663603e+02] [ 1.95789037e-01 9.80587905e-01 -1.06777074e-02 1.01436057e+01] [ 5.35572104e-02 1.79961126e-04 9.98564766e-01 6.04657214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05038572299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:115.72, Y:10.15, Z:6.06 [[ 9.80008338e-01 -1.91909738e-01 -5.24815267e-02 1.15722418e+02] [ 1.91612684e-01 9.81412494e-01 -1.06815970e-02 1.01477758e+01] [ 5.35559285e-02 4.11927938e-04 9.98564766e-01 6.05713931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.78, Y:10.16, Z:6.06 [[ 9.79441213e-01 -1.94783627e-01 -5.24809486e-02 1.15778535e+02] [ 1.94490541e-01 9.80846202e-01 -1.06844368e-02 1.01616673e+01] [ 5.35568924e-02 2.57729722e-04 9.98564766e-01 6.06218222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.84, Y:10.17, Z:6.07 [[ 9.79248966e-01 -1.95748079e-01 -5.24800108e-02 1.15835201e+02] [ 1.95456131e-01 9.80654193e-01 -1.06890408e-02 1.01712891e+01] [ 5.35571019e-02 2.09692326e-04 9.98564766e-01 6.06793256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.89, Y:10.19, Z:6.07 [[ 9.79687362e-01 -1.93542855e-01 -5.24770109e-02 1.15891623e+02] [ 1.93246955e-01 9.81091761e-01 -1.07037484e-02 1.01851535e+01] [ 5.35563971e-02 3.45304447e-04 9.98564767e-01 6.06927925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.95, Y:10.19, Z:6.07 [[ 9.80741950e-01 -1.88126254e-01 -5.24760871e-02 1.15948786e+02] [ 1.87822356e-01 9.82144641e-01 -1.07082756e-02 1.01945260e+01] [ 5.35536155e-02 6.45872738e-04 9.98564767e-01 6.07305175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.01, Y:10.21, Z:6.07 [[ 9.81691316e-01 -1.83108601e-01 -5.24728617e-02 1.16005315e+02] [ 1.82796691e-01 9.83092246e-01 -1.07240576e-02 1.02056141e+01] [ 5.35493306e-02 9.35848741e-04 9.98564767e-01 6.07443588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.06, Y:10.22, Z:6.08 [[ 9.82342516e-01 -1.79583162e-01 -5.24696916e-02 1.16062705e+02] [ 1.79265398e-01 9.83742130e-01 -1.07395458e-02 1.02162554e+01] [ 5.35452878e-02 1.14391235e-03 9.98564767e-01 6.08009520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.12, Y:10.23, Z:6.08 [[ 9.82466002e-01 -1.78907295e-01 -5.24665070e-02 1.16119809e+02] [ 1.78587738e-01 9.83865208e-01 -1.07550809e-02 1.02261101e+01] [ 5.35441333e-02 1.19662650e-03 9.98564767e-01 6.08439693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.18, Y:10.24, Z:6.09 [[ 9.82875433e-01 -1.76645064e-01 -5.24633676e-02 1.16177164e+02] [ 1.76321472e-01 9.84273711e-01 -1.07703736e-02 1.02364374e+01] [ 5.35408468e-02 1.33551739e-03 9.98564767e-01 6.08731707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:116.23, Y:10.25, Z:6.10 [[ 9.83521091e-01 -1.73014977e-01 -5.24602806e-02 1.16232482e+02] [ 1.72685424e-01 9.84917976e-01 -1.07853885e-02 1.02499365e+01] [ 5.35351072e-02 1.54853123e-03 9.98564767e-01 6.09527476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:116.29, Y:10.26, Z:6.10 [[ 9.84119970e-01 -1.69575776e-01 -5.24589532e-02 1.16288739e+02] [ 1.69240998e-01 9.85515612e-01 -1.07918410e-02 1.02630725e+01] [ 5.35291522e-02 1.74226060e-03 9.98564767e-01 6.09693601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71038572299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:116.35, Y:10.27, Z:6.09 [[ 9.84266263e-01 -1.68725525e-01 -5.24558985e-02 1.16346384e+02] [ 1.68388752e-01 9.85661425e-01 -1.08066688e-02 1.02731660e+01] [ 5.35271165e-02 1.80365621e-03 9.98564767e-01 6.09141601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77038572299999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:116.40, Y:10.28, Z:6.09 [[ 9.84000910e-01 -1.70267052e-01 -5.24532167e-02 1.16404245e+02] [ 1.69931772e-01 9.85396432e-01 -1.08196699e-02 1.02841559e+01] [ 5.35294459e-02 1.73309694e-03 9.98564767e-01 6.09336243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.46, Y:10.29, Z:6.10 [[ 9.83330416e-01 -1.74098362e-01 -5.24504780e-02 1.16462595e+02] [ 1.73767814e-01 9.84727066e-01 -1.08329301e-02 1.02906585e+01] [ 5.35354007e-02 1.53814476e-03 9.98564768e-01 6.10230548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:10.30, Z:6.10 [[ 9.82107462e-01 -1.80870566e-01 -5.24477879e-02 1.16520938e+02] [ 1.80548956e-01 9.83506197e-01 -1.08459387e-02 1.03006413e+01] [ 5.35444355e-02 1.18248400e-03 9.98564768e-01 6.10391059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:10.31, Z:6.11 [[ 9.82027984e-01 -1.81302414e-01 -5.24449640e-02 1.16577627e+02] [ 1.80980691e-01 9.83426692e-01 -1.08595764e-02 1.03109999e+01] [ 5.35446449e-02 1.17288210e-03 9.98564768e-01 6.10692169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010385723 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:10.32, Z:6.11 [[ 9.82223297e-01 -1.80242222e-01 -5.24417394e-02 1.16635716e+02] [ 1.79918160e-01 9.83621466e-01 -1.08751261e-02 1.03162834e+01] [ 5.35429774e-02 1.24658095e-03 9.98564768e-01 6.11188554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.69, Y:10.33, Z:6.12 [[ 9.82312640e-01 -1.79755014e-01 -5.24405692e-02 1.16693072e+02] [ 1.79429957e-01 9.83710577e-01 -1.08807661e-02 1.03269568e+01] [ 5.35422148e-02 1.27890499e-03 9.98564768e-01 6.11531828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13038572299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:116.75, Y:10.34, Z:6.12 [[ 9.81961988e-01 -1.81661820e-01 -5.24369920e-02 1.16749876e+02] [ 1.81338560e-01 9.83360341e-01 -1.08979780e-02 1.03422234e+01] [ 5.35442049e-02 1.19255153e-03 9.98564768e-01 6.11565967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19038572299999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:116.81, Y:10.35, Z:6.12 [[ 9.82000229e-01 -1.81455879e-01 -5.24338946e-02 1.16807391e+02] [ 1.81131531e-01 9.83398331e-01 -1.09128605e-02 1.03510179e+01] [ 5.35436071e-02 1.21899994e-03 9.98564768e-01 6.11911970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:10.36, Z:6.12 [[ 9.81363758e-01 -1.84868063e-01 -5.24306533e-02 1.16864535e+02] [ 1.84547745e-01 9.82762789e-01 -1.09284109e-02 1.03634959e+01] [ 5.35472093e-02 1.04878756e-03 9.98564768e-01 6.12081165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:10.37, Z:6.13 [[ 9.80672363e-01 -1.88502201e-01 -5.24274332e-02 1.16922006e+02] [ 1.88186244e-01 9.82072385e-01 -1.09438375e-02 1.03696346e+01] [ 5.35504718e-02 8.66197236e-04 9.98564768e-01 6.12784200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:10.38, Z:6.13 [[ 9.79454716e-01 -1.94730995e-01 -5.24242236e-02 1.16979471e+02] [ 1.94423120e-01 9.80856537e-01 -1.09591906e-02 1.03799731e+01] [ 5.35547365e-02 5.41549763e-04 9.98564769e-01 6.13088553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:10.39, Z:6.13 [[ 9.78739794e-01 -1.98293853e-01 -5.24210214e-02 1.17036673e+02] [ 1.97990262e-01 9.80142549e-01 -1.09744865e-02 1.03897559e+01] [ 5.35562467e-02 3.62314859e-04 9.98564769e-01 6.13294909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.09, Y:10.40, Z:6.14 [[ 9.78493061e-01 -1.99508650e-01 -5.24178289e-02 1.17093288e+02] [ 1.99205985e-01 9.79896016e-01 -1.09897140e-02 1.04000824e+01] [ 5.35565647e-02 3.11413671e-04 9.98564769e-01 6.13651995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55038572299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:10.41, Z:6.14 [[ 9.78205040e-01 -2.00916934e-01 -5.24145462e-02 1.17148987e+02] [ 2.00615452e-01 9.79608250e-01 -1.10053481e-02 1.04149260e+01] [ 5.35568827e-02 2.50319098e-04 9.98564769e-01 6.13581688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610385723 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:10.42, Z:6.14 [[ 9.79453585e-01 -1.94739671e-01 -5.24131252e-02 1.17206011e+02] [ 1.94428978e-01 9.80854783e-01 -1.10121116e-02 1.04215006e+01] [ 5.35541595e-02 5.95221851e-04 9.98564769e-01 6.14101919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:10.43, Z:6.15 [[ 9.78994329e-01 -1.97036455e-01 -5.24093387e-02 1.17262392e+02] [ 1.96728085e-01 9.80396041e-01 -1.10301029e-02 1.04338329e+01] [ 5.35552406e-02 4.88019289e-04 9.98564769e-01 6.14579426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.32, Y:10.45, Z:6.15 [[ 9.78005070e-01 -2.01889725e-01 -5.24082267e-02 1.17318510e+02] [ 2.01588029e-01 9.79408233e-01 -1.10353841e-02 1.04476678e+01] [ 5.35569794e-02 2.27790453e-04 9.98564769e-01 6.15073630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:10.46, Z:6.15 [[ 9.77105726e-01 -2.06199202e-01 -5.24050557e-02 1.17375743e+02] [ 2.05902888e-01 9.78510035e-01 -1.10504221e-02 1.04579470e+01] [ 5.35574611e-02 7.07836924e-06 9.98564769e-01 6.15088744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.43, Y:10.47, Z:6.15 [[ 9.76757312e-01 -2.07844179e-01 -5.24018178e-02 1.17431933e+02] [ 2.07549407e-01 9.78161946e-01 -1.10657551e-02 1.04708820e+01] [ 5.35574169e-02 -6.74090362e-05 9.98564769e-01 6.15261592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.49, Y:10.49, Z:6.16 [[ 9.76853011e-01 -2.07394754e-01 -5.23985697e-02 1.17487439e+02] [ 2.07098512e-01 9.78257336e-01 -1.10811142e-02 1.04850295e+01] [ 5.35574502e-02 -2.70460293e-05 9.98564769e-01 6.16322942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.54, Y:10.50, Z:6.16 [[ 9.76195922e-01 -2.10466311e-01 -5.23970723e-02 1.17544074e+02] [ 2.10174108e-01 9.77601093e-01 -1.10881901e-02 1.05032437e+01] [ 5.35571256e-02 -1.88261950e-04 9.98564769e-01 6.15696667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.60, Y:10.51, Z:6.16 [[ 9.76183896e-01 -2.10522770e-01 -5.23943220e-02 1.17600518e+02] [ 2.10229951e-01 9.77588938e-01 -1.11011708e-02 1.05138604e+01] [ 5.35571589e-02 -1.78071549e-04 9.98564770e-01 6.16055209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.66, Y:10.52, Z:6.17 [[ 9.74480548e-01 -2.18271841e-01 -5.23933623e-02 1.17657319e+02] [ 2.17989951e-01 9.75887824e-01 -1.11056987e-02 1.05249693e+01] [ 5.35541056e-02 -5.98939111e-04 9.98564770e-01 6.16592635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.71, Y:10.54, Z:6.17 [[ 9.72657406e-01 -2.26258381e-01 -5.23900338e-02 1.17713473e+02] [ 2.25987200e-01 9.74066784e-01 -1.11213782e-02 1.05408717e+01] [ 5.35476968e-02 -1.02218617e-03 9.98564770e-01 6.16901367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.77, Y:10.56, Z:6.17 [[ 9.71766156e-01 -2.30056885e-01 -5.23867222e-02 1.17770159e+02] [ 2.29790374e-01 9.73176424e-01 -1.11369556e-02 1.05555566e+01] [ 5.35436563e-02 -1.21544794e-03 9.98564770e-01 6.17253340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27038572299999 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:117.83, Y:10.57, Z:6.17 [[ 9.71234456e-01 -2.32292074e-01 -5.23834331e-02 1.17826623e+02] [ 2.32027976e-01 9.72645178e-01 -1.11524046e-02 1.05697131e+01] [ 5.35411088e-02 -1.32282233e-03 9.98564770e-01 6.17424546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33038572299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:117.88, Y:10.59, Z:6.18 [[ 9.71422021e-01 -2.31507182e-01 -5.23801708e-02 1.17881057e+02] [ 2.31241119e-01 9.72832374e-01 -1.11677060e-02 1.05877236e+01] [ 5.35425300e-02 -1.26389380e-03 9.98564770e-01 6.18012250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:117.94, Y:10.61, Z:6.18 [[ 9.72223556e-01 -2.28118001e-01 -5.23787708e-02 1.17936260e+02] [ 2.27846667e-01 9.73632904e-01 -1.11742684e-02 1.06068888e+01] [ 5.35467465e-02 -1.07044138e-03 9.98564770e-01 6.18300761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.99, Y:10.62, Z:6.19 [[ 9.72595330e-01 -2.26528433e-01 -5.23755091e-02 1.17991083e+02] [ 2.26253974e-01 9.74004073e-01 -1.11895355e-02 1.06217984e+01] [ 5.35487072e-02 -9.67277144e-04 9.98564770e-01 6.18756551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:118.05, Y:10.64, Z:6.19 [[ 9.71880100e-01 -2.29577925e-01 -5.23741083e-02 1.18046366e+02] [ 2.29307534e-01 9.73289629e-01 -1.11960884e-02 1.06399287e+01] [ 5.35455512e-02 -1.12852211e-03 9.98564770e-01 6.18864889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:10.66, Z:6.20 [[ 9.70683935e-01 -2.34584685e-01 -5.23710241e-02 1.18102071e+02] [ 2.34320786e-01 9.72094694e-01 -1.12104967e-02 1.06555288e+01] [ 5.35394055e-02 -1.38977047e-03 9.98564770e-01 6.19820700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63038572299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:10.67, Z:6.20 [[ 9.68424707e-01 -2.43744151e-01 -5.23677023e-02 1.18157103e+02] [ 2.43492754e-01 9.69837747e-01 -1.12259926e-02 1.06741147e+01] [ 5.35244444e-02 -1.87962740e-03 9.98564770e-01 6.20168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:10.69, Z:6.21 [[ 9.67502837e-01 -2.47378717e-01 -5.23644084e-02 1.18212546e+02] [ 2.47131798e-01 9.68916667e-01 -1.12413361e-02 1.06896284e+01] [ 5.35176153e-02 -2.06488589e-03 9.98564771e-01 6.21086999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750385723 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:10.71, Z:6.21 [[ 9.66718188e-01 -2.50428159e-01 -5.23610800e-02 1.18267668e+02] [ 2.50184862e-01 9.68132645e-01 -1.12568180e-02 1.07115362e+01] [ 5.35114951e-02 -2.21777887e-03 9.98564771e-01 6.21192098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810385723 meters Centerline goodness : 0.994574 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:10.74, Z:6.22 [[ 9.65603975e-01 -2.54691384e-01 -5.23570676e-02 1.18320484e+02] [ 2.54453323e-01 9.67019323e-01 -1.12754495e-02 1.07353096e+01] [ 5.35020559e-02 -2.43481096e-03 9.98564771e-01 6.21639437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870385723 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:118.38, Y:10.76, Z:6.22 [[ 9.65171635e-01 -2.56325277e-01 -5.23551986e-02 1.18376272e+02] [ 2.56089143e-01 9.66587306e-01 -1.12841212e-02 1.07567961e+01] [ 5.34982759e-02 -2.51648421e-03 9.98564771e-01 6.21961571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:118.43, Y:10.78, Z:6.23 [[ 9.63601185e-01 -2.62168034e-01 -5.23514944e-02 1.18430564e+02] [ 2.61939551e-01 9.65018110e-01 -1.13012806e-02 1.07847589e+01] [ 5.34829747e-02 -2.82299958e-03 9.98564771e-01 6.22556332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99038572299999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:118.48, Y:10.82, Z:6.21 [[ 9.59390270e-01 -2.77182165e-01 -5.23484129e-02 1.18483978e+02] [ 2.76975061e-01 9.60810478e-01 -1.13155362e-02 1.08217380e+01] [ 5.34333685e-02 -3.64318947e-03 9.98564771e-01 6.21341860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05038572299999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:118.54, Y:10.84, Z:6.23 [[ 9.60628157e-01 -2.72861662e-01 -5.23455574e-02 1.18538803e+02] [ 2.72647452e-01 9.62047310e-01 -1.13287305e-02 1.08440896e+01] [ 5.34500789e-02 -3.38918531e-03 9.98564771e-01 6.22704702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:118.59, Y:10.87, Z:6.23 [[ 9.61798910e-01 -2.68706329e-01 -5.23427613e-02 1.18590831e+02] [ 2.68485286e-01 9.63217015e-01 -1.13416346e-02 1.08745859e+01] [ 5.34650073e-02 -3.14488947e-03 9.98564771e-01 6.23424230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.64, Y:10.91, Z:6.24 [[ 9.62634472e-01 -2.65697596e-01 -5.23417751e-02 1.18643354e+02] [ 2.65471873e-01 9.64051839e-01 -1.13461842e-02 1.09073022e+01] [ 5.34748384e-02 -2.97304101e-03 9.98564771e-01 6.23899505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:118.70, Y:10.93, Z:6.24 [[ 9.64002226e-01 -2.60692047e-01 -5.23389417e-02 1.18697900e+02] [ 2.60458256e-01 9.65418285e-01 -1.13592394e-02 1.09310524e+01] [ 5.34902347e-02 -2.68177746e-03 9.98564771e-01 6.23946171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.75, Y:10.97, Z:6.24 [[ 9.66695815e-01 -2.50519714e-01 -5.23361556e-02 1.18749074e+02] [ 2.50270322e-01 9.68109210e-01 -1.13720615e-02 1.09690964e+01] [ 5.35160399e-02 -2.10486227e-03 9.98564772e-01 6.23883068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.80, Y:10.99, Z:6.24 [[ 9.68763184e-01 -2.42402389e-01 -5.23352167e-02 1.18803692e+02] [ 2.42140917e-01 9.70174394e-01 -1.13763810e-02 1.09903611e+01] [ 5.35319490e-02 -1.65147828e-03 9.98564772e-01 6.24154752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:11.02, Z:6.24 [[ 9.73136894e-01 -2.24200637e-01 -5.23322086e-02 1.18856443e+02] [ 2.23912015e-01 9.74542802e-01 -1.13902018e-02 1.10194857e+01] [ 5.35536677e-02 -6.33584699e-04 9.98564772e-01 6.24056536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.91, Y:11.04, Z:6.24 [[ 9.75696676e-01 -2.12784944e-01 -5.23312828e-02 1.18911923e+02] [ 2.12479644e-01 9.77099057e-01 -1.13944534e-02 1.10381053e+01] [ 5.35574152e-02 -1.80200285e-06 9.98564772e-01 6.24246967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:11.05, Z:6.24 [[ 9.77132786e-01 -2.06090419e-01 -5.23283649e-02 1.18968333e+02] [ 2.05774794e-01 9.78532879e-01 -1.14078381e-02 1.10505778e+01] [ 5.35560717e-02 3.79114092e-04 9.98564772e-01 6.24431577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:11.06, Z:6.25 [[ 9.79687194e-01 -1.93584730e-01 -5.23254632e-02 1.19024902e+02] [ 1.93250527e-01 9.81082969e-01 -1.14211320e-02 1.10610225e+01] [ 5.35465776e-02 1.07721343e-03 9.98564772e-01 6.24961621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.08, Y:11.07, Z:6.25 [[ 9.79535667e-01 -1.94350895e-01 -5.23221389e-02 1.19082506e+02] [ 1.94016970e-01 9.80931509e-01 -1.14363412e-02 1.10704157e+01] [ 5.35470978e-02 1.05092125e-03 9.98564772e-01 6.24775941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.14, Y:11.08, Z:6.26 [[ 9.80075594e-01 -1.91609839e-01 -5.23211173e-02 1.19140242e+02] [ 1.91271762e-01 9.81470436e-01 -1.14410130e-02 1.10754185e+01] [ 5.35438405e-02 1.20550534e-03 9.98564772e-01 6.25813103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.20, Y:11.08, Z:6.25 [[ 9.78763255e-01 -1.98204651e-01 -5.23202356e-02 1.19199272e+02] [ 1.97875758e-01 9.80160291e-01 -1.14450439e-02 1.10818618e+01] [ 5.35506782e-02 8.49082124e-04 9.98564772e-01 6.25362326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83038572299999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:119.26, Y:11.09, Z:6.26 [[ 9.78188207e-01 -2.01024038e-01 -5.23179571e-02 1.19258630e+02] [ 2.00698615e-01 9.79586055e-01 -1.14554500e-02 1.10852620e+01] [ 5.35527620e-02 7.05444570e-04 9.98564772e-01 6.26464138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.32, Y:11.09, Z:6.27 [[ 9.76447666e-01 -2.09315685e-01 -5.23153959e-02 1.19318395e+02] [ 2.09001507e-01 9.77848084e-01 -1.14671344e-02 1.10863938e+01] [ 5.35567607e-02 2.63060084e-04 9.98564772e-01 6.27455294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:11.09, Z:6.28 [[ 9.74479817e-01 -2.18294519e-01 -5.23124259e-02 1.19377423e+02] [ 2.17992518e-01 9.75882911e-01 -1.14806673e-02 1.10872631e+01] [ 5.35569693e-02 -2.16038898e-04 9.98564772e-01 6.27539539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.44, Y:11.09, Z:6.28 [[ 9.73187341e-01 -2.23986845e-01 -5.23095931e-02 1.19436211e+02] [ 2.23692357e-01 9.74592031e-01 -1.14935603e-02 1.10904108e+01] [ 5.35549189e-02 -5.15868815e-04 9.98564772e-01 6.28183418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:119.49, Y:11.09, Z:6.28 [[ 9.71977066e-01 -2.29182012e-01 -5.23085866e-02 1.19494550e+02] [ 2.28894785e-01 9.73383260e-01 -1.14981393e-02 1.10943451e+01] [ 5.35514692e-02 -7.97234975e-04 9.98564772e-01 6.28485533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.55, Y:11.10, Z:6.28 [[ 9.71170050e-01 -2.32578753e-01 -5.23054335e-02 1.19553662e+02] [ 2.32295674e-01 9.72577083e-01 -1.15124648e-02 1.11034418e+01] [ 5.35486207e-02 -9.69764943e-04 9.98564772e-01 6.28013934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.61, Y:11.11, Z:6.29 [[ 9.70929805e-01 -2.33580297e-01 -5.23025639e-02 1.19610239e+02] [ 2.33297967e-01 9.72336990e-01 -1.15254872e-02 1.11109065e+01] [ 5.35478442e-02 -1.01164276e-03 9.98564773e-01 6.29168716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.67, Y:11.12, Z:6.29 [[ 9.70562003e-01 -2.35104115e-01 -5.23015555e-02 1.19668241e+02] [ 2.34823748e-01 9.71969580e-01 -1.15300614e-02 1.11242986e+01] [ 5.35462858e-02 -1.09100778e-03 9.98564773e-01 6.28782465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:11.14, Z:6.29 [[ 9.71489104e-01 -2.31243984e-01 -5.22985755e-02 1.19724827e+02] [ 2.30957298e-01 9.72895407e-01 -1.15435622e-02 1.11363498e+01] [ 5.35504232e-02 -8.64292763e-04 9.98564773e-01 6.28853094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.78, Y:11.15, Z:6.30 [[ 9.74124400e-01 -2.19879200e-01 -5.22952202e-02 1.19780501e+02] [ 2.19575289e-01 9.75527082e-01 -1.15587426e-02 1.11464632e+01] [ 5.35569307e-02 -2.23084931e-04 9.98564773e-01 6.30147977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:11.17, Z:6.29 [[ 9.74944728e-01 -2.16213378e-01 -5.22929498e-02 1.19837272e+02] [ 2.15903643e-01 9.76346135e-01 -1.15690053e-02 1.11685818e+01] [ 5.35573931e-02 -1.10976565e-05 9.98564773e-01 6.28700595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.90, Y:11.17, Z:6.31 [[ 9.78454367e-01 -1.99731169e-01 -5.22925660e-02 1.19898163e+02] [ 1.99397738e-01 9.79850325e-01 -1.15707397e-02 1.11673711e+01] [ 5.35499252e-02 8.94421466e-04 9.98564773e-01 6.30694099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.96, Y:11.17, Z:6.31 [[ 9.79662561e-01 -1.93718297e-01 -5.22923270e-02 1.19955311e+02] [ 1.93376241e-01 9.81056432e-01 -1.15718197e-02 1.11740821e+01] [ 5.35433969e-02 1.22438486e-03 9.98564773e-01 6.31011729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:11.18, Z:6.31 [[ 9.80024765e-01 -1.91877848e-01 -5.22910209e-02 1.20013660e+02] [ 1.91532860e-01 9.81417913e-01 -1.15777187e-02 1.11805384e+01] [ 5.35408524e-02 1.33100222e-03 9.98564773e-01 6.31283828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.07, Y:11.18, Z:6.32 [[ 9.79766045e-01 -1.93195381e-01 -5.22880705e-02 1.20071760e+02] [ 1.92851556e-01 9.81159480e-01 -1.15910281e-02 1.11840988e+01] [ 5.35422692e-02 1.27265995e-03 9.98564773e-01 6.31651464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.13, Y:11.19, Z:6.32 [[ 9.79616816e-01 -1.93951478e-01 -5.22849619e-02 1.20130983e+02] [ 1.93607982e-01 9.81010333e-01 -1.16050336e-02 1.11866514e+01] [ 5.35429013e-02 1.24570014e-03 9.98564773e-01 6.32111446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790385723 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:120.19, Y:11.19, Z:6.32 [[ 9.79745424e-01 -1.93301599e-01 -5.22818959e-02 1.20190813e+02] [ 1.92956443e-01 9.81138529e-01 -1.16188301e-02 1.11870991e+01] [ 5.35417209e-02 1.29536700e-03 9.98564773e-01 6.31921553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85038572299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:120.25, Y:11.19, Z:6.32 [[ 9.79327748e-01 -1.95407590e-01 -5.22784404e-02 1.20248863e+02] [ 1.95064602e-01 9.80721389e-01 -1.16343574e-02 1.11913719e+01] [ 5.35440264e-02 1.19617585e-03 9.98564773e-01 6.31931381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.31, Y:11.19, Z:6.33 [[ 9.79474420e-01 -1.94671358e-01 -5.22773624e-02 1.20308481e+02] [ 1.94327063e-01 9.80867739e-01 -1.16391988e-02 1.11940548e+01] [ 5.35429969e-02 1.24139114e-03 9.98564773e-01 6.33126452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.37, Y:11.20, Z:6.32 [[ 9.79154588e-01 -1.96274405e-01 -5.22747642e-02 1.20367370e+02] [ 1.95931770e-01 9.80548315e-01 -1.16508567e-02 1.11998394e+01] [ 5.35446969e-02 1.16570268e-03 9.98564773e-01 6.32485328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:120.43, Y:11.20, Z:6.33 [[ 9.79871712e-01 -1.92662984e-01 -5.22723838e-02 1.20427127e+02] [ 1.92314644e-01 9.81264025e-01 -1.16615267e-02 1.12033174e+01] [ 5.35397542e-02 1.37405530e-03 9.98564773e-01 6.32896056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:120.48, Y:11.21, Z:6.34 [[ 9.79963065e-01 -1.92198642e-01 -5.22692393e-02 1.20484883e+02] [ 1.91848892e-01 9.81355024e-01 -1.16756041e-02 1.12096889e+01] [ 5.35387158e-02 1.41386513e-03 9.98564774e-01 6.33915723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.54, Y:11.22, Z:6.34 [[ 9.79945217e-01 -1.92290068e-01 -5.22675858e-02 1.20543180e+02] [ 1.91940054e-01 9.81337110e-01 -1.16830013e-02 1.12170907e+01] [ 5.35386467e-02 1.41645797e-03 9.98564774e-01 6.34087908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.60, Y:11.22, Z:6.34 [[ 9.79987670e-01 -1.92074497e-01 -5.22642747e-02 1.20601662e+02] [ 1.91723388e-01 9.81379287e-01 -1.16977948e-02 1.12198976e+01] [ 5.35379247e-02 1.44341090e-03 9.98564774e-01 6.34443132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.66, Y:11.23, Z:6.35 [[ 9.80019999e-01 -1.91910384e-01 -5.22609332e-02 1.20659717e+02] [ 1.91558247e-01 9.81411356e-01 -1.17127045e-02 1.12259426e+01] [ 5.35372629e-02 1.46767193e-03 9.98564774e-01 6.34650363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.72, Y:11.23, Z:6.34 [[ 9.79839920e-01 -1.92828606e-01 -5.22576359e-02 1.20719435e+02] [ 1.92476990e-01 9.81231408e-01 -1.17273971e-02 1.12326351e+01] [ 5.35382113e-02 1.43257937e-03 9.98564774e-01 6.33945141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.78, Y:11.24, Z:6.35 [[ 9.80157964e-01 -1.91206265e-01 -5.22544721e-02 1.20778091e+02] [ 1.90851596e-01 9.81548677e-01 -1.17414774e-02 1.12355200e+01] [ 5.35353521e-02 1.53565320e-03 9.98564774e-01 6.35063121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450385723 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:120.84, Y:11.24, Z:6.35 [[ 9.79925610e-01 -1.92393833e-01 -5.22533406e-02 1.20836005e+02] [ 1.92040581e-01 9.81316684e-01 -1.17465109e-02 1.12444525e+01] [ 5.35370312e-02 1.47594491e-03 9.98564774e-01 6.35072636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.90, Y:11.25, Z:6.34 [[ 9.78753485e-01 -1.98271441e-01 -5.22498950e-02 1.20895315e+02] [ 1.97925728e-01 9.80146451e-01 -1.17618173e-02 1.12527372e+01] [ 5.35445817e-02 1.17032119e-03 9.98564774e-01 6.34439066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.95, Y:11.26, Z:6.35 [[ 9.78362305e-01 -2.00193621e-01 -5.22466738e-02 1.20954466e+02] [ 1.99849881e-01 9.79755759e-01 -1.17761089e-02 1.12561893e+01] [ 5.35464814e-02 1.07980947e-03 9.98564774e-01 6.35236821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.01, Y:11.27, Z:6.36 [[ 9.77280761e-01 -2.05409110e-01 -5.22437753e-02 1.21011520e+02] [ 2.05072121e-01 9.78675863e-01 -1.17889540e-02 1.12671371e+01] [ 5.35512804e-02 8.07376106e-04 9.98564774e-01 6.35625477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:11.28, Z:6.36 [[ 9.76374925e-01 -2.09673416e-01 -5.22404530e-02 1.21068556e+02] [ 2.09341734e-01 9.77771298e-01 -1.18036578e-02 1.12775511e+01] [ 5.35541288e-02 5.88688522e-04 9.98564774e-01 6.35761428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750385723 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:121.13, Y:11.29, Z:6.36 [[ 9.76360926e-01 -2.09738849e-01 -5.22394293e-02 1.21126240e+02] [ 2.09407019e-01 9.77757264e-01 -1.18081866e-02 1.12875657e+01] [ 5.35541169e-02 5.89748847e-04 9.98564774e-01 6.36026357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.18, Y:11.30, Z:6.36 [[ 9.74836714e-01 -2.16713519e-01 -5.22363114e-02 1.21183213e+02] [ 2.16390941e-01 9.76235218e-01 -1.18219633e-02 1.13006655e+01] [ 5.35569061e-02 2.21019220e-04 9.98564775e-01 6.35624897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:11.32, Z:6.36 [[ 9.73526333e-01 -2.22526987e-01 -5.22323635e-02 1.21239271e+02] [ 2.22211826e-01 9.74926527e-01 -1.18393806e-02 1.13161731e+01] [ 5.35572984e-02 -8.07000747e-05 9.98564775e-01 6.35787384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.30, Y:11.33, Z:6.36 [[ 9.73463457e-01 -2.22802630e-01 -5.22291686e-02 1.21296272e+02] [ 2.22487110e-01 9.74863571e-01 -1.18534578e-02 1.13299294e+01] [ 5.35572954e-02 -8.14087629e-05 9.98564775e-01 6.36281519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.35, Y:11.35, Z:6.36 [[ 9.73127777e-01 -2.24264880e-01 -5.22263657e-02 1.21351718e+02] [ 2.23950801e-01 9.74528215e-01 -1.18657946e-02 1.13478921e+01] [ 5.35571480e-02 -1.49202174e-04 9.98564775e-01 6.36447137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05038572299999 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:121.41, Y:11.36, Z:6.37 [[ 9.72851222e-01 -2.25462275e-01 -5.22231916e-02 1.21408460e+02] [ 2.25149171e-01 9.74251878e-01 -1.18797479e-02 1.13625803e+01] [ 5.35569775e-02 -2.00781035e-04 9.98564775e-01 6.36553525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.46, Y:11.37, Z:6.38 [[ 9.74297680e-01 -2.19128010e-01 -5.22201717e-02 1.21464180e+02] [ 2.18805090e-01 9.75696105e-01 -1.18930077e-02 1.13722310e+01] [ 5.35571093e-02 1.61290465e-04 9.98564775e-01 6.38355492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:11.40, Z:6.37 [[ 9.73534493e-01 -2.22494582e-01 -5.22183166e-02 1.21519455e+02] [ 2.22176060e-01 9.74933926e-01 -1.19011476e-02 1.13960676e+01] [ 5.35573493e-02 -1.54821403e-05 9.98564775e-01 6.37490466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:121.57, Y:11.41, Z:6.38 [[ 9.74801720e-01 -2.16875417e-01 -5.22174355e-02 1.21574452e+02] [ 2.16548622e-01 9.76199245e-01 -1.19050122e-02 1.14126666e+01] [ 5.35565256e-02 2.97412716e-04 9.98564775e-01 6.37682031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:121.63, Y:11.43, Z:6.38 [[ 9.75575480e-01 -2.13368128e-01 -5.22161356e-02 1.21630484e+02] [ 2.13036004e-01 9.76971748e-01 -1.19107107e-02 1.14292573e+01] [ 5.35550554e-02 4.95880457e-04 9.98564775e-01 6.38043595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:11.44, Z:6.39 [[ 9.75084807e-01 -2.15600042e-01 -5.22134105e-02 1.21688062e+02] [ 2.15270475e-01 9.76481681e-01 -1.19226450e-02 1.14423114e+01] [ 5.35559616e-02 3.85584375e-04 9.98564775e-01 6.38662214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41038572299999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:121.74, Y:11.46, Z:6.39 [[ 9.75411263e-01 -2.14119016e-01 -5.22102934e-02 1.21744008e+02] [ 2.13786598e-01 9.76807461e-01 -1.19362796e-02 1.14562680e+01] [ 5.35551886e-02 4.80920615e-04 9.98564775e-01 6.39201746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47038572299999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:121.80, Y:11.47, Z:6.40 [[ 9.75972238e-01 -2.11547744e-01 -5.22086458e-02 1.21800847e+02] [ 2.11211263e-01 9.77367462e-01 -1.19434816e-02 1.14688356e+01] [ 5.35536483e-02 6.29452399e-04 9.98564775e-01 6.39994428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.86, Y:11.48, Z:6.40 [[ 9.75466358e-01 -2.13868992e-01 -5.22057425e-02 1.21858319e+02] [ 2.13535152e-01 9.76862216e-01 -1.19561588e-02 1.14849180e+01] [ 5.35548689e-02 5.15069523e-04 9.98564775e-01 6.39669808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:121.92, Y:11.50, Z:6.40 [[ 9.75768281e-01 -2.12487642e-01 -5.22040525e-02 1.21915775e+02] [ 2.12151432e-01 9.77163571e-01 -1.19635332e-02 1.14981499e+01] [ 5.35540013e-02 5.98471782e-04 9.98564775e-01 6.40010272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:11.51, Z:6.40 [[ 9.76163796e-01 -2.10663965e-01 -5.22009351e-02 1.21972158e+02] [ 2.10324421e-01 9.77558278e-01 -1.19771203e-02 1.15109993e+01] [ 5.35526038e-02 7.12499783e-04 9.98564776e-01 6.40299340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:11.53, Z:6.40 [[ 9.76758610e-01 -2.07888903e-01 -5.21998281e-02 1.22027485e+02] [ 2.07545141e-01 9.78152057e-01 -1.19819430e-02 1.15252987e+01] [ 5.35502822e-02 8.69645365e-04 9.98564776e-01 6.40300008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.08, Y:11.54, Z:6.40 [[ 9.77129624e-01 -2.06138384e-01 -5.21983164e-02 1.22083333e+02] [ 2.05791774e-01 9.78522366e-01 -1.19885250e-02 1.15403877e+01] [ 5.35485152e-02 9.72358840e-04 9.98564776e-01 6.40256469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83038572299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:122.14, Y:11.55, Z:6.41 [[ 9.77165971e-01 -2.05966931e-01 -5.21947059e-02 1.22139201e+02] [ 2.05619238e-01 9.78558444e-01 -1.20042234e-02 1.15548736e+01] [ 5.35480432e-02 9.97882927e-04 9.98564776e-01 6.40631197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:11.57, Z:6.41 [[ 9.76623210e-01 -2.08526232e-01 -5.21911501e-02 1.22196649e+02] [ 2.08181364e-01 9.78016384e-01 -1.20196631e-02 1.15665122e+01] [ 5.35502150e-02 8.73457138e-04 9.98564776e-01 6.41304680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.25, Y:11.58, Z:6.42 [[ 9.76583130e-01 -2.08714650e-01 -5.21879730e-02 1.22252837e+02] [ 2.08369314e-01 9.77976189e-01 -1.20334423e-02 1.15783397e+01] [ 5.35501506e-02 8.77284603e-04 9.98564776e-01 6.42180985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.31, Y:11.60, Z:6.41 [[ 9.75905302e-01 -2.11861685e-01 -5.21868549e-02 1.22309107e+02] [ 2.11520583e-01 9.77299403e-01 -1.20382890e-02 1.15958236e+01] [ 5.35526344e-02 7.09636088e-04 9.98564776e-01 6.41432494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:122.37, Y:11.61, Z:6.42 [[ 9.76480202e-01 -2.09196778e-01 -5.21835461e-02 1.22366250e+02] [ 2.08851106e-01 9.77873177e-01 -1.20526150e-02 1.16065174e+01] [ 5.35502583e-02 8.70548662e-04 9.98564776e-01 6.41998724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.42, Y:11.62, Z:6.42 [[ 9.76673582e-01 -2.08292994e-01 -5.21799154e-02 1.22422174e+02] [ 2.07945194e-01 9.78066026e-01 -1.20683131e-02 1.16203776e+01] [ 5.35491476e-02 9.36239892e-04 9.98564776e-01 6.42356279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:11.64, Z:6.42 [[ 9.76253754e-01 -2.10252797e-01 -5.21763172e-02 1.22477334e+02] [ 2.09906963e-01 9.77646689e-01 -1.20838499e-02 1.16394008e+01] [ 5.35506669e-02 8.44731605e-04 9.98564776e-01 6.42291574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:122.53, Y:11.65, Z:6.43 [[ 9.76304021e-01 -2.10020148e-01 -5.21727520e-02 1.22533905e+02] [ 2.09673160e-01 9.77696668e-01 -1.20992231e-02 1.16510768e+01] [ 5.35502064e-02 8.73294382e-04 9.98564776e-01 6.43168777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:122.59, Y:11.67, Z:6.44 [[ 9.76463672e-01 -2.09277516e-01 -5.21691262e-02 1.22590044e+02] [ 2.08928635e-01 9.77855846e-01 -1.21148365e-02 1.16676472e+01] [ 5.35492480e-02 9.30073446e-04 9.98564777e-01 6.43550845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.65, Y:11.68, Z:6.44 [[ 9.77261291e-01 -2.05521483e-01 -5.21659717e-02 1.22646269e+02] [ 2.05166528e-01 9.78651929e-01 -1.21284048e-02 1.16837041e+01] [ 5.35449765e-02 1.14990928e-03 9.98564777e-01 6.43851780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:11.70, Z:6.44 [[ 9.77973455e-01 -2.02106316e-01 -5.21628023e-02 1.22702708e+02] [ 2.01745779e-01 9.79362656e-01 -1.21420206e-02 1.16975552e+01] [ 5.35402797e-02 1.35094869e-03 9.98564777e-01 6.44224777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49038572299999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:122.76, Y:11.71, Z:6.44 [[ 9.77854684e-01 -2.02680620e-01 -5.21611325e-02 1.22758791e+02] [ 2.02320517e-01 9.79243997e-01 -1.21491895e-02 1.17138461e+01] [ 5.35408812e-02 1.32687457e-03 9.98564777e-01 6.44023631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:11.73, Z:6.44 [[ 9.78082660e-01 -2.01578181e-01 -5.21588675e-02 1.22814161e+02] [ 2.01215994e-01 9.79471431e-01 -1.21589058e-02 1.17254095e+01] [ 5.35390908e-02 1.39721658e-03 9.98564777e-01 6.44477747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.87, Y:11.74, Z:6.45 [[ 9.77226343e-01 -2.05690377e-01 -5.21549876e-02 1.22869875e+02] [ 2.05333148e-01 9.78616398e-01 -1.21755262e-02 1.17404096e+01] [ 5.35441146e-02 1.18909715e-03 9.98564777e-01 6.44715842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:122.93, Y:11.76, Z:6.45 [[ 9.76671013e-01 -2.08312275e-01 -5.21510216e-02 1.22925421e+02] [ 2.07957873e-01 9.78061791e-01 -1.21924898e-02 1.17560702e+01] [ 5.35467669e-02 1.06283584e-03 9.98564777e-01 6.44987357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.98, Y:11.77, Z:6.45 [[ 9.76343290e-01 -2.09843813e-01 -5.21474263e-02 1.22981676e+02] [ 2.09490772e-01 9.77734414e-01 -1.22078476e-02 1.17686999e+01] [ 5.35480746e-02 9.94645473e-04 9.98564777e-01 6.45221009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.04, Y:11.78, Z:6.45 [[ 9.76899384e-01 -2.07240484e-01 -5.21438001e-02 1.23039792e+02] [ 2.06882911e-01 9.78289350e-01 -1.22233169e-02 1.17782024e+01] [ 5.35448904e-02 1.15328965e-03 9.98564777e-01 6.45469799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.10, Y:11.79, Z:6.46 [[ 9.76211621e-01 -2.10457161e-01 -5.21407199e-02 1.23095775e+02] [ 2.10103467e-01 9.77602579e-01 -1.22364418e-02 1.17948706e+01] [ 5.35481491e-02 9.90410662e-04 9.98564777e-01 6.45633069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:11.81, Z:6.46 [[ 9.76531719e-01 -2.08967154e-01 -5.21395360e-02 1.23152671e+02] [ 2.08611069e-01 9.77922066e-01 -1.22414842e-02 1.18075112e+01] [ 5.35464709e-02 1.07731329e-03 9.98564777e-01 6.45518447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.21, Y:11.82, Z:6.46 [[ 9.77416766e-01 -2.04787800e-01 -5.21384933e-02 1.23209411e+02] [ 2.04425534e-01 9.78805516e-01 -1.22459238e-02 1.18221006e+01] [ 5.35412606e-02 1.31093195e-03 9.98564778e-01 6.45693565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.27, Y:11.84, Z:6.46 [[ 9.77233246e-01 -2.05662606e-01 -5.21351597e-02 1.23266212e+02] [ 2.05300827e-01 9.78622123e-01 -1.22600999e-02 1.18351020e+01] [ 5.35420647e-02 1.27758580e-03 9.98564778e-01 6.46282372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.32, Y:11.84, Z:6.47 [[ 9.77761199e-01 -2.03138723e-01 -5.21315282e-02 1.23323340e+02] [ 2.02772538e-01 9.79148921e-01 -1.22755220e-02 1.18439399e+01] [ 5.35381634e-02 1.43168677e-03 9.98564778e-01 6.46774071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.38, Y:11.85, Z:6.47 [[ 9.78617810e-01 -1.98972010e-01 -5.21279406e-02 1.23379618e+02] [ 1.98599107e-01 9.80003741e-01 -1.22907380e-02 1.18537235e+01] [ 5.35310896e-02 1.67537264e-03 9.98564778e-01 6.47028923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21038572299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:11.87, Z:6.47 [[ 9.78068222e-01 -2.01656614e-01 -5.21264124e-02 1.23434783e+02] [ 2.01287171e-01 9.79455080e-01 -1.22972157e-02 1.18710490e+01] [ 5.35352943e-02 1.53513785e-03 9.98564778e-01 6.47180332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27038572299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:123.49, Y:11.88, Z:6.48 [[ 9.78064933e-01 -2.01673492e-01 -5.21228257e-02 1.23492567e+02] [ 2.01303264e-01 9.79451582e-01 -1.23123996e-02 1.18836936e+01] [ 5.35348687e-02 1.54983139e-03 9.98564778e-01 6.47618537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33038572299999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:123.55, Y:11.90, Z:6.48 [[ 9.78219295e-01 -2.00924243e-01 -5.21196646e-02 1.23549048e+02] [ 2.00552242e-01 9.79605468e-01 -1.23257665e-02 1.18981385e+01] [ 5.35332537e-02 1.60458699e-03 9.98564778e-01 6.47514842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:11.91, Z:6.48 [[ 9.78220760e-01 -2.00917398e-01 -5.21185531e-02 1.23605895e+02] [ 2.00545137e-01 9.79606864e-01 -1.23304645e-02 1.19104101e+01] [ 5.35330972e-02 1.60979398e-03 9.98564778e-01 6.48062299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:11.92, Z:6.48 [[ 9.77353009e-01 -2.05097220e-01 -5.21174266e-02 1.23662985e+02] [ 2.04730634e-01 9.78740624e-01 -1.23352238e-02 1.19199994e+01] [ 5.35393628e-02 1.38583436e-03 9.98564778e-01 6.48420238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:11.93, Z:6.49 [[ 9.76138724e-01 -2.10801669e-01 -5.21137995e-02 1.23719397e+02] [ 2.10442377e-01 9.77528245e-01 -1.23505288e-02 1.19318572e+01] [ 5.35462231e-02 1.08887756e-03 9.98564778e-01 6.48757531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.78, Y:11.94, Z:6.49 [[ 9.73133150e-01 -2.24268592e-01 -5.21101720e-02 1.23776312e+02] [ 2.23927714e-01 9.74527304e-01 -1.23658151e-02 1.19416120e+01] [ 5.35560494e-02 3.64672958e-04 9.98564778e-01 6.49037221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.83, Y:11.95, Z:6.50 [[ 9.72062084e-01 -2.28866667e-01 -5.21090640e-02 1.23832185e+02] [ 2.28532133e-01 9.73457773e-01 -1.23704827e-02 1.19504367e+01] [ 5.35571645e-02 1.16281631e-04 9.98564778e-01 6.49676010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69038572299999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:123.89, Y:11.96, Z:6.50 [[ 9.69995026e-01 -2.37475161e-01 -5.21075538e-02 1.23888920e+02] [ 2.37152672e-01 9.71393547e-01 -1.23768408e-02 1.19613446e+01] [ 5.35561338e-02 -3.51971589e-04 9.98564778e-01 6.49880121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:123.95, Y:11.98, Z:6.50 [[ 9.69033879e-01 -2.41368028e-01 -5.21038981e-02 1.23945604e+02] [ 2.41050331e-01 9.70433496e-01 -1.23922113e-02 1.19751878e+01] [ 5.35544516e-02 -5.51189252e-04 9.98564779e-01 6.50067225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:11.99, Z:6.51 [[ 9.68500684e-01 -2.43499475e-01 -5.21001972e-02 1.24001495e+02] [ 2.43184022e-01 9.69900809e-01 -1.24077516e-02 1.19852592e+01] [ 5.35533044e-02 -6.53019546e-04 9.98564779e-01 6.50577616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.06, Y:12.00, Z:6.51 [[ 9.67702877e-01 -2.46651325e-01 -5.20986165e-02 1.24057328e+02] [ 2.46340075e-01 9.69103942e-01 -1.24143849e-02 1.20001873e+01] [ 5.35509992e-02 -8.20541137e-04 9.98564779e-01 6.50957045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.11, Y:12.01, Z:6.52 [[ 9.67977788e-01 -2.45570988e-01 -5.20950333e-02 1.24113840e+02] [ 2.45257366e-01 9.69378324e-01 -1.24294032e-02 1.20113081e+01] [ 5.35520969e-02 -7.45304484e-04 9.98564779e-01 6.51775009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99038572299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:124.17, Y:12.03, Z:6.52 [[ 9.66155790e-01 -2.52644554e-01 -5.20933648e-02 1.24169624e+02] [ 2.52340807e-01 9.67558501e-01 -1.24363923e-02 1.20289829e+01] [ 5.35453647e-02 -1.12978928e-03 9.98564779e-01 6.51536685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.22, Y:12.05, Z:6.52 [[ 9.65275199e-01 -2.55989085e-01 -5.20901032e-02 1.24223684e+02] [ 2.55689463e-01 9.66678796e-01 -1.24500386e-02 1.20474751e+01] [ 5.35414723e-02 -1.30117698e-03 9.98564779e-01 6.51704684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.28, Y:12.06, Z:6.52 [[ 9.64909157e-01 -2.57365688e-01 -5.20885833e-02 1.24279117e+02] [ 2.57067725e-01 9.66313108e-01 -1.24563945e-02 1.20636148e+01] [ 5.35397293e-02 -1.37100453e-03 9.98564779e-01 6.52469757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.33, Y:12.08, Z:6.52 [[ 9.63751465e-01 -2.61668190e-01 -5.20852324e-02 1.24334091e+02] [ 2.61375738e-01 9.65156574e-01 -1.24703903e-02 1.20840530e+01] [ 5.35335089e-02 -1.59545913e-03 9.98564779e-01 6.52026977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.39, Y:12.10, Z:6.52 [[ 9.63823397e-01 -2.61403320e-01 -5.20842014e-02 1.24389192e+02] [ 2.61110249e-01 9.65228377e-01 -1.24746945e-02 1.21017790e+01] [ 5.35340758e-02 -1.57631638e-03 9.98564779e-01 6.52345155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.44, Y:12.12, Z:6.52 [[ 9.63364505e-01 -2.63090088e-01 -5.20810455e-02 1.24444266e+02] [ 2.62798767e-01 9.64769849e-01 -1.24878566e-02 1.21229405e+01] [ 5.35316537e-02 -1.65647670e-03 9.98564779e-01 6.52496176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:12.14, Z:6.53 [[ 9.63214616e-01 -2.63638997e-01 -5.20776672e-02 1.24500322e+02] [ 2.63347717e-01 9.64619968e-01 -1.25019292e-02 1.21388869e+01] [ 5.35311537e-02 -1.67249385e-03 9.98564779e-01 6.53045576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.56, Y:12.16, Z:6.54 [[ 9.63390838e-01 -2.62995073e-01 -5.20738465e-02 1.24555173e+02] [ 2.62701995e-01 9.64795816e-01 -1.25178233e-02 1.21581845e+01] [ 5.35327550e-02 -1.62034709e-03 9.98564779e-01 6.53789685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.61, Y:12.17, Z:6.54 [[ 9.63266962e-01 -2.63448657e-01 -5.20726802e-02 1.24612001e+02] [ 2.63155979e-01 9.64672024e-01 -1.25226732e-02 1.21741059e+01] [ 5.35321392e-02 -1.64055977e-03 9.98564779e-01 6.54255700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530385723 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:124.67, Y:12.19, Z:6.54 [[ 9.64004372e-01 -2.60738046e-01 -5.20695877e-02 1.24667912e+02] [ 2.60440723e-01 9.65408458e-01 -1.25355185e-02 1.21917521e+01] [ 5.35369070e-02 -1.47674639e-03 9.98564779e-01 6.53968035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590385723 meters Centerline goodness : 0.997226 with order 1 Centerline is valid? [True, True] Translation: X:124.72, Y:12.21, Z:6.55 [[ 9.66536676e-01 -2.51189142e-01 -5.20660062e-02 1.24723133e+02] [ 2.50877144e-01 9.67937574e-01 -1.25503765e-02 1.22066648e+01] [ 5.35491620e-02 -9.31771757e-04 9.98564780e-01 6.54696475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650385723 meters Centerline goodness : 0.996646 with order 1 Centerline is valid? [True, True] Translation: X:124.78, Y:12.22, Z:6.54 [[ 9.67668042e-01 -2.46795089e-01 -5.20648138e-02 1.24779212e+02] [ 2.46476463e-01 9.69067447e-01 -1.25553213e-02 1.22246248e+01] [ 5.35529078e-02 -6.83367927e-04 9.98564780e-01 6.54481959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710385723 meters Centerline goodness : 0.997519 with order 1 Centerline is valid? [True, True] Translation: X:124.84, Y:12.24, Z:6.55 [[ 9.71348261e-01 -2.31888173e-01 -5.20617923e-02 1.24835456e+02] [ 2.31547399e-01 9.72742438e-01 -1.25678376e-02 1.22372260e+01] [ 5.35570477e-02 1.52974571e-04 9.98564780e-01 6.55056961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770385723 meters Centerline goodness : 0.997457 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:12.25, Z:6.56 [[ 9.72698978e-01 -2.26155675e-01 -5.20606308e-02 1.24892218e+02] [ 2.25806427e-01 9.74091056e-01 -1.25726474e-02 1.22478261e+01] [ 5.35551704e-02 4.73776287e-04 9.98564780e-01 6.55593610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830385723 meters Centerline goodness : 0.997316 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:12.26, Z:6.56 [[ 9.74421671e-01 -2.18614878e-01 -5.20571077e-02 1.24949123e+02] [ 2.18254079e-01 9.75810801e-01 -1.25872178e-02 1.22584638e+01] [ 5.35496410e-02 9.03581714e-04 9.98564780e-01 6.55702385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890385723 meters Centerline goodness : 0.997539 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:12.27, Z:6.55 [[ 9.75946971e-01 -2.11702478e-01 -5.20535288e-02 1.25007168e+02] [ 2.11331055e-01 9.77333298e-01 -1.26020007e-02 1.22667063e+01] [ 5.35415218e-02 1.29835722e-03 9.98564780e-01 6.55482604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.950385723 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:12.27, Z:6.56 [[ 9.76902904e-01 -2.07247362e-01 -5.20504286e-02 1.25065581e+02] [ 2.06868936e-01 9.78287335e-01 -1.26147926e-02 1.22727459e+01] [ 5.35346576e-02 1.55581071e-03 9.98564780e-01 6.56158212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010385723 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:125.13, Y:12.28, Z:6.56 [[ 9.77506085e-01 -2.04384282e-01 -5.20472666e-02 1.25125465e+02] [ 2.04001109e-01 9.78889210e-01 -1.26278251e-02 1.22767512e+01] [ 5.35294367e-02 1.72607584e-03 9.98564780e-01 6.56434895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07038572300002 meters Centerline goodness : 0.997237 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:12.29, Z:6.56 [[ 9.76653789e-01 -2.08419712e-01 -5.20442099e-02 1.25183377e+02] [ 2.08041584e-01 9.78038302e-01 -1.26404105e-02 1.22879244e+01] [ 5.35357414e-02 1.51794491e-03 9.98564780e-01 6.55866413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13038572300002 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:12.29, Z:6.56 [[ 9.76338336e-01 -2.09893297e-01 -5.20409256e-02 1.25242131e+02] [ 2.09516539e-01 9.77723222e-01 -1.26539176e-02 1.22936054e+01] [ 5.35375940e-02 1.45107022e-03 9.98564780e-01 6.56165147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19038572300002 meters Centerline goodness : 0.996881 with order 1 Centerline is valid? [True, True] Translation: X:125.30, Y:12.29, Z:6.57 [[ 9.77697491e-01 -2.03469287e-01 -5.20371457e-02 1.25302679e+02] [ 2.03082606e-01 9.79079639e-01 -1.26694432e-02 1.22891994e+01] [ 5.35263524e-02 1.81904362e-03 9.98564780e-01 6.57099343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25038572300002 meters Centerline goodness : 0.996135 with order 1 Centerline is valid? [True, True] Translation: X:125.36, Y:12.30, Z:6.57 [[ 9.75982532e-01 -2.11542794e-01 -5.20359899e-02 1.25360288e+02] [ 2.11167297e-01 9.77367760e-01 -1.26741885e-02 1.23019872e+01] [ 5.35394321e-02 1.38148722e-03 9.98564780e-01 6.57097617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310385723 meters Centerline goodness : 0.996190 with order 1 Centerline is valid? [True, True] Translation: X:125.42, Y:12.31, Z:6.57 [[ 9.74880356e-01 -2.16566122e-01 -5.20327398e-02 1.25418582e+02] [ 2.16197052e-01 9.76267310e-01 -1.26875174e-02 1.23095670e+01] [ 5.35455494e-02 1.11948656e-03 9.98564781e-01 6.57201401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370385723 meters Centerline goodness : 0.996373 with order 1 Centerline is valid? [True, True] Translation: X:125.48, Y:12.32, Z:6.58 [[ 9.75889964e-01 -2.11971135e-01 -5.20289996e-02 1.25475658e+02] [ 2.11594719e-01 9.77274942e-01 -1.27028364e-02 1.23166988e+01] [ 5.35392723e-02 1.38750901e-03 9.98564781e-01 6.58038334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430385723 meters Centerline goodness : 0.995573 with order 1 Centerline is valid? [True, True] Translation: X:125.53, Y:12.34, Z:6.58 [[ 9.74848532e-01 -2.16710634e-01 -5.20273014e-02 1.25530846e+02] [ 2.16340581e-01 9.76235225e-01 -1.27097882e-02 1.23396425e+01] [ 5.35452305e-02 1.13450176e-03 9.98564781e-01 6.58094285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490385723 meters Centerline goodness : 0.995952 with order 1 Centerline is valid? [True, True] Translation: X:125.59, Y:12.35, Z:6.59 [[ 9.75326099e-01 -2.14551875e-01 -5.20239645e-02 1.25587528e+02] [ 2.14178026e-01 9.76711773e-01 -1.27234324e-02 1.23532380e+01] [ 5.35422548e-02 1.26710569e-03 9.98564781e-01 6.58965136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550385723 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:125.64, Y:12.37, Z:6.59 [[ 9.75605415e-01 -2.13278979e-01 -5.20206803e-02 1.25643343e+02] [ 2.12902608e-01 9.76990406e-01 -1.27368457e-02 1.23669324e+01] [ 5.35402070e-02 1.35079717e-03 9.98564781e-01 6.58955903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610385723 meters Centerline goodness : 0.996597 with order 1 Centerline is valid? [True, True] Translation: X:125.70, Y:12.38, Z:6.59 [[ 9.76169565e-01 -2.10682165e-01 -5.20192891e-02 1.25701008e+02] [ 2.10301807e-01 9.77553466e-01 -1.27425252e-02 1.23804676e+01] [ 5.35362591e-02 1.49911478e-03 9.98564781e-01 6.59424340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.670385723 meters Centerline goodness : 0.996638 with order 1 Centerline is valid? [True, True] Translation: X:125.76, Y:12.39, Z:6.60 [[ 9.76093303e-01 -2.11036022e-01 -5.20159642e-02 1.25757738e+02] [ 2.10655444e-01 9.77477144e-01 -1.27560834e-02 1.23946814e+01] [ 5.35364092e-02 1.49368152e-03 9.98564781e-01 6.60000079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730385723 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:125.81, Y:12.41, Z:6.60 [[ 9.75819590e-01 -2.12298864e-01 -5.20126862e-02 1.25814027e+02] [ 2.11919365e-01 9.77203727e-01 -1.27694352e-02 1.24100403e+01] [ 5.35379274e-02 1.43816961e-03 9.98564781e-01 6.60131568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790385723 meters Centerline goodness : 0.997205 with order 1 Centerline is valid? [True, True] Translation: X:125.87, Y:12.42, Z:6.60 [[ 9.75639354e-01 -2.13126523e-01 -5.20089978e-02 1.25870812e+02] [ 2.12747400e-01 9.77023593e-01 -1.27844401e-02 1.24248574e+01] [ 5.35387212e-02 1.40822379e-03 9.98564781e-01 6.60122319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85038572300002 meters Centerline goodness : 0.997233 with order 1 Centerline is valid? [True, True] Translation: X:125.93, Y:12.44, Z:6.60 [[ 9.75907526e-01 -2.11895945e-01 -5.20058535e-02 1.25927465e+02] [ 2.11514396e-01 9.77291099e-01 -1.27972182e-02 1.24394976e+01] [ 5.35365364e-02 1.48891486e-03 9.98564781e-01 6.60354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91038572300002 meters Centerline goodness : 0.997483 with order 1 Centerline is valid? [True, True] Translation: X:125.98, Y:12.45, Z:6.60 [[ 9.76613473e-01 -2.08619005e-01 -5.20022571e-02 1.25984674e+02] [ 2.08232037e-01 9.77995540e-01 -1.28118158e-02 1.24539838e+01] [ 5.35307638e-02 1.68365599e-03 9.98564781e-01 6.60320423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97038572300002 meters Centerline goodness : 0.997803 with order 1 Centerline is valid? [True, True] Translation: X:126.04, Y:12.47, Z:6.61 [[ 9.76911909e-01 -2.07217781e-01 -5.19991742e-02 1.26040392e+02] [ 2.06828166e-01 9.78293231e-01 -1.28243161e-02 1.24674234e+01] [ 5.35278665e-02 1.77333325e-03 9.98564781e-01 6.60798449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030385723 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:126.10, Y:12.48, Z:6.62 [[ 9.76519962e-01 -2.09057323e-01 -5.19980786e-02 1.26097539e+02] [ 2.08670074e-01 9.77901950e-01 -1.28287570e-02 1.24812906e+01] [ 5.35309680e-02 1.67709441e-03 9.98564781e-01 6.61605638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090385723 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:126.15, Y:12.50, Z:6.62 [[ 9.76502631e-01 -2.09139083e-01 -5.19947642e-02 1.26153151e+02] [ 2.08751237e-01 9.77884451e-01 -1.28421763e-02 1.24962359e+01] [ 5.35306724e-02 1.68644760e-03 9.98564782e-01 6.61857628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150385723 meters Centerline goodness : 0.997570 with order 1 Centerline is valid? [True, True] Translation: X:126.21, Y:12.51, Z:6.62 [[ 9.77210977e-01 -2.05804359e-01 -5.19930129e-02 1.26210261e+02] [ 2.05411420e-01 9.78591357e-01 -1.28492626e-02 1.25116815e+01] [ 5.35243473e-02 1.87648182e-03 9.98564782e-01 6.61555671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210385723 meters Centerline goodness : 0.997182 with order 1 Centerline is valid? [True, True] Translation: X:126.27, Y:12.52, Z:6.62 [[ 9.77770420e-01 -2.03130739e-01 -5.19895047e-02 1.26265790e+02] [ 2.02733274e-01 9.79149504e-01 -1.28634415e-02 1.25233314e+01] [ 5.35184581e-02 2.03749012e-03 9.98564782e-01 6.61759000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270385723 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:126.32, Y:12.54, Z:6.63 [[ 9.77473886e-01 -2.04553356e-01 -5.19877525e-02 1.26322684e+02] [ 2.04157522e-01 9.78853439e-01 -1.28705192e-02 1.25358133e+01] [ 5.35210982e-02 1.96690569e-03 9.98564782e-01 6.63232356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330385723 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:126.38, Y:12.55, Z:6.63 [[ 9.76733832e-01 -2.08059405e-01 -5.19837102e-02 1.26379484e+02] [ 2.07667657e-01 9.78114550e-01 -1.28868251e-02 1.25530766e+01] [ 5.35272485e-02 1.79166271e-03 9.98564782e-01 6.63181948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390385723 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:126.43, Y:12.56, Z:6.64 [[ 9.76263173e-01 -2.10257593e-01 -5.19803902e-02 1.26434957e+02] [ 2.09868242e-01 9.77644570e-01 -1.29002030e-02 1.25644846e+01] [ 5.35307118e-02 1.68495999e-03 9.98564782e-01 6.63511039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.450385723 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:12.58, Z:6.64 [[ 9.74474720e-01 -2.18397175e-01 -5.19778247e-02 1.26492162e+02] [ 2.18018815e-01 9.75859167e-01 -1.29105317e-02 1.25773255e+01] [ 5.35426604e-02 1.24884297e-03 9.98564782e-01 6.63642051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510385723 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:12.59, Z:6.64 [[ 9.73472535e-01 -2.22822551e-01 -5.19743700e-02 1.26548506e+02] [ 2.22449744e-01 9.74858487e-01 -1.29244243e-02 1.25872450e+01] [ 5.35475089e-02 1.01988674e-03 9.98564782e-01 6.63972452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57038572300002 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:12.59, Z:6.65 [[ 9.71020209e-01 -2.33277931e-01 -5.19726917e-02 1.26607073e+02] [ 2.32919689e-01 9.72409998e-01 -1.29311696e-02 1.25949520e+01] [ 5.35553216e-02 4.50963830e-04 9.98564782e-01 6.64725484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63038572300002 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:12.62, Z:6.64 [[ 9.68753784e-01 -2.42518596e-01 -5.19695679e-02 1.26662754e+02] [ 2.42172938e-01 9.70146756e-01 -1.29437121e-02 1.26153262e+01] [ 5.35571986e-02 -4.63528837e-05 9.98564782e-01 6.64309331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69038572300002 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:12.63, Z:6.64 [[ 9.67959671e-01 -2.45669663e-01 -5.19662564e-02 1.26719913e+02] [ 2.45327826e-01 9.69353586e-01 -1.29569932e-02 1.26268316e+01] [ 5.35568172e-02 -2.06921884e-04 9.98564782e-01 6.64423427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75038572300002 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:12.64, Z:6.65 [[ 9.67252733e-01 -2.48439230e-01 -5.19624785e-02 1.26775849e+02] [ 2.48100572e-01 9.68647423e-01 -1.29721265e-02 1.26420441e+01] [ 5.35561060e-02 -3.44595790e-04 9.98564782e-01 6.64527612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810385723 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:12.66, Z:6.65 [[ 9.67057570e-01 -2.49198638e-01 -5.19585824e-02 1.26831380e+02] [ 2.48860237e-01 9.68452323e-01 -1.29877133e-02 1.26579542e+01] [ 5.35559303e-02 -3.70558728e-04 9.98564783e-01 6.64966963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870385723 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:126.89, Y:12.67, Z:6.65 [[ 9.67566692e-01 -2.47214735e-01 -5.19573921e-02 1.26887429e+02] [ 2.46873219e-01 9.68960685e-01 -1.29924733e-02 1.26718323e+01] [ 5.35566011e-02 -2.55804208e-04 9.98564783e-01 6.65391941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930385723 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:126.94, Y:12.69, Z:6.66 [[ 9.67733338e-01 -2.46561829e-01 -5.19562374e-02 1.26942836e+02] [ 2.46219125e-01 9.69127039e-01 -1.29970893e-02 1.26895120e+01] [ 5.35567806e-02 -2.14902698e-04 9.98564783e-01 6.65890693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990385723 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:12.70, Z:6.67 [[ 9.68655929e-01 -2.42912815e-01 -5.19524444e-02 1.27000384e+02] [ 2.42564048e-01 9.70048125e-01 -1.30122330e-02 1.27027974e+01] [ 5.35572095e-02 2.58143307e-06 9.98564783e-01 6.66677360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050385723 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:12.72, Z:6.67 [[ 9.68581083e-01 -2.43211732e-01 -5.19493859e-02 1.27056352e+02] [ 2.42862741e-01 9.69973223e-01 -1.30244323e-02 1.27194106e+01] [ 5.35572080e-02 -1.35151243e-06 9.98564783e-01 6.67365073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110385723 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:12.74, Z:6.68 [[ 9.68601071e-01 -2.43132825e-01 -5.19460723e-02 1.27112500e+02] [ 2.42783012e-01 9.69993005e-01 -1.30376347e-02 1.27370944e+01] [ 5.35572037e-02 1.66430733e-05 9.98564783e-01 6.67559169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.170385723 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:12.75, Z:6.68 [[ 9.68273395e-01 -2.44435201e-01 -5.19428991e-02 1.27167909e+02] [ 2.44086583e-01 9.69665628e-01 -1.30502649e-02 1.27537783e+01] [ 5.35571880e-02 -4.23404253e-05 9.98564783e-01 6.68031057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:12.77, Z:6.69 [[ 9.67162974e-01 -2.48792774e-01 -5.19416792e-02 1.27223008e+02] [ 2.48450168e-01 9.68556698e-01 -1.30551185e-02 1.27720163e+01] [ 5.35564804e-02 -2.78491680e-04 9.98564783e-01 6.68528137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:12.79, Z:6.69 [[ 9.66023919e-01 -2.53180235e-01 -5.19380104e-02 1.27277727e+02] [ 2.52843175e-01 9.67418995e-01 -1.30696981e-02 1.27892968e+01] [ 5.35548070e-02 -5.06530468e-04 9.98564783e-01 6.68872047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35038572300002 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:127.33, Y:12.81, Z:6.70 [[ 9.63997822e-01 -2.60788808e-01 -5.19364735e-02 1.27333045e+02] [ 2.60462428e-01 9.65395435e-01 -1.30758024e-02 1.28067714e+01] [ 5.35492574e-02 -9.22454957e-04 9.98564783e-01 6.69554546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41038572300002 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:127.39, Y:12.83, Z:6.70 [[ 9.61959780e-01 -2.68209156e-01 -5.19348618e-02 1.27387111e+02] [ 2.67893210e-01 9.63359790e-01 -1.30822007e-02 1.28278815e+01] [ 5.35407236e-02 -1.32844594e-03 9.98564783e-01 6.69963354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47038572300002 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:12.85, Z:6.70 [[ 9.60765418e-01 -2.72457219e-01 -5.19314513e-02 1.27440864e+02] [ 2.72146732e-01 9.62166648e-01 -1.30957252e-02 1.28497503e+01] [ 5.35347353e-02 -1.55105487e-03 9.98564783e-01 6.70125184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:127.50, Y:12.87, Z:6.71 [[ 9.60289640e-01 -2.74129604e-01 -5.19304068e-02 1.27495398e+02] [ 2.73821334e-01 9.61691359e-01 -1.30998657e-02 1.28720913e+01] [ 5.35320845e-02 -1.63998798e-03 9.98564783e-01 6.70618639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:12.90, Z:6.71 [[ 9.60506584e-01 -2.73369133e-01 -5.19270609e-02 1.27546852e+02] [ 2.73059037e-01 9.61907900e-01 -1.31131154e-02 1.29005686e+01] [ 5.35337711e-02 -1.58391960e-03 9.98564783e-01 6.70828932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:127.60, Y:12.93, Z:6.71 [[ 9.61127608e-01 -2.71178052e-01 -5.19248016e-02 1.27598929e+02] [ 2.70864279e-01 9.62528106e-01 -1.31220558e-02 1.29253447e+01] [ 5.35374944e-02 -1.45260386e-03 9.98564783e-01 6.71312574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:127.65, Y:12.95, Z:6.72 [[ 9.61717993e-01 -2.69077059e-01 -5.19233844e-02 1.27651429e+02] [ 2.68759924e-01 9.63117733e-01 -1.31276609e-02 1.29521545e+01] [ 5.35406847e-02 -1.32981710e-03 9.98564783e-01 6.71631143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:12.98, Z:6.72 [[ 9.62625666e-01 -2.65811762e-01 -5.19223883e-02 1.27704728e+02] [ 2.65489666e-01 9.64024273e-01 -1.31315996e-02 1.29803064e+01] [ 5.35449762e-02 -1.14404279e-03 9.98564783e-01 6.71670277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.76, Y:13.01, Z:6.72 [[ 9.62655897e-01 -2.65702873e-01 -5.19192370e-02 1.27757942e+02] [ 2.65379948e-01 9.64054312e-01 -1.31440474e-02 1.30055485e+01] [ 5.35453755e-02 -1.12512969e-03 9.98564784e-01 6.71723170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:13.03, Z:6.72 [[ 9.61734693e-01 -2.69018353e-01 -5.19182656e-02 1.27811280e+02] [ 2.68700041e-01 9.63134166e-01 -1.31478832e-02 1.30294511e+01] [ 5.35412773e-02 -1.30566464e-03 9.98564784e-01 6.72046313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.87, Y:13.05, Z:6.72 [[ 9.60631006e-01 -2.72933846e-01 -5.19151828e-02 1.27865327e+02] [ 2.72620581e-01 9.62031617e-01 -1.31600444e-02 1.30527059e+01] [ 5.35358688e-02 -1.51120062e-03 9.98564784e-01 6.72405290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.92, Y:13.08, Z:6.73 [[ 9.60721841e-01 -2.72614116e-01 -5.19142341e-02 1.27919019e+02] [ 2.72300183e-01 9.62122303e-01 -1.31637858e-02 1.30764016e+01] [ 5.35364763e-02 -1.48951888e-03 9.98564784e-01 6.72602101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07038572300002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:13.10, Z:6.74 [[ 9.62334294e-01 -2.66866875e-01 -5.19112381e-02 1.27973672e+02] [ 2.66543940e-01 9.63732708e-01 -1.31755901e-02 1.30971648e+01] [ 5.35446866e-02 -1.15730376e-03 9.98564784e-01 6.73572325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:13.12, Z:6.74 [[ 9.63833913e-01 -2.61399562e-01 -5.19081651e-02 1.28028424e+02] [ 2.61068043e-01 9.65230316e-01 -1.31876856e-02 1.31187571e+01] [ 5.35505899e-02 -8.40824485e-04 9.98564784e-01 6.73862325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.08, Y:13.14, Z:6.74 [[ 9.67886245e-01 -2.45971807e-01 -5.19045931e-02 1.28082676e+02] [ 2.45617274e-01 9.69276983e-01 -1.32017295e-02 1.31417836e+01] [ 5.35571807e-02 2.91076953e-05 9.98564784e-01 6.74127223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.14, Y:13.16, Z:6.74 [[ 9.70018109e-01 -2.37426103e-01 -5.19010072e-02 1.28139562e+02] [ 2.37058564e-01 9.71405466e-01 -1.32158120e-02 1.31590890e+01] [ 5.35547009e-02 5.15998727e-04 9.98564784e-01 6.74226173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.20, Y:13.18, Z:6.74 [[ 9.71612188e-01 -2.30816687e-01 -5.18981056e-02 1.28196482e+02] [ 2.30439104e-01 9.72996845e-01 -1.32271967e-02 1.31755016e+01] [ 5.35497508e-02 8.92352535e-04 9.98564784e-01 6.74344784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:13.19, Z:6.75 [[ 9.72751082e-01 -2.25969565e-01 -5.18949729e-02 1.28253618e+02] [ 2.25584428e-01 9.74133657e-01 -1.32394762e-02 1.31898562e+01] [ 5.35443584e-02 1.17201702e-03 9.98564784e-01 6.74582495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.31, Y:13.20, Z:6.75 [[ 9.73046794e-01 -2.24693505e-01 -5.18918666e-02 1.28311051e+02] [ 2.24305907e-01 9.74428681e-01 -1.32516400e-02 1.31978765e+01] [ 5.35424806e-02 1.25481360e-03 9.98564784e-01 6.75064249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:13.21, Z:6.76 [[ 9.72985232e-01 -2.24960188e-01 -5.18907738e-02 1.28368471e+02] [ 2.24572740e-01 9.74367161e-01 -1.32559178e-02 1.32088030e+01] [ 5.35427197e-02 1.24455904e-03 9.98564784e-01 6.75623671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:13.22, Z:6.76 [[ 9.72936760e-01 -2.25170600e-01 -5.18870166e-02 1.28425683e+02] [ 2.24782668e-01 9.74318553e-01 -1.32706083e-02 1.32170610e+01] [ 5.35426338e-02 1.24816059e-03 9.98564784e-01 6.75642574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:13.23, Z:6.76 [[ 9.71984561e-01 -2.29246308e-01 -5.18858633e-02 1.28484335e+02] [ 2.28863931e-01 9.73367902e-01 -1.32751160e-02 1.32260963e+01] [ 5.35473052e-02 1.02840522e-03 9.98564784e-01 6.75702593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:13.23, Z:6.77 [[ 9.73014837e-01 -2.24833998e-01 -5.18825563e-02 1.28542957e+02] [ 2.24444660e-01 9.74396235e-01 -1.32880280e-02 1.32278002e+01] [ 5.35417680e-02 1.28468572e-03 9.98564784e-01 6.76697762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:13.23, Z:6.77 [[ 9.73204778e-01 -2.24010671e-01 -5.18813938e-02 1.28601047e+02] [ 2.23619922e-01 9.74585778e-01 -1.32925655e-02 1.32349231e+01] [ 5.35405450e-02 1.33467499e-03 9.98564784e-01 6.76820870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:13.25, Z:6.76 [[ 9.71930506e-01 -2.29477211e-01 -5.18777519e-02 1.28659894e+02] [ 2.29093474e-01 9.73313470e-01 -1.33067636e-02 1.32452395e+01] [ 5.35469137e-02 1.04839506e-03 9.98564785e-01 6.76057873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.72, Y:13.25, Z:6.76 [[ 9.72103200e-01 -2.28745272e-01 -5.18745605e-02 1.28718695e+02] [ 2.28359830e-01 9.73485689e-01 -1.33191932e-02 1.32535810e+01] [ 5.35458448e-02 1.10156454e-03 9.98564785e-01 6.76008438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:13.25, Z:6.78 [[ 9.73676946e-01 -2.21951721e-01 -5.18713689e-02 1.28779292e+02] [ 2.21555974e-01 9.75056521e-01 -1.33316113e-02 1.32532216e+01] [ 5.35364906e-02 1.48827088e-03 9.98564785e-01 6.77663197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:13.26, Z:6.78 [[ 9.73830162e-01 -2.21279232e-01 -5.18682673e-02 1.28837100e+02] [ 2.20881891e-01 9.75209279e-01 -1.33436675e-02 1.32587556e+01] [ 5.35350921e-02 1.53770491e-03 9.98564785e-01 6.78280447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:13.27, Z:6.79 [[ 9.73420728e-01 -2.23073858e-01 -5.18665554e-02 1.28895255e+02] [ 2.22678706e-01 9.74800473e-01 -1.33503185e-02 1.32661236e+01] [ 5.35376498e-02 1.44589935e-03 9.98564785e-01 6.78521325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:128.95, Y:13.28, Z:6.78 [[ 9.71347645e-01 -2.31935323e-01 -5.18628759e-02 1.28953900e+02] [ 2.31551998e-01 9.72730723e-01 -1.33645973e-02 1.32757739e+01] [ 5.35483349e-02 9.72717591e-04 9.98564785e-01 6.78131698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.01, Y:13.28, Z:6.80 [[ 9.71078906e-01 -2.33058654e-01 -5.18596303e-02 1.29014640e+02] [ 2.32676258e-01 9.72462241e-01 -1.33771794e-02 1.32753951e+01] [ 5.35491998e-02 9.23792062e-04 9.98564785e-01 6.79503066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:13.29, Z:6.79 [[ 9.68571635e-01 -2.43269147e-01 -5.18566242e-02 1.29073103e+02] [ 2.42900712e-01 9.69958754e-01 -1.33888225e-02 1.32867121e+01] [ 5.35558740e-02 3.72022712e-04 9.98564785e-01 6.79060801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:13.29, Z:6.80 [[ 9.66615400e-01 -2.50930057e-01 -5.18534096e-02 1.29131748e+02] [ 2.50571948e-01 9.68005220e-01 -1.34012606e-02 1.32921850e+01] [ 5.35571503e-02 -3.91450009e-05 9.98564785e-01 6.79520925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:13.30, Z:6.80 [[ 9.65259185e-01 -2.56098236e-01 -5.18497799e-02 1.29189516e+02] [ 2.55746815e-01 9.66650711e-01 -1.34152896e-02 1.32993798e+01] [ 5.35562586e-02 -3.11184545e-04 9.98564785e-01 6.80086394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.25, Y:13.31, Z:6.80 [[ 9.64520186e-01 -2.58868292e-01 -5.18460922e-02 1.29247538e+02] [ 2.58520102e-01 9.65912524e-01 -1.34295264e-02 1.33073094e+01] [ 5.35552683e-02 -4.50207707e-04 9.98564785e-01 6.80476179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:13.31, Z:6.81 [[ 9.64696615e-01 -2.58210819e-01 -5.18421953e-02 1.29304621e+02] [ 2.57860873e-01 9.66088513e-01 -1.34445528e-02 1.33148810e+01] [ 5.35556783e-02 -3.98159108e-04 9.98564785e-01 6.80865583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510385723 meters Centerline goodness : 0.998416 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:13.32, Z:6.81 [[ 9.66602636e-01 -2.50981912e-01 -5.18403793e-02 1.29363012e+02] [ 2.50621180e-01 9.67991777e-01 -1.34515513e-02 1.33208727e+01] [ 5.35571569e-02 1.00079235e-05 9.98564786e-01 6.81058214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:13.33, Z:6.82 [[ 9.70143063e-01 -2.36929270e-01 -5.18358822e-02 1.29419680e+02] [ 2.36547494e-01 9.71526568e-01 -1.34688589e-02 1.33312889e+01] [ 5.35511036e-02 8.05072047e-04 9.98564786e-01 6.82185903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63038572300002 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:13.34, Z:6.82 [[ 9.71328856e-01 -2.32020343e-01 -5.18344797e-02 1.29477899e+02] [ 2.31631288e-01 9.72710332e-01 -1.34742540e-02 1.33421602e+01] [ 5.35462351e-02 1.08144437e-03 9.98564786e-01 6.81545127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.54, Y:13.35, Z:6.83 [[ 9.72420533e-01 -2.27402521e-01 -5.18305055e-02 1.29535751e+02] [ 2.27006093e-01 9.73799911e-01 -1.34895243e-02 1.33531379e+01] [ 5.35400934e-02 1.35164982e-03 9.98564786e-01 6.82679556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:129.59, Y:13.37, Z:6.82 [[ 9.70867275e-01 -2.33946037e-01 -5.18265010e-02 1.29594232e+02] [ 2.33558087e-01 9.72249062e-01 -1.35048921e-02 1.33680132e+01] [ 5.35476829e-02 1.00695935e-03 9.98564786e-01 6.81623492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:129.65, Y:13.38, Z:6.82 [[ 9.70261723e-01 -2.36445024e-01 -5.18260429e-02 1.29652549e+02] [ 2.36060539e-01 9.71644478e-01 -1.35066495e-02 1.33762180e+01] [ 5.35500685e-02 8.70901385e-04 9.98564786e-01 6.82100110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870385723 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:129.71, Y:13.38, Z:6.83 [[ 9.72071224e-01 -2.28892902e-01 -5.18225355e-02 1.29712135e+02] [ 2.28496961e-01 9.73450741e-01 -1.35200935e-02 1.33754132e+01] [ 5.35413391e-02 1.30120202e-03 9.98564786e-01 6.83499531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:13.39, Z:6.83 [[ 9.68615276e-01 -2.43102910e-01 -5.18210548e-02 1.29769088e+02] [ 2.42726908e-01 9.70000362e-01 -1.35257664e-02 1.33920931e+01] [ 5.35545951e-02 5.22899597e-04 9.98564786e-01 6.82600846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.83, Y:13.40, Z:6.83 [[ 9.67014069e-01 -2.49396828e-01 -5.18171066e-02 1.29825698e+02] [ 2.49029032e-01 9.68401356e-01 -1.35408750e-02 1.34040909e+01] [ 5.35568076e-02 1.90252761e-04 9.98564786e-01 6.82711645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:13.41, Z:6.85 [[ 9.68664032e-01 -2.42909653e-01 -5.18159538e-02 1.29884068e+02] [ 2.42532331e-01 9.70048758e-01 -1.35452850e-02 1.34084462e+01] [ 5.35542822e-02 5.53786339e-04 9.98564786e-01 6.84752684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:13.43, Z:6.84 [[ 9.68389423e-01 -2.44002316e-01 -5.18150209e-02 1.29939426e+02] [ 2.43626365e-01 9.69774522e-01 -1.35488529e-02 1.34277559e+01] [ 5.35548386e-02 4.97060654e-04 9.98564786e-01 6.84114460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.170385723 meters Centerline goodness : 0.997781 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:13.44, Z:6.85 [[ 9.68476062e-01 -2.43658953e-01 -5.18115050e-02 1.29995497e+02] [ 2.43281793e-01 9.69860832e-01 -1.35622846e-02 1.34432873e+01] [ 5.35545214e-02 5.29952218e-04 9.98564786e-01 6.84682318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230385723 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:130.05, Y:13.46, Z:6.85 [[ 9.68633398e-01 -2.43033020e-01 -5.18101523e-02 1.30052753e+02] [ 2.42654688e-01 9.70017849e-01 -1.35674500e-02 1.34578471e+01] [ 5.35541108e-02 5.69908807e-04 9.98564786e-01 6.85129963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.11, Y:13.47, Z:6.86 [[ 9.67733040e-01 -2.46594544e-01 -5.18063141e-02 1.30109459e+02] [ 2.46220525e-01 9.69118662e-01 -1.35820902e-02 1.34722210e+01] [ 5.35557351e-02 3.88059609e-04 9.98564786e-01 6.86010579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35038572300002 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:130.17, Y:13.49, Z:6.86 [[ 9.67052296e-01 -2.49251634e-01 -5.18023091e-02 1.30165019e+02] [ 2.48880604e-01 9.68438721e-01 -1.35973481e-02 1.34884044e+01] [ 5.35565232e-02 2.56756754e-04 9.98564787e-01 6.86000106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.22, Y:13.50, Z:6.87 [[ 9.67770571e-01 -2.46448345e-01 -5.18009263e-02 1.30221418e+02] [ 2.46073018e-01 9.69155838e-01 -1.36026142e-02 1.35044890e+01] [ 5.35555119e-02 4.17399493e-04 9.98564787e-01 6.86737019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47038572300002 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:130.28, Y:13.52, Z:6.86 [[ 9.67897650e-01 -2.45949625e-01 -5.17969206e-02 1.30278188e+02] [ 2.45572769e-01 9.69282502e-01 -1.36178502e-02 1.35233593e+01] [ 5.35551540e-02 4.60771973e-04 9.98564787e-01 6.85665681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530385723 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:130.33, Y:13.54, Z:6.87 [[ 9.67715757e-01 -2.46665107e-01 -5.17932341e-02 1.30334951e+02] [ 2.46288525e-01 9.69100684e-01 -1.36318568e-02 1.35366304e+01] [ 5.35553620e-02 4.35683432e-04 9.98564787e-01 6.86819375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:130.39, Y:13.56, Z:6.87 [[ 9.65195561e-01 -2.56350186e-01 -5.17891084e-02 1.30389300e+02] [ 2.55986660e-01 9.66583972e-01 -1.36475129e-02 1.35594593e+01] [ 5.35570646e-02 -8.48020018e-05 9.98564787e-01 6.86805931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650385723 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:130.45, Y:13.57, Z:6.88 [[ 9.65928150e-01 -2.53576262e-01 -5.17869476e-02 1.30448447e+02] [ 2.53208310e-01 9.67315395e-01 -1.36557072e-02 1.35660212e+01] [ 5.35570749e-02 7.75465240e-05 9.98564787e-01 6.87742054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:13.59, Z:6.87 [[ 9.63447892e-01 -2.62843092e-01 -5.17848182e-02 1.30502696e+02] [ 2.62488049e-01 9.64838497e-01 -1.36637778e-02 1.35916696e+01] [ 5.35554157e-02 -4.28557962e-04 9.98564787e-01 6.87128384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770385723 meters Centerline goodness : 0.997095 with order 1 Centerline is valid? [True, True] Translation: X:130.56, Y:13.60, Z:6.88 [[ 9.65126917e-01 -2.56610276e-01 -5.17803122e-02 1.30560657e+02] [ 2.56245337e-01 9.66514957e-01 -1.36808324e-02 1.35973862e+01] [ 5.35570884e-02 -6.47238983e-05 9.98564787e-01 6.88315164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:13.62, Z:6.88 [[ 9.63881130e-01 -2.61251329e-01 -5.17775065e-02 1.30614396e+02] [ 2.60892504e-01 9.65270763e-01 -1.36914428e-02 1.36216691e+01] [ 5.35562208e-02 -3.11439961e-04 9.98564787e-01 6.87923379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:13.64, Z:6.88 [[ 9.64318397e-01 -2.59633578e-01 -5.17729146e-02 1.30670314e+02] [ 2.59271490e-01 9.65707183e-01 -1.37087846e-02 1.36405400e+01] [ 5.35567364e-02 -2.03607529e-04 9.98564787e-01 6.87638650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.950385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:13.65, Z:6.89 [[ 9.67615823e-01 -2.47061782e-01 -5.17696319e-02 1.30728474e+02] [ 2.46680988e-01 9.68999597e-01 -1.37211702e-02 1.36461799e+01] [ 5.35547293e-02 5.06237479e-04 9.98564787e-01 6.88630793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:13.67, Z:6.88 [[ 9.65862194e-01 -2.53831619e-01 -5.17661251e-02 1.30783093e+02] [ 2.53459816e-01 9.67248411e-01 -1.37343879e-02 1.36699296e+01] [ 5.35569241e-02 1.44893526e-04 9.98564788e-01 6.88421812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:13.68, Z:6.89 [[ 9.68298658e-01 -2.44373468e-01 -5.17621224e-02 1.30840211e+02] [ 2.43987320e-01 9.69680948e-01 -1.37494565e-02 1.36778884e+01] [ 5.35527463e-02 6.84278786e-04 9.98564788e-01 6.89224646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:13.69, Z:6.89 [[ 9.68520295e-01 -2.43493875e-01 -5.17607139e-02 1.30895472e+02] [ 2.43106188e-01 9.69902154e-01 -1.37547571e-02 1.36932015e+01] [ 5.35520270e-02 7.38411565e-04 9.98564788e-01 6.89320784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:13.71, Z:6.89 [[ 9.67917161e-01 -2.45881055e-01 -5.17578680e-02 1.30951558e+02] [ 2.45496205e-01 9.69299812e-01 -1.37654577e-02 1.37086610e+01] [ 5.35535569e-02 6.17462573e-04 9.98564788e-01 6.89443029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:131.01, Y:13.72, Z:6.90 [[ 9.67686853e-01 -2.46786674e-01 -5.17541462e-02 1.31008379e+02] [ 2.46402370e-01 9.69069656e-01 -1.37794362e-02 1.37216139e+01] [ 5.35539539e-02 5.81834998e-04 9.98564788e-01 6.90083526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:13.74, Z:6.90 [[ 9.68112442e-01 -2.45112631e-01 -5.17503404e-02 1.31063208e+02] [ 2.44725173e-01 9.69494365e-01 -1.37937147e-02 1.37363338e+01] [ 5.35526771e-02 6.89255792e-04 9.98564788e-01 6.90181502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:131.12, Y:13.75, Z:6.91 [[ 9.67758499e-01 -2.46506714e-01 -5.17487016e-02 1.31118243e+02] [ 2.46120919e-01 9.69140886e-01 -1.37998599e-02 1.37529981e+01] [ 5.35535407e-02 6.18493741e-04 9.98564788e-01 6.90612306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.17, Y:13.76, Z:6.91 [[ 9.67624291e-01 -2.47033855e-01 -5.17446147e-02 1.31174835e+02] [ 2.46647994e-01 9.69006661e-01 -1.38151675e-02 1.37641768e+01] [ 5.35536904e-02 6.05186304e-04 9.98564788e-01 6.91349834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.23, Y:13.77, Z:6.92 [[ 9.68355356e-01 -2.44153281e-01 -5.17405058e-02 1.31231629e+02] [ 2.43762487e-01 9.69736339e-01 -1.38305390e-02 1.37740769e+01] [ 5.35514201e-02 7.80482135e-04 9.98564788e-01 6.91959980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.29, Y:13.79, Z:6.92 [[ 9.68442171e-01 -2.43809525e-01 -5.17366202e-02 1.31288012e+02] [ 2.43417465e-01 9.69822794e-01 -1.38450590e-02 1.37901498e+01] [ 5.35509108e-02 8.14542014e-04 9.98564788e-01 6.92442595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.34, Y:13.81, Z:6.93 [[ 9.68735163e-01 -2.42643557e-01 -5.17328600e-02 1.31343670e+02] [ 2.42249086e-01 9.70115099e-01 -1.38590948e-02 1.38057974e+01] [ 5.35496487e-02 8.93554414e-04 9.98564788e-01 6.92540783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.670385723 meters Centerline goodness : 0.998199 with order 1 Centerline is valid? [True, True] Translation: X:131.40, Y:13.82, Z:6.92 [[ 9.68807130e-01 -2.42356878e-01 -5.17289882e-02 1.31400847e+02] [ 2.41961228e-01 9.70186729e-01 -1.38735314e-02 1.38218353e+01] [ 5.35491236e-02 9.24366612e-04 9.98564789e-01 6.92375941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.46, Y:13.84, Z:6.93 [[ 9.68493374e-01 -2.43608528e-01 -5.17249408e-02 1.31457327e+02] [ 2.43213857e-01 9.69873253e-01 -1.38886052e-02 1.38359873e+01] [ 5.35500192e-02 8.70799746e-04 9.98564789e-01 6.93363349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:13.85, Z:6.94 [[ 9.68338386e-01 -2.44224742e-01 -5.17208499e-02 1.31513645e+02] [ 2.43830135e-01 9.69718283e-01 -1.39038228e-02 1.38498636e+01] [ 5.35503113e-02 8.52503446e-04 9.98564789e-01 6.93868004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:13.87, Z:6.94 [[ 9.68252372e-01 -2.44566361e-01 -5.17169122e-02 1.31569836e+02] [ 2.44171460e-01 9.69632185e-01 -1.39184542e-02 1.38661887e+01] [ 5.35503683e-02 8.48782305e-04 9.98564789e-01 6.93850108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:13.88, Z:6.94 [[ 9.67696070e-01 -2.46759150e-01 -5.17130444e-02 1.31626099e+02] [ 2.46366609e-01 9.69076556e-01 -1.39328098e-02 1.38788283e+01] [ 5.35519473e-02 7.42357951e-04 9.98564789e-01 6.94165870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.68, Y:13.89, Z:6.95 [[ 9.66848912e-01 -2.50058664e-01 -5.17092395e-02 1.31682248e+02] [ 2.49670080e-01 9.68230517e-01 -1.39469167e-02 1.38910026e+01] [ 5.35540111e-02 5.74311306e-04 9.98564789e-01 6.94750906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.74, Y:13.91, Z:6.95 [[ 9.66705667e-01 -2.50612108e-01 -5.17080673e-02 1.31738348e+02] [ 2.50224082e-01 9.68087429e-01 -1.39512615e-02 1.39066454e+01] [ 5.35542850e-02 5.48159859e-04 9.98564789e-01 6.95106202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.79, Y:13.92, Z:6.95 [[ 9.66599985e-01 -2.51020213e-01 -5.17041678e-02 1.31794469e+02] [ 2.50631999e-01 9.67981694e-01 -1.39656981e-02 1.39227140e+01] [ 5.35543605e-02 5.40524686e-04 9.98564789e-01 6.95309129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150385723 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:131.85, Y:13.94, Z:6.95 [[ 9.66641114e-01 -2.50862582e-01 -5.17003023e-02 1.31850310e+02] [ 2.50473378e-01 9.68022545e-01 -1.39799935e-02 1.39386443e+01] [ 5.35541155e-02 5.64087125e-04 9.98564789e-01 6.95335179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210385723 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:131.91, Y:13.96, Z:6.96 [[ 9.67074573e-01 -2.49187189e-01 -5.16963667e-02 1.31905521e+02] [ 2.48794814e-01 9.68455107e-01 -1.39945318e-02 1.39551771e+01] [ 5.35528684e-02 6.71967938e-04 9.98564789e-01 6.95686894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.96, Y:13.97, Z:6.96 [[ 9.67784348e-01 -2.46417029e-01 -5.16923970e-02 1.31960586e+02] [ 2.46019921e-01 9.69163527e-01 -1.40091797e-02 1.39738472e+01] [ 5.35504862e-02 8.40505403e-04 9.98564790e-01 6.95811008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.02, Y:13.99, Z:6.96 [[ 9.68240548e-01 -2.44619189e-01 -5.16884212e-02 1.32015194e+02] [ 2.44218738e-01 9.69618760e-01 -1.40238337e-02 1.39894912e+01] [ 5.35485617e-02 9.55163408e-04 9.98564790e-01 6.96147541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:14.00, Z:6.96 [[ 9.68756562e-01 -2.42567949e-01 -5.16866893e-02 1.32070771e+02] [ 2.42164240e-01 9.70133823e-01 -1.40302136e-02 1.40039619e+01] [ 5.35462857e-02 1.07519365e-03 9.98564790e-01 6.96349206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:14.02, Z:6.97 [[ 9.68992676e-01 -2.41623366e-01 -5.16850268e-02 1.32126162e+02] [ 2.41217988e-01 9.70369447e-01 -1.40363354e-02 1.40217032e+01] [ 5.35450775e-02 1.13374803e-03 9.98564790e-01 6.96541004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:14.04, Z:6.97 [[ 9.68899933e-01 -2.41995821e-01 -5.16811552e-02 1.32182127e+02] [ 2.41590213e-01 9.70276636e-01 -1.40505761e-02 1.40371207e+01] [ 5.35451981e-02 1.12794089e-03 9.98564790e-01 6.96898079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:14.05, Z:6.97 [[ 9.68563251e-01 -2.43340664e-01 -5.16773587e-02 1.32238686e+02] [ 2.42936223e-01 9.69940297e-01 -1.40645257e-02 1.40519877e+01] [ 5.35464237e-02 1.06808043e-03 9.98564790e-01 6.97290124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63038572300002 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:132.30, Y:14.07, Z:6.98 [[ 9.68430784e-01 -2.43868004e-01 -5.16741068e-02 1.32295044e+02] [ 2.43463677e-01 9.69807863e-01 -1.40764631e-02 1.40686750e+01] [ 5.35467541e-02 1.05131215e-03 9.98564790e-01 6.97519607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:132.35, Y:14.09, Z:6.97 [[ 9.66978885e-01 -2.49563554e-01 -5.16707652e-02 1.32350650e+02] [ 2.49166684e-01 9.68358132e-01 -1.40887186e-02 1.40912270e+01] [ 5.35518364e-02 7.48860146e-04 9.98564790e-01 6.97016669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:132.41, Y:14.11, Z:6.97 [[ 9.67274116e-01 -2.48417565e-01 -5.16671792e-02 1.32405048e+02] [ 2.48018359e-01 9.68652689e-01 -1.41018571e-02 1.41084410e+01] [ 5.35507011e-02 8.25952324e-04 9.98564790e-01 6.97136070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.46, Y:14.12, Z:6.97 [[ 9.67818355e-01 -2.46289126e-01 -5.16652499e-02 1.32462374e+02] [ 2.45886511e-01 9.69195936e-01 -1.41089223e-02 1.41229680e+01] [ 5.35486243e-02 9.51085953e-04 9.98564790e-01 6.97398859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:132.52, Y:14.14, Z:6.98 [[ 9.67659427e-01 -2.46913530e-01 -5.16617957e-02 1.32518590e+02] [ 2.46511130e-01 9.69037071e-01 -1.41215591e-02 1.41394378e+01] [ 5.35489991e-02 9.29652126e-04 9.98564790e-01 6.98207183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.58, Y:14.15, Z:6.99 [[ 9.65595094e-01 -2.54867742e-01 -5.16579923e-02 1.32576069e+02] [ 2.54475948e-01 9.66975791e-01 -1.41354583e-02 1.41526383e+01] [ 5.35547003e-02 5.03412596e-04 9.98564790e-01 6.98856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.63, Y:14.16, Z:7.00 [[ 9.66704446e-01 -2.50627889e-01 -5.16543856e-02 1.32632699e+02] [ 2.50229337e-01 9.68083207e-01 -1.41486260e-02 1.41592460e+01] [ 5.35517835e-02 7.52097061e-04 9.98564791e-01 6.99581859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.69, Y:14.18, Z:7.00 [[ 9.65940894e-01 -2.53555113e-01 -5.16526208e-02 1.32687957e+02] [ 2.53160395e-01 9.67320758e-01 -1.41550657e-02 1.41755198e+01] [ 5.35537416e-02 5.96558939e-04 9.98564791e-01 6.99597770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.74, Y:14.19, Z:7.00 [[ 9.65446157e-01 -2.55432764e-01 -5.16509450e-02 1.32743942e+02] [ 2.55040402e-01 9.66826693e-01 -1.41611780e-02 1.41897571e+01] [ 5.35547412e-02 4.98777130e-04 9.98564791e-01 6.99757048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.170385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:132.80, Y:14.20, Z:7.00 [[ 9.64372298e-01 -2.59458359e-01 -5.16471777e-02 1.32800021e+02] [ 2.59071025e-01 9.65754252e-01 -1.41749043e-02 1.42030627e+01] [ 5.35562789e-02 2.89597813e-04 9.98564791e-01 7.00217815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230385723 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:132.85, Y:14.23, Z:7.00 [[ 9.60902386e-01 -2.72028639e-01 -5.16432316e-02 1.32854077e+02] [ 2.71658611e-01 9.62289075e-01 -1.41892666e-02 1.42286807e+01] [ 5.35556045e-02 -3.94828447e-04 9.98564791e-01 7.00077135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290385723 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:132.91, Y:14.23, Z:7.01 [[ 9.61378989e-01 -2.70340119e-01 -5.16397099e-02 1.32911765e+02] [ 2.69966967e-01 9.62764840e-01 -1.42020719e-02 1.42347538e+01] [ 5.35562868e-02 -2.87442319e-04 9.98564791e-01 7.01050087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35038572300002 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:132.97, Y:14.25, Z:7.01 [[ 9.60240765e-01 -2.74355985e-01 -5.16378340e-02 1.32967565e+02] [ 2.73988263e-01 9.61628067e-01 -1.42088893e-02 1.42505266e+01] [ 5.35546843e-02 -5.04205703e-04 9.98564791e-01 7.01280393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:133.02, Y:14.27, Z:7.02 [[ 9.59521531e-01 -2.76861645e-01 -5.16339139e-02 1.33021234e+02] [ 2.76496779e-01 9.60909587e-01 -1.42231203e-02 1.42684708e+01] [ 5.35533594e-02 -6.29220692e-04 9.98564791e-01 7.01516536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47038572300002 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:14.29, Z:7.02 [[ 9.59111077e-01 -2.78280532e-01 -5.16322270e-02 1.33075061e+02] [ 2.77917390e-01 9.60499585e-01 -1.42292414e-02 1.42882386e+01] [ 5.35524535e-02 -7.02070742e-04 9.98564791e-01 7.01648443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.13, Y:14.31, Z:7.02 [[ 9.59447920e-01 -2.77117428e-01 -5.16296436e-02 1.33129774e+02] [ 2.76752100e-01 9.60835853e-01 -1.42386089e-02 1.43071812e+01] [ 5.35533794e-02 -6.27408562e-04 9.98564791e-01 7.01574663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.18, Y:14.32, Z:7.02 [[ 9.58800844e-01 -2.79348736e-01 -5.16258209e-02 1.33184899e+02] [ 2.78985892e-01 9.60189429e-01 -1.42524556e-02 1.43242819e+01] [ 5.35519730e-02 -7.37609229e-04 9.98564791e-01 7.01767253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.24, Y:14.35, Z:7.02 [[ 9.57150144e-01 -2.84953995e-01 -5.16219136e-02 1.33239249e+02] [ 2.84598520e-01 9.58540634e-01 -1.42665938e-02 1.43477837e+01] [ 5.35470247e-02 -1.03624786e-03 9.98564791e-01 7.01608532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:14.36, Z:7.03 [[ 9.58497466e-01 -2.80389392e-01 -5.16177964e-02 1.33294929e+02] [ 2.80026493e-01 9.59886036e-01 -1.42814746e-02 1.43582102e+01] [ 5.35515760e-02 -7.65593342e-04 9.98564791e-01 7.02512022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:14.37, Z:7.03 [[ 9.59801811e-01 -2.75891767e-01 -5.16160437e-02 1.33349913e+02] [ 2.75522020e-01 9.61188574e-01 -1.42878064e-02 1.43744671e+01] [ 5.35546396e-02 -5.07894182e-04 9.98564791e-01 7.02962464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830385723 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:14.39, Z:7.03 [[ 9.62189518e-01 -2.67445868e-01 -5.16143270e-02 1.33404911e+02] [ 2.67063615e-01 9.63572886e-01 -1.42940054e-02 1.43917086e+01] [ 5.35570387e-02 -3.07665682e-05 9.98564791e-01 7.02931101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.46, Y:14.41, Z:7.03 [[ 9.63838273e-01 -2.61441986e-01 -5.16127158e-02 1.33461225e+02] [ 2.61050805e-01 9.65219142e-01 -1.42998208e-02 1.44087505e+01] [ 5.35561548e-02 3.09173548e-04 9.98564791e-01 7.03421447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.52, Y:14.42, Z:7.04 [[ 9.65543176e-01 -2.55074164e-01 -5.16095619e-02 1.33518513e+02] [ 2.54673269e-01 9.66921256e-01 -1.43111944e-02 1.44222144e+01] [ 5.35527984e-02 6.74500250e-04 9.98564792e-01 7.03988293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:14.44, Z:7.04 [[ 9.65041278e-01 -2.56967164e-01 -5.16062768e-02 1.33573868e+02] [ 2.56568339e-01 9.66419960e-01 -1.43230307e-02 1.44405982e+01] [ 5.35538845e-02 5.81779176e-04 9.98564792e-01 7.04275781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:14.45, Z:7.04 [[ 9.66478709e-01 -2.51507771e-01 -5.16018037e-02 1.33629633e+02] [ 2.51100300e-01 9.67854859e-01 -1.43391279e-02 1.44547180e+01] [ 5.35494586e-02 9.01233412e-04 9.98564792e-01 7.04445378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.68, Y:14.47, Z:7.04 [[ 9.65397337e-01 -2.55627511e-01 -5.15999798e-02 1.33684992e+02] [ 2.55225562e-01 9.66775110e-01 -1.43456885e-02 1.44717034e+01] [ 5.35527288e-02 6.79655677e-04 9.98564792e-01 7.04378867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.74, Y:14.48, Z:7.05 [[ 9.64522633e-01 -2.58909193e-01 -5.15957336e-02 1.33741730e+02] [ 2.58511116e-01 9.65901530e-01 -1.43609442e-02 1.44844197e+01] [ 5.35545785e-02 5.13385070e-04 9.98564792e-01 7.04848936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.80, Y:14.49, Z:7.06 [[ 9.64906830e-01 -2.57474521e-01 -5.15914746e-02 1.33798317e+02] [ 2.57073577e-01 9.66284896e-01 -1.43762281e-02 1.44930490e+01] [ 5.35535751e-02 6.08915708e-04 9.98564792e-01 7.05544490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.85, Y:14.51, Z:7.06 [[ 9.63990165e-01 -2.60886136e-01 -5.15886194e-02 1.33854337e+02] [ 2.60489521e-01 9.65369483e-01 -1.43864666e-02 1.45096999e+01] [ 5.35553086e-02 4.30117506e-04 9.98564792e-01 7.05919991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.91, Y:14.52, Z:7.06 [[ 9.63884523e-01 -2.61277021e-01 -5.15843381e-02 1.33911395e+02] [ 2.60880144e-01 9.65263766e-01 -1.44018014e-02 1.45214753e+01] [ 5.35553523e-02 4.24343899e-04 9.98564792e-01 7.05857582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:133.97, Y:14.54, Z:7.06 [[ 9.62676393e-01 -2.65694210e-01 -5.15824511e-02 1.33966793e+02] [ 2.65303300e-01 9.64057339e-01 -1.44085567e-02 1.45406357e+01] [ 5.35567107e-02 1.85782908e-04 9.98564792e-01 7.05853646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:134.02, Y:14.55, Z:7.07 [[ 9.63614904e-01 -2.62270835e-01 -5.15783454e-02 1.34022460e+02] [ 2.61874234e-01 9.64994226e-01 -1.44232391e-02 1.45537849e+01] [ 5.35556005e-02 3.91408442e-04 9.98564792e-01 7.06586682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:14.57, Z:7.07 [[ 9.63508896e-01 -2.62660257e-01 -5.15770986e-02 1.34078303e+02] [ 2.62263975e-01 9.64888309e-01 -1.44276964e-02 1.45726158e+01] [ 5.35557219e-02 3.74398918e-04 9.98564792e-01 7.07023914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:14.59, Z:7.08 [[ 9.63141168e-01 -2.64006163e-01 -5.15735936e-02 1.34133501e+02] [ 2.63611138e-01 9.64520942e-01 -1.44402146e-02 1.45887969e+01] [ 5.35561167e-02 3.12591517e-04 9.98564792e-01 7.07603068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:14.61, Z:7.07 [[ 9.61421921e-01 -2.70200795e-01 -5.15695717e-02 1.34188362e+02] [ 2.69813890e-01 9.62803994e-01 -1.44545634e-02 1.46119383e+01] [ 5.35570241e-02 -1.72526427e-05 9.98564793e-01 7.07302304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.25, Y:14.63, Z:7.08 [[ 9.62632554e-01 -2.65856168e-01 -5.15661053e-02 1.34245857e+02] [ 2.65462364e-01 9.64012677e-01 -1.44669191e-02 1.46256942e+01] [ 5.35564989e-02 2.37467084e-04 9.98564793e-01 7.08195882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.30, Y:14.64, Z:7.08 [[ 9.62670567e-01 -2.65719110e-01 -5.15629058e-02 1.34301941e+02] [ 2.65324499e-01 9.64050460e-01 -1.44783137e-02 1.46432252e+01] [ 5.35564077e-02 2.56944341e-04 9.98564793e-01 7.08443106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.36, Y:14.66, Z:7.09 [[ 9.63431449e-01 -2.62947650e-01 -5.15594496e-02 1.34357174e+02] [ 2.62548412e-01 9.64810009e-01 -1.44906116e-02 1.46624752e+01] [ 5.35553453e-02 4.23859378e-04 9.98564793e-01 7.08740923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.41, Y:14.68, Z:7.09 [[ 9.64411422e-01 -2.59331033e-01 -5.15560326e-02 1.34412114e+02] [ 2.58925976e-01 9.65788284e-01 -1.45027588e-02 1.46807501e+01] [ 5.35532276e-02 6.37430170e-04 9.98564793e-01 7.09150750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:14.70, Z:7.10 [[ 9.66125446e-01 -2.52871506e-01 -5.15521400e-02 1.34466016e+02] [ 2.52456507e-01 9.67499344e-01 -1.45165825e-02 1.47019979e+01] [ 5.35474917e-02 1.01016652e-03 9.98564793e-01 7.09507608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030385723 meters Centerline goodness : 0.997733 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:14.72, Z:7.09 [[ 9.67465523e-01 -2.47695300e-01 -5.15509424e-02 1.34521346e+02] [ 2.47272724e-01 9.68837110e-01 -1.45208339e-02 1.47240812e+01] [ 5.35412084e-02 1.30126425e-03 9.98564793e-01 7.09190289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.58, Y:14.74, Z:7.10 [[ 9.68809055e-01 -2.42387919e-01 -5.15471879e-02 1.34576520e+02] [ 2.41957123e-01 9.70178081e-01 -1.45341499e-02 1.47445330e+01] [ 5.35328542e-02 1.60860676e-03 9.98564793e-01 7.10219838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.63, Y:14.76, Z:7.10 [[ 9.69568922e-01 -2.39331224e-01 -5.15429117e-02 1.34631225e+02] [ 2.38895308e-01 9.70936326e-01 -1.45492989e-02 1.47647558e+01] [ 5.35269868e-02 1.79318828e-03 9.98564793e-01 7.10491027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:14.79, Z:7.11 [[ 9.70151849e-01 -2.36957477e-01 -5.15416761e-02 1.34686693e+02] [ 2.36517983e-01 9.71518108e-01 -1.45536745e-02 1.47863893e+01] [ 5.35222737e-02 1.92874097e-03 9.98564793e-01 7.10531427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:14.81, Z:7.10 [[ 9.69919466e-01 -2.37907604e-01 -5.15383559e-02 1.34740930e+02] [ 2.37468826e-01 9.71285954e-01 -1.45654228e-02 1.48066860e+01] [ 5.35237061e-02 1.88853428e-03 9.98564793e-01 7.10428913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:14.83, Z:7.11 [[ 9.68722748e-01 -2.42734744e-01 -5.15371891e-02 1.34795973e+02] [ 2.42302556e-01 9.70091336e-01 -1.45695502e-02 1.48265956e+01] [ 5.35323167e-02 1.62626199e-03 9.98564793e-01 7.11166326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.85, Y:14.85, Z:7.12 [[ 9.67024380e-01 -2.49415603e-01 -5.15335435e-02 1.34850589e+02] [ 2.48992187e-01 9.68395706e-01 -1.45824336e-02 1.48463591e+01] [ 5.35419487e-02 1.27011913e-03 9.98564793e-01 7.11687293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.91, Y:14.87, Z:7.12 [[ 9.65171915e-01 -2.56490934e-01 -5.15322723e-02 1.34906038e+02] [ 2.56077332e-01 9.66546234e-01 -1.45869244e-02 1.48650015e+01] [ 5.35497376e-02 8.82642936e-04 9.98564793e-01 7.12117111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:134.96, Y:14.89, Z:7.12 [[ 9.63172782e-01 -2.63899659e-01 -5.15282682e-02 1.34961102e+02] [ 2.63495873e-01 9.64550016e-01 -1.46010554e-02 1.48859529e+01] [ 5.35548054e-02 4.85853151e-04 9.98564793e-01 7.12394474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:14.90, Z:7.13 [[ 9.62002582e-01 -2.68134725e-01 -5.15247651e-02 1.35016205e+02] [ 2.67736341e-01 9.63381389e-01 -1.46134066e-02 1.49048357e+01] [ 5.35563616e-02 2.63082788e-04 9.98564794e-01 7.12625237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.07, Y:14.93, Z:7.13 [[ 9.59586162e-01 -2.76658132e-01 -5.15235354e-02 1.35070760e+02] [ 2.76271763e-01 9.60968384e-01 -1.46177410e-02 1.49254232e+01] [ 5.35566055e-02 -2.07515956e-04 9.98564794e-01 7.13047594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.13, Y:14.95, Z:7.13 [[ 9.58222851e-01 -2.81344441e-01 -5.15196419e-02 1.35125668e+02] [ 2.80964094e-01 9.59606742e-01 -1.46314508e-02 1.49452271e+01] [ 5.35550730e-02 -4.54978992e-04 9.98564794e-01 7.13257306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:135.18, Y:14.96, Z:7.13 [[ 9.55964299e-01 -2.88926260e-01 -5.15157711e-02 1.35180084e+02] [ 2.88556154e-01 9.57350964e-01 -1.46450668e-02 1.49643913e+01] [ 5.35500175e-02 -8.65031741e-04 9.98564794e-01 7.13494933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:135.24, Y:14.98, Z:7.14 [[ 9.54438741e-01 -2.93926757e-01 -5.15145824e-02 1.35235197e+02] [ 2.93563689e-01 9.55827265e-01 -1.46492469e-02 1.49837912e+01] [ 5.35448480e-02 -1.14100208e-03 9.98564794e-01 7.14077728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:135.29, Y:15.01, Z:7.13 [[ 9.52978499e-01 -2.98627805e-01 -5.15112962e-02 1.35289916e+02] [ 2.98270963e-01 9.54368636e-01 -1.46607930e-02 1.50088790e+01] [ 5.35388860e-02 -1.39290341e-03 9.98564794e-01 7.13457789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.35, Y:15.03, Z:7.14 [[ 9.53449407e-01 -2.97121440e-01 -5.15080426e-02 1.35345033e+02] [ 2.96761785e-01 9.54838819e-01 -1.46722151e-02 1.50284306e+01] [ 5.35413082e-02 -1.29640383e-03 9.98564794e-01 7.13769114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:135.40, Y:15.04, Z:7.15 [[ 9.57609754e-01 -2.83426993e-01 -5.15043591e-02 1.35399947e+02] [ 2.83046768e-01 9.58993678e-01 -1.46851340e-02 1.50449616e+01] [ 5.35545181e-02 -5.15514791e-04 9.98564794e-01 7.15012901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:135.45, Y:15.06, Z:7.15 [[ 9.59328702e-01 -2.77553348e-01 -5.15032135e-02 1.35454647e+02] [ 2.77164433e-01 9.60710209e-01 -1.46891506e-02 1.50635697e+01] [ 5.35566860e-02 -1.83135176e-04 9.98564794e-01 7.15153296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.51, Y:15.08, Z:7.15 [[ 9.61858458e-01 -2.68656089e-01 -5.14996371e-02 1.35509844e+02] [ 2.68253725e-01 9.63236108e-01 -1.47016788e-02 1.50816328e+01] [ 5.35560055e-02 3.25964581e-04 9.98564794e-01 7.15199949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:15.10, Z:7.16 [[ 9.63885155e-01 -2.61291615e-01 -5.14985345e-02 1.35565126e+02] [ 2.60878520e-01 9.65259626e-01 -1.47055402e-02 1.50993754e+01] [ 5.35518905e-02 7.39590454e-04 9.98564794e-01 7.15500071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:15.11, Z:7.16 [[ 9.65406435e-01 -2.55613827e-01 -5.14974481e-02 1.35621407e+02] [ 2.55192446e-01 9.66778388e-01 -1.47093437e-02 1.51138217e+01] [ 5.35465315e-02 1.05873529e-03 9.98564794e-01 7.16186656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:15.13, Z:7.17 [[ 9.66772029e-01 -2.50400257e-01 -5.14932645e-02 1.35676991e+02] [ 2.49970700e-01 9.68141443e-01 -1.47239746e-02 1.51268863e+01] [ 5.35396505e-02 1.36291949e-03 9.98564794e-01 7.16588467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:15.14, Z:7.17 [[ 9.68124058e-01 -2.45121271e-01 -5.14914625e-02 1.35733515e+02] [ 2.44683913e-01 9.69491001e-01 -1.47302737e-02 1.51419140e+01] [ 5.35312130e-02 1.66159983e-03 9.98564794e-01 7.16671153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.79, Y:15.15, Z:7.17 [[ 9.69128363e-01 -2.41120859e-01 -5.14873511e-02 1.35789108e+02] [ 2.40677098e-01 9.70493241e-01 -1.47446307e-02 1.51530664e+01] [ 5.35233642e-02 1.89761363e-03 9.98564794e-01 7.16948109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47038572300002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:15.17, Z:7.16 [[ 9.67853683e-01 -2.46187901e-01 -5.14855811e-02 1.35845993e+02] [ 2.45750959e-01 9.69220759e-01 -1.47508087e-02 1.51702934e+01] [ 5.35323646e-02 1.62399364e-03 9.98564794e-01 7.16493473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:15.18, Z:7.18 [[ 9.68971614e-01 -2.41751194e-01 -5.14817599e-02 1.35904055e+02] [ 2.41307286e-01 9.70336444e-01 -1.47641330e-02 1.51759582e+01] [ 5.35238746e-02 1.88310206e-03 9.98564794e-01 7.17519997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:15.19, Z:7.18 [[ 9.68716609e-01 -2.42771288e-01 -5.14804112e-02 1.35960707e+02] [ 2.42328567e-01 9.70081825e-01 -1.47688342e-02 1.51878989e+01] [ 5.35256601e-02 1.83164070e-03 9.98564794e-01 7.17751565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:15.20, Z:7.18 [[ 9.68273435e-01 -2.44533726e-01 -5.14763206e-02 1.36017824e+02] [ 2.44092734e-01 9.69639210e-01 -1.47830779e-02 1.51996620e+01] [ 5.35284200e-02 1.74906583e-03 9.98564795e-01 7.18158873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:15.21, Z:7.18 [[ 9.67194018e-01 -2.48769650e-01 -5.14722627e-02 1.36075479e+02] [ 2.48333890e-01 9.68561471e-01 -1.47971936e-02 1.52078574e+01] [ 5.35351431e-02 1.52944994e-03 9.98564795e-01 7.18380663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:15.22, Z:7.19 [[ 9.66822525e-01 -2.50209791e-01 -5.14710158e-02 1.36133191e+02] [ 2.49775838e-01 9.68190552e-01 -1.48015296e-02 1.52217874e+01] [ 5.35372388e-02 1.45423611e-03 9.98564795e-01 7.18616657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.19, Y:15.23, Z:7.19 [[ 9.66776831e-01 -2.50387013e-01 -5.14674900e-02 1.36191822e+02] [ 2.49952659e-01 9.68144731e-01 -1.48137791e-02 1.52289740e+01] [ 5.35371572e-02 1.45718244e-03 9.98564795e-01 7.19454288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:15.24, Z:7.20 [[ 9.66604767e-01 -2.51051189e-01 -5.14638184e-02 1.36248424e+02] [ 2.50617097e-01 9.67972750e-01 -1.48265236e-02 1.52396265e+01] [ 5.35377902e-02 1.43367560e-03 9.98564795e-01 7.19705006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.31, Y:15.25, Z:7.20 [[ 9.66743535e-01 -2.50516662e-01 -5.14620230e-02 1.36305162e+02] [ 2.50081482e-01 9.68111172e-01 -1.48327526e-02 1.52528716e+01] [ 5.35368111e-02 1.46976874e-03 9.98564795e-01 7.19910258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:15.26, Z:7.20 [[ 9.67001455e-01 -2.49520032e-01 -5.14581267e-02 1.36362229e+02] [ 2.49082725e-01 9.68368414e-01 -1.48462576e-02 1.52632345e+01] [ 5.35348632e-02 1.53902224e-03 9.98564795e-01 7.20118443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:15.27, Z:7.20 [[ 9.66591252e-01 -2.51105175e-01 -5.14542703e-02 1.36420318e+02] [ 2.50669399e-01 9.67958700e-01 -1.48596111e-02 1.52733678e+01] [ 5.35369338e-02 1.46515908e-03 9.98564795e-01 7.20334223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:15.29, Z:7.21 [[ 9.65922084e-01 -2.53667787e-01 -5.14507626e-02 1.36478628e+02] [ 2.53234993e-01 9.67290478e-01 -1.48717464e-02 1.52855881e+01] [ 5.35403158e-02 1.33581479e-03 9.98564795e-01 7.20502390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:15.29, Z:7.21 [[ 9.64971066e-01 -2.57262521e-01 -5.14474166e-02 1.36536937e+02] [ 2.56834209e-01 9.66340869e-01 -1.48833128e-02 1.52938417e+01] [ 5.35446598e-02 1.14850968e-03 9.98564795e-01 7.21209093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:15.31, Z:7.22 [[ 9.64304456e-01 -2.59750755e-01 -5.14437639e-02 1.36594595e+02] [ 2.59325305e-01 9.65675151e-01 -1.48959274e-02 1.53069092e+01] [ 5.35471929e-02 1.02353941e-03 9.98564795e-01 7.21626053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:15.32, Z:7.22 [[ 9.64009622e-01 -2.60843575e-01 -5.14400401e-02 1.36651632e+02] [ 2.60418994e-01 9.65380586e-01 -1.49087758e-02 1.53191087e+01] [ 5.35480744e-02 9.76239844e-04 9.98564795e-01 7.22057058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:15.34, Z:7.22 [[ 9.62476407e-01 -2.66446106e-01 -5.14357662e-02 1.36707996e+02] [ 2.66028718e-01 9.63849579e-01 -1.49235065e-02 1.53368640e+01] [ 5.35526517e-02 6.80132007e-04 9.98564796e-01 7.21953760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:15.35, Z:7.23 [[ 9.63518855e-01 -2.62652184e-01 -5.14319541e-02 1.36765319e+02] [ 2.62228689e-01 9.64890155e-01 -1.49366328e-02 1.53477469e+01] [ 5.35493254e-02 9.04793442e-04 9.98564796e-01 7.22574297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:136.82, Y:15.36, Z:7.23 [[ 9.62567942e-01 -2.66116693e-01 -5.14282243e-02 1.36822831e+02] [ 2.65697449e-01 9.63940548e-01 -1.49494637e-02 1.53594804e+01] [ 5.35520526e-02 7.25526469e-04 9.98564796e-01 7.22774624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:136.88, Y:15.37, Z:7.23 [[ 9.61252761e-01 -2.70829543e-01 -5.14245919e-02 1.36879736e+02] [ 2.70416360e-01 9.62627203e-01 -1.49619485e-02 1.53719447e+01] [ 5.35548487e-02 4.76163351e-04 9.98564796e-01 7.23180549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.94, Y:15.39, Z:7.24 [[ 9.60690929e-01 -2.72816023e-01 -5.14233081e-02 1.36936803e+02] [ 2.72405447e-01 9.62066152e-01 -1.49663594e-02 1.53863624e+01] [ 5.35556868e-02 3.70056512e-04 9.98564796e-01 7.23870706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:136.99, Y:15.40, Z:7.24 [[ 9.61111647e-01 -2.71330830e-01 -5.14196724e-02 1.36992675e+02] [ 2.70917461e-01 9.62486033e-01 -1.49788403e-02 1.54024523e+01] [ 5.35549377e-02 4.65850808e-04 9.98564796e-01 7.24220326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:137.05, Y:15.42, Z:7.25 [[ 9.61472900e-01 -2.70048164e-01 -5.14183998e-02 1.37048662e+02] [ 2.69632728e-01 9.62846662e-01 -1.49832073e-02 1.54183988e+01] [ 5.35542223e-02 5.41864308e-04 9.98564796e-01 7.24544969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:137.11, Y:15.43, Z:7.25 [[ 9.61915018e-01 -2.68469850e-01 -5.14143794e-02 1.37105437e+02] [ 2.68051424e-01 9.63287872e-01 -1.49969908e-02 1.54346432e+01] [ 5.35530880e-02 6.44133061e-04 9.98564796e-01 7.24813545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85038572300002 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:137.16, Y:15.46, Z:7.25 [[ 9.61361173e-01 -2.70447084e-01 -5.14107869e-02 1.37159974e+02] [ 2.70030823e-01 9.62734686e-01 -1.50092959e-02 1.54570881e+01] [ 5.35541681e-02 5.46857197e-04 9.98564796e-01 7.24901899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:137.22, Y:15.47, Z:7.25 [[ 9.64098699e-01 -2.60520693e-01 -5.14068795e-02 1.37216960e+02] [ 2.60089580e-01 9.65467622e-01 -1.50226668e-02 1.54678579e+01] [ 5.35453933e-02 1.11293980e-03 9.98564796e-01 7.25336653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.27, Y:15.49, Z:7.26 [[ 9.64572105e-01 -2.58762685e-01 -5.14055154e-02 1.37273298e+02] [ 2.58328828e-01 9.65940162e-01 -1.50273331e-02 1.54856277e+01] [ 5.35431649e-02 1.21541975e-03 9.98564796e-01 7.25561765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.33, Y:15.50, Z:7.26 [[ 9.64387426e-01 -2.59450856e-01 -5.14018093e-02 1.37329578e+02] [ 2.59017301e-01 9.65755578e-01 -1.50399995e-02 1.55011481e+01] [ 5.35437248e-02 1.19042850e-03 9.98564796e-01 7.26019078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:137.39, Y:15.51, Z:7.27 [[ 9.63969191e-01 -2.61001313e-01 -5.13976094e-02 1.37385602e+02] [ 2.60569194e-01 9.65337797e-01 -1.50543385e-02 1.55146271e+01] [ 5.35452571e-02 1.11928480e-03 9.98564796e-01 7.26622269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.44, Y:15.53, Z:7.27 [[ 9.63385665e-01 -2.63147257e-01 -5.13963194e-02 1.37441785e+02] [ 2.62717952e-01 9.64755156e-01 -1.50587413e-02 1.55293569e+01] [ 5.35475306e-02 1.00463971e-03 9.98564796e-01 7.27448614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.50, Y:15.55, Z:7.28 [[ 9.63367438e-01 -2.63214362e-01 -5.13943463e-02 1.37498231e+02] [ 2.62784793e-01 9.64736847e-01 -1.50654723e-02 1.55467678e+01] [ 5.35474683e-02 1.00793272e-03 9.98564796e-01 7.27781380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:137.55, Y:15.57, Z:7.28 [[ 9.62737603e-01 -2.65509523e-01 -5.13906703e-02 1.37552904e+02] [ 2.65082551e-01 9.64107823e-01 -1.50780013e-02 1.55660504e+01] [ 5.35495002e-02 8.93388905e-04 9.98564797e-01 7.28292004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.61, Y:15.58, Z:7.29 [[ 9.64233288e-01 -2.60026186e-01 -5.13862786e-02 1.37609120e+02] [ 2.59590626e-01 9.65600802e-01 -1.50929537e-02 1.55802645e+01] [ 5.35431950e-02 1.21373214e-03 9.98564797e-01 7.28627633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:137.66, Y:15.61, Z:7.28 [[ 9.63697062e-01 -2.62006926e-01 -5.13842653e-02 1.37663369e+02] [ 2.61573812e-01 9.65065354e-01 -1.50998050e-02 1.56052014e+01] [ 5.35454276e-02 1.11085956e-03 9.98564797e-01 7.28364058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.72, Y:15.62, Z:7.28 [[ 9.64020720e-01 -2.60814317e-01 -5.13803757e-02 1.37718741e+02] [ 2.60378806e-01 9.65388250e-01 -1.51130285e-02 1.56228009e+01] [ 5.35437052e-02 1.19091173e-03 9.98564797e-01 7.28470379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:15.63, Z:7.29 [[ 9.65094601e-01 -2.56813015e-01 -5.13759430e-02 1.37775996e+02] [ 2.56371034e-01 9.66460053e-01 -1.51280823e-02 1.56331913e+01] [ 5.35378850e-02 1.42872691e-03 9.98564797e-01 7.29361773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:137.83, Y:15.65, Z:7.30 [[ 9.64389663e-01 -2.59447882e-01 -5.13748453e-02 1.37832752e+02] [ 2.59009434e-01 9.65756254e-01 -1.51318092e-02 1.56491450e+01] [ 5.35414940e-02 1.28639084e-03 9.98564797e-01 7.29835539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.89, Y:15.67, Z:7.30 [[ 9.63869209e-01 -2.61375482e-01 -5.13712518e-02 1.37889184e+02] [ 2.60939117e-01 9.65236467e-01 -1.51439989e-02 1.56665623e+01] [ 5.35436756e-02 1.19206514e-03 9.98564797e-01 7.30276154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.95, Y:15.68, Z:7.31 [[ 9.63263074e-01 -2.63601258e-01 -5.13675721e-02 1.37946108e+02] [ 2.63167388e-01 9.64631125e-01 -1.51564699e-02 1.56825882e+01] [ 5.35460234e-02 1.08139800e-03 9.98564797e-01 7.30748954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.00, Y:15.70, Z:7.31 [[ 9.62641027e-01 -2.65864638e-01 -5.13638788e-02 1.38000716e+02] [ 2.65433318e-01 9.64009884e-01 -1.51689758e-02 1.56990261e+01] [ 5.35481812e-02 9.68593690e-04 9.98564797e-01 7.31004308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.06, Y:15.72, Z:7.31 [[ 9.61971873e-01 -2.68276083e-01 -5.13620444e-02 1.38056203e+02] [ 2.67847863e-01 9.63341703e-01 -1.51751846e-02 1.57159550e+01] [ 5.35503384e-02 8.40886894e-04 9.98564797e-01 7.31232435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.11, Y:15.73, Z:7.32 [[ 9.61234226e-01 -2.70907994e-01 -5.13577863e-02 1.38113146e+02] [ 2.70482755e-01 9.62604984e-01 -1.51895820e-02 1.57322703e+01] [ 5.35522402e-02 7.09350587e-04 9.98564797e-01 7.31523042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:15.75, Z:7.32 [[ 9.60631078e-01 -2.73039729e-01 -5.13540518e-02 1.38169111e+02] [ 2.72616858e-01 9.62002569e-01 -1.52021972e-02 1.57498073e+01] [ 5.35535336e-02 6.03722820e-04 9.98564797e-01 7.31660844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:138.23, Y:15.76, Z:7.32 [[ 9.60380825e-01 -2.73919345e-01 -5.13504047e-02 1.38225152e+02] [ 2.73497072e-01 9.61752500e-01 -1.52145066e-02 1.57646582e+01] [ 5.35539278e-02 5.67535039e-04 9.98564797e-01 7.32022078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:138.28, Y:15.78, Z:7.32 [[ 9.59428143e-01 -2.77238528e-01 -5.13462522e-02 1.38282065e+02] [ 2.76820251e-01 9.60801041e-01 -1.52285077e-02 1.57817088e+01] [ 5.35554616e-02 3.96976465e-04 9.98564798e-01 7.31564041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:138.34, Y:15.80, Z:7.33 [[ 9.60146036e-01 -2.74742086e-01 -5.13456527e-02 1.38337115e+02] [ 2.74320132e-01 9.61517809e-01 -1.52305286e-02 1.57990908e+01] [ 5.35542267e-02 5.38385422e-04 9.98564798e-01 7.32874827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170385723 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:15.82, Z:7.32 [[ 9.60204463e-01 -2.74538606e-01 -5.13414451e-02 1.38393230e+02] [ 2.74115603e-01 9.61575912e-01 -1.52446993e-02 1.58175689e+01] [ 5.35539554e-02 5.64537090e-04 9.98564798e-01 7.32232485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:15.83, Z:7.34 [[ 9.61794028e-01 -2.68917662e-01 -5.13375004e-02 1.38447711e+02] [ 2.68485937e-01 9.63162757e-01 -1.52579719e-02 1.58338499e+01] [ 5.35495065e-02 8.91629350e-04 9.98564798e-01 7.33620512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.50, Y:15.86, Z:7.34 [[ 9.62563156e-01 -2.66151814e-01 -5.13359847e-02 1.38502851e+02] [ 2.65715884e-01 9.63930551e-01 -1.52630696e-02 1.58555844e+01] [ 5.35466177e-02 1.05088190e-03 9.98564798e-01 7.33721454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:15.87, Z:7.34 [[ 9.63344521e-01 -2.63310329e-01 -5.13322900e-02 1.38558866e+02] [ 2.62869705e-01 9.64710411e-01 -1.52754855e-02 1.58742978e+01] [ 5.35429877e-02 1.22185133e-03 9.98564798e-01 7.34190008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.61, Y:15.89, Z:7.35 [[ 9.64118303e-01 -2.60463582e-01 -5.13285495e-02 1.38614968e+02] [ 2.60018257e-01 9.65482668e-01 -1.52880440e-02 1.58924783e+01] [ 5.35388036e-02 1.39312306e-03 9.98564798e-01 7.34718560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:15.91, Z:7.35 [[ 9.64911762e-01 -2.57509341e-01 -5.13247579e-02 1.38669253e+02] [ 2.57059163e-01 9.66274533e-01 -1.53007626e-02 1.59123548e+01] [ 5.35338957e-02 1.57038646e-03 9.98564798e-01 7.34944308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:138.72, Y:15.93, Z:7.35 [[ 9.65593498e-01 -2.54941373e-01 -5.13234204e-02 1.38724177e+02] [ 2.54487333e-01 9.66954987e-01 -1.53052475e-02 1.59313394e+01] [ 5.35293781e-02 1.71748708e-03 9.98564798e-01 7.35183753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:138.78, Y:15.95, Z:7.35 [[ 9.65892383e-01 -2.53807501e-01 -5.13191713e-02 1.38778967e+02] [ 2.53351108e-01 9.67253085e-01 -1.53194819e-02 1.59502050e+01] [ 5.35268261e-02 1.79520198e-03 9.98564798e-01 7.35430341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:15.97, Z:7.36 [[ 9.65732925e-01 -2.54414419e-01 -5.13149182e-02 1.38833527e+02] [ 2.53958125e-01 9.67093660e-01 -1.53337151e-02 1.59700877e+01] [ 5.35274502e-02 1.77643314e-03 9.98564798e-01 7.35586081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:15.99, Z:7.36 [[ 9.65476265e-01 -2.55387545e-01 -5.13106544e-02 1.38889415e+02] [ 2.54931866e-01 9.66837206e-01 -1.53479694e-02 1.59872810e+01] [ 5.35287300e-02 1.73737934e-03 9.98564798e-01 7.35867819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.94, Y:16.00, Z:7.36 [[ 9.64698979e-01 -2.58308968e-01 -5.13064980e-02 1.38943838e+02] [ 2.57856673e-01 9.66061049e-01 -1.53618515e-02 1.60043969e+01] [ 5.35333132e-02 1.58983958e-03 9.98564798e-01 7.36247117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.00, Y:16.02, Z:7.37 [[ 9.63901131e-01 -2.61271010e-01 -5.13036930e-02 1.38998908e+02] [ 2.60822404e-01 9.65264420e-01 -1.53712134e-02 1.60222393e+01] [ 5.35376819e-02 1.43517746e-03 9.98564799e-01 7.36979846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.05, Y:16.04, Z:7.37 [[ 9.63804877e-01 -2.61626649e-01 -5.12996705e-02 1.39053965e+02] [ 2.61177833e-01 9.65168096e-01 -1.53846264e-02 1.60425888e+01] [ 5.35378336e-02 1.42944118e-03 9.98564799e-01 7.36895685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.11, Y:16.06, Z:7.37 [[ 9.63825122e-01 -2.61552966e-01 -5.12950308e-02 1.39109058e+02] [ 2.61103223e-01 9.65188036e-01 -1.54000804e-02 1.60614675e+01] [ 5.35372868e-02 1.44968648e-03 9.98564799e-01 7.37207952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:16.08, Z:7.37 [[ 9.63450723e-01 -2.62929022e-01 -5.12936062e-02 1.39162532e+02] [ 2.62480974e-01 9.64814194e-01 -1.54048240e-02 1.60811754e+01] [ 5.35391747e-02 1.37819311e-03 9.98564799e-01 7.37329934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.22, Y:16.11, Z:7.37 [[ 9.62718305e-01 -2.65598608e-01 -5.12917546e-02 1.39215881e+02] [ 2.65154013e-01 9.64082907e-01 -1.54109868e-02 1.61056697e+01] [ 5.35426405e-02 1.23622452e-03 9.98564799e-01 7.37416404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13038572300002 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:139.27, Y:16.13, Z:7.37 [[ 9.62479800e-01 -2.66461841e-01 -5.12905702e-02 1.39271581e+02] [ 2.66018259e-01 9.63844731e-01 -1.54149276e-02 1.61272136e+01] [ 5.35436358e-02 1.19232826e-03 9.98564799e-01 7.37309183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19038572300002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:139.33, Y:16.15, Z:7.38 [[ 9.62957897e-01 -2.64729540e-01 -5.12870271e-02 1.39326991e+02] [ 2.64282876e-01 9.64321823e-01 -1.54267066e-02 1.61462904e+01] [ 5.35411045e-02 1.30098589e-03 9.98564799e-01 7.37570335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:16.16, Z:7.38 [[ 9.64012259e-01 -2.60864698e-01 -5.12832614e-02 1.39382224e+02] [ 2.60411902e-01 9.65374162e-01 -1.54392150e-02 1.61629224e+01] [ 5.35350816e-02 1.52882090e-03 9.98564799e-01 7.38402884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.44, Y:16.18, Z:7.39 [[ 9.63834504e-01 -2.61520957e-01 -5.12819436e-02 1.39435917e+02] [ 2.61068855e-01 9.65196637e-01 -1.54435909e-02 1.61837376e+01] [ 5.35359822e-02 1.49694744e-03 9.98564799e-01 7.38935812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.49, Y:16.20, Z:7.39 [[ 9.63409420e-01 -2.63083397e-01 -5.12778346e-02 1.39490999e+02] [ 2.62632779e-01 9.64772044e-01 -1.54572222e-02 1.62023523e+01] [ 5.35379598e-02 1.42439325e-03 9.98564799e-01 7.39380219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:139.54, Y:16.23, Z:7.39 [[ 9.61777498e-01 -2.68988934e-01 -5.12737479e-02 1.39544679e+02] [ 2.68545963e-01 9.63142628e-01 -1.54707666e-02 1.62302841e+01] [ 5.35453972e-02 1.11007718e-03 9.98564799e-01 7.38549535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.60, Y:16.25, Z:7.39 [[ 9.61013957e-01 -2.71704881e-01 -5.12701854e-02 1.39597911e+02] [ 2.71265139e-01 9.62380130e-01 -1.54825636e-02 1.62508880e+01] [ 5.35480958e-02 9.71145733e-04 9.98564799e-01 7.39041769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.65, Y:16.27, Z:7.39 [[ 9.59208702e-01 -2.78011175e-01 -5.12684323e-02 1.39653235e+02] [ 2.77580106e-01 9.60577636e-01 -1.54883664e-02 1.62698143e+01] [ 5.35532485e-02 6.25478968e-04 9.98564799e-01 7.39378230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.71, Y:16.29, Z:7.40 [[ 9.57555915e-01 -2.83652203e-01 -5.12649722e-02 1.39707725e+02] [ 2.83228586e-01 9.58927173e-01 -1.54998107e-02 1.62903290e+01] [ 5.35559303e-02 3.22229870e-04 9.98564799e-01 7.39699243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:139.76, Y:16.31, Z:7.40 [[ 9.57655276e-01 -2.83317398e-01 -5.12603654e-02 1.39761549e+02] [ 2.82892487e-01 9.59026133e-01 -1.55150311e-02 1.63134038e+01] [ 5.35557083e-02 3.56879156e-04 9.98564799e-01 7.39904156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.82, Y:16.34, Z:7.40 [[ 9.58036467e-01 -2.82026099e-01 -5.12582460e-02 1.39815814e+02] [ 2.81598966e-01 9.59406634e-01 -1.55220302e-02 1.63350447e+01] [ 5.35551188e-02 4.36401963e-04 9.98564800e-01 7.40247083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:139.87, Y:16.36, Z:7.41 [[ 9.58708014e-01 -2.79735607e-01 -5.12536300e-02 1.39868204e+02] [ 2.79304387e-01 9.60076900e-01 -1.55372570e-02 1.63600764e+01] [ 5.35537503e-02 5.80329119e-04 9.98564800e-01 7.40778143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85038572300002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:139.92, Y:16.38, Z:7.41 [[ 9.59500373e-01 -2.77005856e-01 -5.12522141e-02 1.39924366e+02] [ 2.76570491e-01 9.60867947e-01 -1.55419264e-02 1.63768625e+01] [ 5.35518144e-02 7.37634116e-04 9.98564800e-01 7.41123055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91038572300002 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:139.98, Y:16.40, Z:7.41 [[ 9.58611597e-01 -2.80066681e-01 -5.12490069e-02 1.39979655e+02] [ 2.79635119e-01 9.59980375e-01 -1.55524950e-02 1.63987396e+01] [ 5.35537765e-02 5.77779930e-04 9.98564800e-01 7.40930510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97038572300002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.03, Y:16.42, Z:7.41 [[ 9.59250678e-01 -2.77870623e-01 -5.12450380e-02 1.40033443e+02] [ 2.77435229e-01 9.60618242e-01 -1.55655614e-02 1.64213951e+01] [ 5.35521305e-02 7.14096508e-04 9.98564800e-01 7.41256011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.09, Y:16.44, Z:7.42 [[ 9.59773292e-01 -2.76060947e-01 -5.12404299e-02 1.40088474e+02] [ 2.75622165e-01 9.61139773e-01 -1.55807160e-02 1.64390599e+01] [ 5.35504424e-02 8.30956809e-04 9.98564800e-01 7.41519276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.14, Y:16.46, Z:7.42 [[ 9.59789028e-01 -2.76007078e-01 -5.12358804e-02 1.40144310e+02] [ 2.75567422e-01 9.61155227e-01 -1.55956622e-02 1.64563477e+01] [ 5.35501475e-02 8.49606008e-04 9.98564800e-01 7.41789970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.20, Y:16.47, Z:7.42 [[ 9.59865271e-01 -2.75742672e-01 -5.12312414e-02 1.40200441e+02] [ 2.75301828e-01 9.61231088e-01 -1.56108863e-02 1.64701932e+01] [ 5.35496494e-02 8.80293256e-04 9.98564800e-01 7.42275874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:140.26, Y:16.48, Z:7.43 [[ 9.60347983e-01 -2.74057642e-01 -5.12265660e-02 1.40256317e+02] [ 2.73613584e-01 9.61712758e-01 -1.56262137e-02 1.64837749e+01] [ 5.35477253e-02 9.90318428e-04 9.98564800e-01 7.42838949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:140.32, Y:16.49, Z:7.43 [[ 9.60217809e-01 -2.74513786e-01 -5.12244114e-02 1.40315089e+02] [ 2.74070000e-01 9.61582672e-01 -1.56332735e-02 1.64946299e+01] [ 5.35480555e-02 9.72273222e-04 9.98564800e-01 7.42934379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:16.52, Z:7.43 [[ 9.58392281e-01 -2.80821496e-01 -5.12203448e-02 1.40370464e+02] [ 2.80385983e-01 9.59759806e-01 -1.56465857e-02 1.65173677e+01] [ 5.35531258e-02 6.34100293e-04 9.98564800e-01 7.42539553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:16.53, Z:7.43 [[ 9.59543808e-01 -2.76862086e-01 -5.12158743e-02 1.40428213e+02] [ 2.76420150e-01 9.60909271e-01 -1.56612055e-02 1.65286447e+01] [ 5.35498024e-02 8.70513141e-04 9.98564801e-01 7.43039539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.49, Y:16.54, Z:7.43 [[ 9.60185866e-01 -2.74627829e-01 -5.12118961e-02 1.40485517e+02] [ 2.74182022e-01 9.61550071e-01 -1.56742034e-02 1.65387320e+01] [ 5.35473747e-02 1.00876730e-03 9.98564801e-01 7.43365032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:16.55, Z:7.43 [[ 9.61150379e-01 -2.71233774e-01 -5.12073182e-02 1.40541263e+02] [ 2.70782355e-01 9.62512736e-01 -1.56891451e-02 1.65523706e+01] [ 5.35431219e-02 1.21358957e-03 9.98564801e-01 7.43464648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.60, Y:16.56, Z:7.44 [[ 9.61213283e-01 -2.71011140e-01 -5.12053463e-02 1.40598786e+02] [ 2.70559063e-01 9.62575422e-01 -1.56955781e-02 1.65625193e+01] [ 5.35426843e-02 1.23272764e-03 9.98564801e-01 7.44145447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.66, Y:16.58, Z:7.45 [[ 9.61485823e-01 -2.70043511e-01 -5.12007247e-02 1.40655361e+02] [ 2.69589262e-01 9.62847239e-01 -1.57106398e-02 1.65754023e+01] [ 5.35410328e-02 1.30239189e-03 9.98564801e-01 7.44718465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:16.59, Z:7.45 [[ 9.61125664e-01 -2.71323462e-01 -5.11960696e-02 1.40711934e+02] [ 2.70870219e-01 9.62487415e-01 -1.57257948e-02 1.65898461e+01] [ 5.35423498e-02 1.24697436e-03 9.98564801e-01 7.44836633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:16.60, Z:7.45 [[ 9.61463839e-01 -2.70123548e-01 -5.11913585e-02 1.40769163e+02] [ 2.69667790e-01 9.62824750e-01 -1.57411156e-02 1.66009235e+01] [ 5.35403530e-02 1.32985285e-03 9.98564801e-01 7.45299775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.82, Y:16.62, Z:7.45 [[ 9.61139859e-01 -2.71274948e-01 -5.11866679e-02 1.40824556e+02] [ 2.70820009e-01 9.62501044e-01 -1.57563538e-02 1.66162773e+01] [ 5.35415253e-02 1.28168575e-03 9.98564801e-01 7.45427779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:140.88, Y:16.62, Z:7.46 [[ 9.60788591e-01 -2.72516814e-01 -5.11846562e-02 1.40883224e+02] [ 2.72063287e-01 9.62150248e-01 -1.57628860e-02 1.66247386e+01] [ 5.35429811e-02 1.21933518e-03 9.98564801e-01 7.45550089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.94, Y:16.64, Z:7.46 [[ 9.60126375e-01 -2.74841697e-01 -5.11799415e-02 1.40937925e+02] [ 2.74390652e-01 9.61488855e-01 -1.57781792e-02 1.66394690e+01] [ 5.35454449e-02 1.10574841e-03 9.98564801e-01 7.46209453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.99, Y:16.65, Z:7.47 [[ 9.60555007e-01 -2.73340294e-01 -5.11777438e-02 1.40994825e+02] [ 2.72886741e-01 9.61916655e-01 -1.57853043e-02 1.66493260e+01] [ 5.35434839e-02 1.19692544e-03 9.98564801e-01 7.47453461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.05, Y:16.66, Z:7.48 [[ 9.60229115e-01 -2.74483205e-01 -5.11763379e-02 1.41051855e+02] [ 2.74031029e-01 9.61591220e-01 -1.57898610e-02 1.66616294e+01] [ 5.35447689e-02 1.13797975e-03 9.98564801e-01 7.47808584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:141.11, Y:16.68, Z:7.48 [[ 9.59736022e-01 -2.76203191e-01 -5.11719289e-02 1.41109535e+02] [ 2.75752695e-01 9.61098684e-01 -1.58041370e-02 1.66751990e+01] [ 5.35464266e-02 1.05700229e-03 9.98564802e-01 7.48064383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.17, Y:16.69, Z:7.49 [[ 9.59843105e-01 -2.75831545e-01 -5.11680872e-02 1.41165786e+02] [ 2.75379860e-01 9.61205373e-01 -1.58165651e-02 1.66886734e+01] [ 5.35457480e-02 1.09076022e-03 9.98564802e-01 7.48805654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.22, Y:16.70, Z:7.49 [[ 9.59993739e-01 -2.75307650e-01 -5.11636504e-02 1.41221803e+02] [ 2.74854458e-01 9.61355506e-01 -1.58309046e-02 1.67040454e+01] [ 5.35448261e-02 1.13501185e-03 9.98564802e-01 7.49011042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.28, Y:16.72, Z:7.49 [[ 9.59426213e-01 -2.77279778e-01 -5.11592224e-02 1.41276761e+02] [ 2.76828622e-01 9.60788657e-01 -1.58452011e-02 1.67218461e+01] [ 5.35467544e-02 1.03996422e-03 9.98564802e-01 7.49271363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.33, Y:16.74, Z:7.50 [[ 9.59347458e-01 -2.77553009e-01 -5.11544849e-02 1.41333582e+02] [ 2.77101428e-01 9.60709760e-01 -1.58604810e-02 1.67370467e+01] [ 5.35467371e-02 1.04073138e-03 9.98564802e-01 7.49758079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41038572300002 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:16.75, Z:7.50 [[ 9.60498541e-01 -2.73543773e-01 -5.11503463e-02 1.41390953e+02] [ 2.73085795e-01 9.61858706e-01 -1.58738167e-02 1.67491122e+01] [ 5.35415896e-02 1.27834480e-03 9.98564802e-01 7.49821670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:16.77, Z:7.50 [[ 9.61187391e-01 -2.71114369e-01 -5.11448781e-02 1.41445620e+02] [ 2.70652018e-01 9.62546076e-01 -1.58914157e-02 1.67670058e+01] [ 5.35376928e-02 1.43216392e-03 9.98564802e-01 7.50079222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.50, Y:16.78, Z:7.50 [[ 9.61772347e-01 -2.69032354e-01 -5.11423991e-02 1.41500029e+02] [ 2.68566639e-01 9.63129882e-01 -1.58993895e-02 1.67832007e+01] [ 5.35342231e-02 1.55645092e-03 9.98564802e-01 7.50275643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:16.80, Z:7.51 [[ 9.61513654e-01 -2.69955828e-01 -5.11404367e-02 1.41555501e+02] [ 2.69491081e-01 9.62871521e-01 -1.59056993e-02 1.68008263e+01] [ 5.35355063e-02 1.51165554e-03 9.98564802e-01 7.50849662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:16.82, Z:7.51 [[ 9.61804893e-01 -2.68917257e-01 -5.11356786e-02 1.41610512e+02] [ 2.68450232e-01 9.63161978e-01 -1.59209817e-02 1.68152011e+01] [ 5.35333680e-02 1.58549326e-03 9.98564802e-01 7.50894169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.67, Y:16.83, Z:7.51 [[ 9.61088464e-01 -2.71466972e-01 -5.11336203e-02 1.41668024e+02] [ 2.71003197e-01 9.62446663e-01 -1.59275894e-02 1.68299108e+01] [ 5.35371967e-02 1.45044781e-03 9.98564802e-01 7.51024667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:141.72, Y:16.85, Z:7.50 [[ 9.57856606e-01 -2.82659652e-01 -5.11296702e-02 1.41723198e+02] [ 2.82211075e-01 9.59219900e-01 -1.59402596e-02 1.68531045e+01] [ 5.35502654e-02 8.39123749e-04 9.98564803e-01 7.50362900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:16.87, Z:7.52 [[ 9.58612096e-01 -2.80086945e-01 -5.11287910e-02 1.41780814e+02] [ 2.79634560e-01 9.59974131e-01 -1.59430794e-02 1.68656235e+01] [ 5.35477651e-02 9.85851799e-04 9.98564803e-01 7.51595908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.84, Y:16.88, Z:7.52 [[ 9.59274475e-01 -2.77810642e-01 -5.11246378e-02 1.41836871e+02] [ 2.77354316e-01 9.60635195e-01 -1.59563863e-02 1.68790582e+01] [ 5.35449803e-02 1.12691518e-03 9.98564803e-01 7.52336975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.89, Y:16.90, Z:7.52 [[ 9.58252122e-01 -2.81317064e-01 -5.11231869e-02 1.41892001e+02] [ 2.80865469e-01 9.59614419e-01 -1.59610335e-02 1.68994114e+01] [ 5.35486584e-02 9.35956322e-04 9.98564803e-01 7.52371180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.95, Y:16.92, Z:7.53 [[ 9.59262780e-01 -2.77852054e-01 -5.11190281e-02 1.41947238e+02] [ 2.77394830e-01 9.60623198e-01 -1.59743421e-02 1.69156213e+01] [ 5.35446280e-02 1.14343769e-03 9.98564803e-01 7.52873553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:142.00, Y:16.94, Z:7.53 [[ 9.58341417e-01 -2.81013739e-01 -5.11175743e-02 1.42002858e+02] [ 2.80560756e-01 9.59703253e-01 -1.59789927e-02 1.69387749e+01] [ 5.35480188e-02 9.71745218e-04 9.98564803e-01 7.52591457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.06, Y:16.96, Z:7.53 [[ 9.58355865e-01 -2.80964571e-01 -5.11169846e-02 1.42057401e+02] [ 2.80511417e-01 9.59717644e-01 -1.59808791e-02 1.69584521e+01] [ 5.35479328e-02 9.76471429e-04 9.98564803e-01 7.52870393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:142.11, Y:16.97, Z:7.54 [[ 9.59669567e-01 -2.76445039e-01 -5.11122525e-02 1.42113963e+02] [ 2.75984667e-01 9.61028923e-01 -1.59959996e-02 1.69732987e+01] [ 5.35423677e-02 1.24467603e-03 9.98564803e-01 7.53560349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.17, Y:17.00, Z:7.53 [[ 9.57500236e-01 -2.83867796e-01 -5.11113759e-02 1.42168724e+02] [ 2.83417815e-01 9.58863067e-01 -1.59988000e-02 1.69997918e+01] [ 5.35503547e-02 8.32980298e-04 9.98564803e-01 7.52812673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.22, Y:17.02, Z:7.54 [[ 9.57906118e-01 -2.82495233e-01 -5.11107926e-02 1.42224081e+02] [ 2.82043200e-01 9.59268269e-01 -1.60006632e-02 1.70166697e+01] [ 5.35490726e-02 9.11681601e-04 9.98564803e-01 7.53536135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.28, Y:17.03, Z:7.55 [[ 9.59301919e-01 -2.77719281e-01 -5.11060614e-02 1.42280459e+02] [ 2.77259663e-01 9.60661530e-01 -1.60157606e-02 1.70285946e+01] [ 5.35435126e-02 1.19430049e-03 9.98564803e-01 7.55002806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.34, Y:17.05, Z:7.55 [[ 9.59100023e-01 -2.78416118e-01 -5.11039240e-02 1.42336245e+02] [ 2.77957124e-01 9.60459845e-01 -1.60225778e-02 1.70458943e+01] [ 5.35442108e-02 1.16255497e-03 9.98564803e-01 7.55468700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.39, Y:17.06, Z:7.56 [[ 9.58982628e-01 -2.78820903e-01 -5.11001371e-02 1.42391674e+02] [ 2.78361841e-01 9.60342426e-01 -1.60346459e-02 1.70629677e+01] [ 5.35444241e-02 1.15261862e-03 9.98564803e-01 7.55867680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.45, Y:17.08, Z:7.56 [[ 9.58762062e-01 -2.79579190e-01 -5.10958383e-02 1.42447167e+02] [ 2.79120474e-01 9.60121978e-01 -1.60483330e-02 1.70808208e+01] [ 5.35450172e-02 1.12463820e-03 9.98564803e-01 7.56221363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.50, Y:17.10, Z:7.56 [[ 9.58650003e-01 -2.79963965e-01 -5.10915910e-02 1.42503512e+02] [ 2.79505075e-01 9.60009859e-01 -1.60618431e-02 1.70989144e+01] [ 5.35451684e-02 1.11732695e-03 9.98564803e-01 7.56464224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:17.12, Z:7.57 [[ 9.58739681e-01 -2.79657411e-01 -5.10877404e-02 1.42560203e+02] [ 2.79197435e-01 9.60099170e-01 -1.60740816e-02 1.71151290e+01] [ 5.35445332e-02 1.14729379e-03 9.98564803e-01 7.56683051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:17.13, Z:7.57 [[ 9.58658133e-01 -2.79937521e-01 -5.10839316e-02 1.42616692e+02] [ 2.79477298e-01 9.60017539e-01 -1.60861771e-02 1.71316610e+01] [ 5.35445948e-02 1.14434529e-03 9.98564804e-01 7.57298447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:142.67, Y:17.15, Z:7.58 [[ 9.58756375e-01 -2.79601594e-01 -5.10799654e-02 1.42672815e+02] [ 2.79140224e-01 9.60115392e-01 -1.60987614e-02 1.71470925e+01] [ 5.35439003e-02 1.17631710e-03 9.98564804e-01 7.57850011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:142.73, Y:17.16, Z:7.58 [[ 9.58957552e-01 -2.78911658e-01 -5.10754312e-02 1.42728251e+02] [ 2.78448546e-01 9.60315976e-01 -1.61131338e-02 1.71647906e+01] [ 5.35426935e-02 1.22993176e-03 9.98564804e-01 7.58074306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:142.78, Y:17.18, Z:7.58 [[ 9.58608795e-01 -2.80108797e-01 -5.10709271e-02 1.42784828e+02] [ 2.79646622e-01 9.59967538e-01 -1.61273971e-02 1.71812171e+01] [ 5.35438580e-02 1.17805242e-03 9.98564804e-01 7.57937671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:17.20, Z:7.58 [[ 9.58538183e-01 -2.80351059e-01 -5.10669729e-02 1.42840019e+02] [ 2.79888561e-01 9.59896816e-01 -1.61399082e-02 1.71978528e+01] [ 5.35438651e-02 1.17765674e-03 9.98564804e-01 7.58338692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.90, Y:17.22, Z:7.58 [[ 9.57903652e-01 -2.82511773e-01 -5.10655672e-02 1.42896864e+02] [ 2.82052102e-01 9.59263244e-01 -1.61443547e-02 1.72151295e+01] [ 5.35462919e-02 1.06158571e-03 9.98564804e-01 7.58044876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.95, Y:17.23, Z:7.59 [[ 9.57968315e-01 -2.82293134e-01 -5.10616728e-02 1.42952304e+02] [ 2.81832498e-01 9.59327580e-01 -1.61566625e-02 1.72317843e+01] [ 5.35457859e-02 1.08673193e-03 9.98564804e-01 7.59218135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:17.25, Z:7.59 [[ 9.56947533e-01 -2.85735111e-01 -5.10574749e-02 1.43008740e+02] [ 2.85278657e-01 9.58308208e-01 -1.61699175e-02 1.72485626e+01] [ 5.35491105e-02 9.08154727e-04 9.98564804e-01 7.58678973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.06, Y:17.26, Z:7.60 [[ 9.57575626e-01 -2.83623847e-01 -5.10532477e-02 1.43063917e+02] [ 2.83163683e-01 9.58935051e-01 -1.61832531e-02 1.72649791e+01] [ 5.35467052e-02 1.04026305e-03 9.98564804e-01 7.60031960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.12, Y:17.28, Z:7.60 [[ 9.56875068e-01 -2.85978713e-01 -5.10517387e-02 1.43120471e+02] [ 2.85521641e-01 9.58235535e-01 -1.61880120e-02 1.72828377e+01] [ 5.35490170e-02 9.13528910e-04 9.98564804e-01 7.60348090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.18, Y:17.30, Z:7.61 [[ 9.56033351e-01 -2.88780809e-01 -5.10477785e-02 1.43176352e+02] [ 2.88327057e-01 9.57394930e-01 -1.62004907e-02 1.72981833e+01] [ 5.35512751e-02 7.69753639e-04 9.98564804e-01 7.60810029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:143.23, Y:17.32, Z:7.61 [[ 9.56029624e-01 -2.88793393e-01 -5.10463981e-02 1.43232131e+02] [ 2.88339428e-01 9.57391131e-01 -1.62048390e-02 1.73156797e+01] [ 5.35512193e-02 7.73616948e-04 9.98564804e-01 7.61001616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.29, Y:17.34, Z:7.61 [[ 9.56480120e-01 -2.87298642e-01 -5.10418535e-02 1.43286183e+02] [ 2.86841786e-01 9.57840660e-01 -1.62191409e-02 1.73356641e+01] [ 5.35496998e-02 8.72349374e-04 9.98564804e-01 7.61019834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.34, Y:17.35, Z:7.62 [[ 9.56162937e-01 -2.88352850e-01 -5.10399101e-02 1.43341821e+02] [ 2.87897168e-01 9.57523870e-01 -1.62252543e-02 1.73529628e+01] [ 5.35505306e-02 8.19741268e-04 9.98564804e-01 7.61533134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.40, Y:17.37, Z:7.62 [[ 9.55633413e-01 -2.90103721e-01 -5.10353829e-02 1.43396836e+02] [ 2.89649772e-01 9.56994926e-01 -1.62394818e-02 1.73717553e+01] [ 5.35517366e-02 7.36604400e-04 9.98564805e-01 7.61956426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.45, Y:17.39, Z:7.62 [[ 9.55297853e-01 -2.91207600e-01 -5.10308336e-02 1.43451090e+02] [ 2.90754462e-01 9.56659636e-01 -1.62537650e-02 1.73906991e+01] [ 5.35523586e-02 6.89744264e-04 9.98564805e-01 7.62276411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.51, Y:17.41, Z:7.63 [[ 9.54562999e-01 -2.93607788e-01 -5.10288835e-02 1.43506440e+02] [ 2.93157747e-01 9.55925809e-01 -1.62598851e-02 1.74085015e+01] [ 5.35538556e-02 5.61572174e-04 9.98564805e-01 7.62599790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.56, Y:17.43, Z:7.63 [[ 9.53493588e-01 -2.97063113e-01 -5.10243614e-02 1.43561615e+02] [ 2.96617252e-01 9.54857770e-01 -1.62740634e-02 1.74269210e+01] [ 5.35554318e-02 3.82509185e-04 9.98564805e-01 7.62787166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.62, Y:17.45, Z:7.62 [[ 9.51625899e-01 -3.02993610e-01 -5.10198063e-02 1.43616915e+02] [ 3.02555486e-01 9.52992586e-01 -1.62883314e-02 1.74482938e+01] [ 5.35567574e-02 6.40757290e-05 9.98564805e-01 7.61960789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.67, Y:17.46, Z:7.63 [[ 9.52725246e-01 -2.99519630e-01 -5.10156622e-02 1.43672955e+02] [ 2.99075828e-01 9.54090099e-01 -1.63013003e-02 1.74621082e+01] [ 5.35560977e-02 2.73108913e-04 9.98564805e-01 7.63398515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:17.48, Z:7.64 [[ 9.52738296e-01 -2.99478365e-01 -5.10141902e-02 1.43727544e+02] [ 2.99034257e-01 9.54103050e-01 -1.63059056e-02 1.74797585e+01] [ 5.35560604e-02 2.80270253e-04 9.98564805e-01 7.63822697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:143.78, Y:17.50, Z:7.64 [[ 9.52931298e-01 -2.98864176e-01 -5.10112267e-02 1.43782867e+02] [ 2.98418693e-01 9.54295603e-01 -1.63151715e-02 1.74971355e+01] [ 5.35558096e-02 3.24533983e-04 9.98564805e-01 7.64267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050385723 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:17.52, Z:7.64 [[ 9.53013551e-01 -2.98602525e-01 -5.10068969e-02 1.43837587e+02] [ 2.98155943e-01 9.54377497e-01 -1.63286965e-02 1.75155659e+01] [ 5.35556247e-02 3.53459590e-04 9.98564805e-01 7.64227165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110385723 meters Centerline goodness : 0.998451 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:17.53, Z:7.64 [[ 9.53469298e-01 -2.97144988e-01 -5.10015080e-02 1.43893027e+02] [ 2.96695422e-01 9.54832263e-01 -1.63455114e-02 1.75331466e+01] [ 5.35548720e-02 4.53029348e-04 9.98564805e-01 7.64267649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.95, Y:17.56, Z:7.63 [[ 9.52220942e-01 -3.01122408e-01 -5.09958119e-02 1.43947303e+02] [ 3.00677585e-01 9.53585462e-01 -1.63632629e-02 1.75612726e+01] [ 5.35562100e-02 2.48144055e-04 9.98564806e-01 7.62954227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230385723 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:17.57, Z:7.64 [[ 9.54610580e-01 -2.93459240e-01 -5.09932848e-02 1.44004943e+02] [ 2.93003043e-01 9.55971340e-01 -1.63711347e-02 1.75696507e+01] [ 5.35523795e-02 6.86870723e-04 9.98564806e-01 7.64429144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:17.59, Z:7.64 [[ 9.54158382e-01 -2.94926457e-01 -5.09918427e-02 1.44059904e+02] [ 2.94472112e-01 9.55519761e-01 -1.63756252e-02 1.75900783e+01] [ 5.35533184e-02 6.09264449e-04 9.98564806e-01 7.63973591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:144.11, Y:17.61, Z:7.64 [[ 9.54427751e-01 -2.94053856e-01 -5.09901688e-02 1.44114431e+02] [ 2.93597988e-01 9.55788622e-01 -1.63808356e-02 1.76114641e+01] [ 5.35526710e-02 6.63713149e-04 9.98564806e-01 7.64490254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.17, Y:17.63, Z:7.65 [[ 9.54460630e-01 -2.93947862e-01 -5.09858753e-02 1.44170162e+02] [ 2.93491131e-01 9.55821211e-01 -1.63941885e-02 1.76280333e+01] [ 5.35524177e-02 6.83705324e-04 9.98564806e-01 7.64723987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:144.23, Y:17.64, Z:7.65 [[ 9.54058444e-01 -2.95250877e-01 -5.09843559e-02 1.44227293e+02] [ 2.94795752e-01 9.55419563e-01 -1.63989122e-02 1.76425367e+01] [ 5.35532442e-02 6.15549174e-04 9.98564806e-01 7.65496640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.28, Y:17.66, Z:7.66 [[ 9.54106509e-01 -2.95096270e-01 -5.09800121e-02 1.44281452e+02] [ 2.94640203e-01 9.55467312e-01 -1.64124047e-02 1.76616652e+01] [ 5.35529746e-02 6.38421045e-04 9.98564806e-01 7.65894676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.34, Y:17.68, Z:7.66 [[ 9.54169657e-01 -2.94892281e-01 -5.09785067e-02 1.44335236e+02] [ 2.94435673e-01 9.55530279e-01 -1.64170796e-02 1.76825497e+01] [ 5.35527767e-02 6.54788302e-04 9.98564806e-01 7.65782485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.39, Y:17.70, Z:7.66 [[ 9.54588861e-01 -2.93532680e-01 -5.09771753e-02 1.44389819e+02] [ 2.93073913e-01 9.55948757e-01 -1.64212126e-02 1.77010809e+01] [ 5.35517299e-02 7.35426363e-04 9.98564806e-01 7.66429330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.44, Y:17.72, Z:7.67 [[ 9.54827480e-01 -2.92756323e-01 -5.09727191e-02 1.44444487e+02] [ 2.92295713e-01 9.56186753e-01 -1.64350334e-02 1.77200894e+01] [ 5.35508987e-02 7.93514311e-04 9.98564806e-01 7.66666728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.50, Y:17.74, Z:7.67 [[ 9.55241183e-01 -2.91404451e-01 -5.09679070e-02 1.44501327e+02] [ 2.90941122e-01 9.56599531e-01 -1.64499430e-02 1.77367163e+01] [ 5.35494626e-02 8.85002988e-04 9.98564806e-01 7.67201229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.56, Y:17.76, Z:7.67 [[ 9.55254399e-01 -2.91361880e-01 -5.09635964e-02 1.44556636e+02] [ 2.90897779e-01 9.56612483e-01 -1.64632869e-02 1.77571686e+01] [ 5.35491867e-02 9.01430244e-04 9.98564806e-01 7.67222779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:17.78, Z:7.67 [[ 9.55536727e-01 -2.90435393e-01 -5.09592627e-02 1.44611791e+02] [ 2.89969260e-01 9.56894115e-01 -1.64766902e-02 1.77783385e+01] [ 5.35480326e-02 9.67462896e-04 9.98564806e-01 7.67248003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:17.79, Z:7.68 [[ 9.55953340e-01 -2.89061905e-01 -5.09551485e-02 1.44667305e+02] [ 2.88593145e-01 9.57309822e-01 -1.64894040e-02 1.77927745e+01] [ 5.35463227e-02 1.05779421e-03 9.98564806e-01 7.67722406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:144.72, Y:17.81, Z:7.67 [[ 9.54166448e-01 -2.94907084e-01 -5.09529345e-02 1.44721775e+02] [ 2.94446269e-01 9.55525650e-01 -1.64962424e-02 1.78143046e+01] [ 5.35516946e-02 7.37259543e-04 9.98564806e-01 7.67433734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:17.84, Z:7.68 [[ 9.53044515e-01 -2.98513738e-01 -5.09480139e-02 1.44777031e+02] [ 2.98057256e-01 9.54405179e-01 -1.65114254e-02 1.78358431e+01] [ 5.35539357e-02 5.50698149e-04 9.98564806e-01 7.67774051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:17.85, Z:7.68 [[ 9.52216115e-01 -3.01146490e-01 -5.09437088e-02 1.44832186e+02] [ 3.00693061e-01 9.53577798e-01 -1.65246977e-02 1.78523073e+01] [ 5.35551444e-02 4.16663734e-04 9.98564807e-01 7.68031173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.89, Y:17.87, Z:7.68 [[ 9.52027445e-01 -3.01742664e-01 -5.09422085e-02 1.44888284e+02] [ 3.01289839e-01 9.53389330e-01 -1.65293215e-02 1.78675770e+01] [ 5.35553595e-02 3.87997887e-04 9.98564807e-01 7.68482996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.94, Y:17.89, Z:7.69 [[ 9.51720770e-01 -3.02709353e-01 -5.09374393e-02 1.44943573e+02] [ 3.02257126e-01 9.53082854e-01 -1.65440055e-02 1.78855567e+01] [ 5.35556252e-02 3.49069668e-04 9.98564807e-01 7.68778224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.00, Y:17.90, Z:7.70 [[ 9.52829744e-01 -2.99201194e-01 -5.09325488e-02 1.44998785e+02] [ 2.98743148e-01 9.54189881e-01 -1.65590478e-02 1.78999499e+01] [ 5.35538095e-02 5.62203307e-04 9.98564807e-01 7.69832264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:17.92, Z:7.70 [[ 9.52985793e-01 -2.98704046e-01 -5.09310383e-02 1.45052938e+02] [ 2.98245042e-01 9.54345608e-01 -1.65636923e-02 1.79165226e+01] [ 5.35534546e-02 5.95033781e-04 9.98564807e-01 7.70247434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:17.94, Z:7.70 [[ 9.53606621e-01 -2.96716631e-01 -5.09279207e-02 1.45107801e+02] [ 2.96254282e-01 9.54965302e-01 -1.65732723e-02 1.79358808e+01] [ 5.35519627e-02 7.16767593e-04 9.98564807e-01 7.70434034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:17.96, Z:7.70 [[ 9.52483049e-01 -3.00304593e-01 -5.09233918e-02 1.45161293e+02] [ 2.99846619e-01 9.53843211e-01 -1.65871762e-02 1.79595704e+01] [ 5.35541368e-02 5.29797291e-04 9.98564807e-01 7.70358733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:17.97, Z:7.71 [[ 9.53894601e-01 -2.95791139e-01 -5.09184930e-02 1.45217229e+02] [ 2.95325928e-01 9.55252304e-01 -1.66022009e-02 1.79716521e+01] [ 5.35507916e-02 7.99198647e-04 9.98564807e-01 7.71228785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:17.99, Z:7.71 [[ 9.52403720e-01 -3.00557474e-01 -5.09152206e-02 1.45271072e+02] [ 3.00098522e-01 9.53763551e-01 -1.66122305e-02 1.79944388e+01] [ 5.35540116e-02 5.41967682e-04 9.98564807e-01 7.71124945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:18.01, Z:7.71 [[ 9.52380369e-01 -3.00632284e-01 -5.09103499e-02 1.45325314e+02] [ 3.00172641e-01 9.53739967e-01 -1.66271441e-02 1.80147019e+01] [ 5.35538917e-02 5.53471417e-04 9.98564807e-01 7.71109693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:18.03, Z:7.71 [[ 9.51714428e-01 -3.02734670e-01 -5.09054705e-02 1.45380090e+02] [ 3.02277233e-01 9.53074769e-01 -1.66420694e-02 1.80341007e+01] [ 5.35548509e-02 4.50932816e-04 9.98564807e-01 7.71356018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.44, Y:18.05, Z:7.72 [[ 9.51897197e-01 -3.02160306e-01 -5.09006395e-02 1.45436525e+02] [ 3.01701259e-01 9.53256996e-01 -1.66568320e-02 1.80480719e+01] [ 5.35544242e-02 4.98804657e-04 9.98564808e-01 7.72146356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.49, Y:18.06, Z:7.73 [[ 9.50828116e-01 -3.05508053e-01 -5.08991479e-02 1.45490838e+02] [ 3.05053549e-01 9.52189440e-01 -1.66613888e-02 1.80649607e+01] [ 5.35558196e-02 3.15151148e-04 9.98564808e-01 7.72677573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.54, Y:18.09, Z:7.72 [[ 9.48588967e-01 -3.12391991e-01 -5.08941666e-02 1.45544357e+02] [ 3.11946551e-01 9.49953283e-01 -1.66765910e-02 1.80890706e+01] [ 5.35567141e-02 -5.70295558e-05 9.98564808e-01 7.72156280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97038572300002 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:18.11, Z:7.72 [[ 9.48586054e-01 -3.12401646e-01 -5.08891904e-02 1.45599511e+02] [ 3.11955406e-01 9.49950109e-01 -1.66917621e-02 1.81086330e+01] [ 5.35567260e-02 -4.15853006e-05 9.98564808e-01 7.72343068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.65, Y:18.13, Z:7.73 [[ 9.48334248e-01 -3.13166003e-01 -5.08842689e-02 1.45654481e+02] [ 3.12720057e-01 9.49698400e-01 -1.67067518e-02 1.81273812e+01] [ 5.35566954e-02 -6.89465931e-05 9.98564808e-01 7.72847895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.71, Y:18.14, Z:7.73 [[ 9.49269840e-01 -3.10319295e-01 -5.08793360e-02 1.45709397e+02] [ 3.09868454e-01 9.50632381e-01 -1.67217611e-02 1.81447904e+01] [ 5.35566295e-02 1.07562267e-04 9.98564808e-01 7.72980490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:145.76, Y:18.17, Z:7.73 [[ 9.49029545e-01 -3.11054279e-01 -5.08739379e-02 1.45761797e+02] [ 3.10603614e-01 9.50392145e-01 -1.67381681e-02 1.81700528e+01] [ 5.35566698e-02 8.33870559e-05 9.98564808e-01 7.73074142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:18.18, Z:7.74 [[ 9.52239474e-01 -3.01085360e-01 -5.08683492e-02 1.45817875e+02] [ 3.00619526e-01 9.53596962e-01 -1.67551355e-02 1.81808068e+01] [ 5.35526292e-02 6.62882426e-04 9.98564808e-01 7.74081019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:18.20, Z:7.74 [[ 9.52780704e-01 -2.99368804e-01 -5.08650093e-02 1.45871898e+02] [ 2.98899983e-01 9.54137163e-01 -1.67652684e-02 1.82032070e+01] [ 5.35511941e-02 7.70073860e-04 9.98564808e-01 7.74204873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:145.93, Y:18.22, Z:7.74 [[ 9.52699976e-01 -2.99626454e-01 -5.08600395e-02 1.45925720e+02] [ 2.99157195e-01 9.54056284e-01 -1.67803317e-02 1.82238683e+01] [ 5.35511716e-02 7.71474850e-04 9.98564809e-01 7.74280608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:18.23, Z:7.75 [[ 9.54395366e-01 -2.94181738e-01 -5.08585236e-02 1.45983502e+02] [ 2.93704498e-01 9.55748886e-01 -1.67849249e-02 1.82336027e+01] [ 5.35457957e-02 1.08207740e-03 9.98564809e-01 7.75080216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:18.25, Z:7.76 [[ 9.54538102e-01 -2.93718958e-01 -5.08545584e-02 1.46040133e+02] [ 2.93240423e-01 9.55891164e-01 -1.67969298e-02 1.82490796e+01] [ 5.35449998e-02 1.12069732e-03 9.98564809e-01 7.75971634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.10, Y:18.26, Z:7.77 [[ 9.54865188e-01 -2.92654642e-01 -5.08500965e-02 1.46096212e+02] [ 2.92173880e-01 9.56217461e-01 -1.68104269e-02 1.82619567e+01] [ 5.35433996e-02 1.19462145e-03 9.98564809e-01 7.76527734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:146.15, Y:18.28, Z:7.77 [[ 9.55183019e-01 -2.91615836e-01 -5.08488502e-02 1.46152761e+02] [ 2.91133403e-01 9.56534696e-01 -1.68141959e-02 1.82764712e+01] [ 5.35419752e-02 1.25683565e-03 9.98564809e-01 7.77249039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:18.29, Z:7.77 [[ 9.55149472e-01 -2.91725920e-01 -5.08475561e-02 1.46208772e+02] [ 2.91243435e-01 9.56501131e-01 -1.68181083e-02 1.82912784e+01] [ 5.35420231e-02 1.25479032e-03 9.98564809e-01 7.77278613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:18.30, Z:7.78 [[ 9.55505580e-01 -2.90557689e-01 -5.08459938e-02 1.46265236e+02] [ 2.90073300e-01 9.56856558e-01 -1.68228305e-02 1.83043013e+01] [ 5.35403253e-02 1.32524316e-03 9.98564809e-01 7.77712761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:18.32, Z:7.78 [[ 9.55920680e-01 -2.89189981e-01 -5.08410024e-02 1.46321567e+02] [ 2.88702858e-01 9.57270675e-01 -1.68379016e-02 1.83230819e+01] [ 5.35379531e-02 1.41775562e-03 9.98564809e-01 7.77810566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:18.35, Z:7.78 [[ 9.55863857e-01 -2.89378109e-01 -5.08389243e-02 1.46376581e+02] [ 2.88890918e-01 9.57213827e-01 -1.68441738e-02 1.83450718e+01] [ 5.35380564e-02 1.41383345e-03 9.98564809e-01 7.77601272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.43, Y:18.37, Z:7.77 [[ 9.54672793e-01 -2.93284338e-01 -5.08345797e-02 1.46430701e+02] [ 2.92801975e-01 9.56024495e-01 -1.68572752e-02 1.83692295e+01] [ 5.35430782e-02 1.20871670e-03 9.98564809e-01 7.77143451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.49, Y:18.39, Z:7.78 [[ 9.54622400e-01 -2.93448487e-01 -5.08336339e-02 1.46486141e+02] [ 2.92966204e-01 9.55974131e-01 -1.68601268e-02 1.83872731e+01] [ 5.35432177e-02 1.20251794e-03 9.98564809e-01 7.77619057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.54, Y:18.41, Z:7.78 [[ 9.54872647e-01 -2.92633876e-01 -5.08295421e-02 1.46541255e+02] [ 2.92149784e-01 9.56223731e-01 -1.68724536e-02 1.84080008e+01] [ 5.35418659e-02 1.26120465e-03 9.98564809e-01 7.77672948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:146.60, Y:18.43, Z:7.78 [[ 9.54326118e-01 -2.94412059e-01 -5.08251964e-02 1.46596606e+02] [ 2.93929788e-01 9.55677853e-01 -1.68855342e-02 1.84266193e+01] [ 5.35438195e-02 1.17526705e-03 9.98564809e-01 7.77586066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110385723 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:146.65, Y:18.44, Z:7.78 [[ 9.54827335e-01 -2.92783321e-01 -5.08201495e-02 1.46654296e+02] [ 2.92297937e-01 9.56177955e-01 -1.69007103e-02 1.84396762e+01] [ 5.35413527e-02 1.28263532e-03 9.98564809e-01 7.78435119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:146.71, Y:18.46, Z:7.79 [[ 9.53202586e-01 -2.98031315e-01 -5.08150060e-02 1.46707964e+02] [ 2.97552545e-01 9.54555565e-01 -1.69161609e-02 1.84607647e+01] [ 5.35472924e-02 1.00439396e-03 9.98564809e-01 7.79089868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:18.48, Z:7.79 [[ 9.52720758e-01 -2.99568322e-01 -5.08131710e-02 1.46762077e+02] [ 2.99091441e-01 9.54074403e-01 -1.69216711e-02 1.84770813e+01] [ 5.35487424e-02 9.23842756e-04 9.98564809e-01 7.79428674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:18.50, Z:7.80 [[ 9.52186666e-01 -3.01261978e-01 -5.08111514e-02 1.46818030e+02] [ 3.00787181e-01 9.53541044e-01 -1.69277334e-02 1.84952501e+01] [ 5.35502008e-02 8.35019047e-04 9.98564809e-01 7.79663863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:18.51, Z:7.80 [[ 9.51418874e-01 -3.03678714e-01 -5.08071344e-02 1.46873587e+02] [ 3.03206715e-01 9.52774229e-01 -1.69397814e-02 1.85141752e+01] [ 5.35519794e-02 7.11763496e-04 9.98564810e-01 7.79841264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:146.93, Y:18.53, Z:7.80 [[ 9.50862867e-01 -3.05415873e-01 -5.08030708e-02 1.46928847e+02] [ 3.04945699e-01 9.52218857e-01 -1.69519596e-02 1.85305409e+01] [ 5.35530395e-02 6.26810982e-04 9.98564810e-01 7.80273769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:18.55, Z:7.80 [[ 9.50491248e-01 -3.06571211e-01 -5.07984225e-02 1.46984439e+02] [ 3.06101942e-01 9.51847551e-01 -1.69658772e-02 1.85473255e+01] [ 5.35536036e-02 5.76421984e-04 9.98564810e-01 7.80093916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:18.57, Z:7.80 [[ 9.50398778e-01 -3.06857992e-01 -5.07969997e-02 1.47040713e+02] [ 3.06388904e-01 9.51755144e-01 -1.69701361e-02 1.85657261e+01] [ 5.35537277e-02 5.64759588e-04 9.98564810e-01 7.80431778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.10, Y:18.58, Z:7.81 [[ 9.50302589e-01 -3.07156419e-01 -5.07929403e-02 1.47096085e+02] [ 3.06687109e-01 9.51658878e-01 -1.69822776e-02 1.85809841e+01] [ 5.35537682e-02 5.60762330e-04 9.98564810e-01 7.81067352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.15, Y:18.60, Z:7.82 [[ 9.50470350e-01 -3.06637142e-01 -5.07915033e-02 1.47149970e+02] [ 3.06166861e-01 9.51826302e-01 -1.69865745e-02 1.86010475e+01] [ 5.35534034e-02 5.94560365e-04 9.98564810e-01 7.81558589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:147.21, Y:18.62, Z:7.82 [[ 9.51269311e-01 -3.04149739e-01 -5.07901061e-02 1.47205817e+02] [ 3.03675690e-01 9.52623950e-01 -1.69907511e-02 1.86188715e+01] [ 5.35516040e-02 7.39059646e-04 9.98564810e-01 7.82227088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:18.64, Z:7.83 [[ 9.51597727e-01 -3.03121341e-01 -5.07859971e-02 1.47261454e+02] [ 3.02645173e-01 9.52951623e-01 -1.70030241e-02 1.86385436e+01] [ 5.35505779e-02 8.09902189e-04 9.98564810e-01 7.82594576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:147.32, Y:18.66, Z:7.83 [[ 9.52298394e-01 -3.00913557e-01 -5.07818861e-02 1.47315926e+02] [ 3.00433596e-01 9.53650950e-01 -1.70152933e-02 1.86601468e+01] [ 5.35483264e-02 9.47051878e-04 9.98564810e-01 7.82589693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:147.37, Y:18.68, Z:7.83 [[ 9.53540409e-01 -2.96955168e-01 -5.07771289e-02 1.47371607e+02] [ 2.96468838e-01 9.54890688e-01 -1.70294781e-02 1.86800592e+01] [ 5.35435990e-02 1.18445909e-03 9.98564810e-01 7.82537299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:147.43, Y:18.70, Z:7.83 [[ 9.54208152e-01 -2.94803176e-01 -5.07729247e-02 1.47427480e+02] [ 2.94313134e-01 9.55557088e-01 -1.70420036e-02 1.86985150e+01] [ 5.35404649e-02 1.31848013e-03 9.98564810e-01 7.82672779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.48, Y:18.72, Z:7.83 [[ 9.55097111e-01 -2.91911033e-01 -5.07686610e-02 1.47481277e+02] [ 2.91416233e-01 9.56444309e-01 -1.70546958e-02 1.87168652e+01] [ 5.35358508e-02 1.49407874e-03 9.98564810e-01 7.82881628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:18.74, Z:7.83 [[ 9.55655406e-01 -2.90078436e-01 -5.07665820e-02 1.47536345e+02] [ 2.89580724e-01 9.57001531e-01 -1.70608821e-02 1.87362899e+01] [ 5.35326907e-02 1.60330062e-03 9.98564810e-01 7.83256722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:18.75, Z:7.84 [[ 9.55398550e-01 -2.90924007e-01 -5.07625080e-02 1.47592018e+02] [ 2.90426844e-01 9.56744878e-01 -1.70729952e-02 1.87534923e+01] [ 5.35337137e-02 1.56871987e-03 9.98564810e-01 7.83638753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:18.77, Z:7.84 [[ 9.54500604e-01 -2.93856964e-01 -5.07610204e-02 1.47647142e+02] [ 2.93363703e-01 9.55848366e-01 -1.70774169e-02 1.87699167e+01] [ 5.35381563e-02 1.40896387e-03 9.98564810e-01 7.83968653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.70, Y:18.79, Z:7.84 [[ 9.54102055e-01 -2.95148794e-01 -5.07588163e-02 1.47702537e+02] [ 2.94657010e-01 9.55450357e-01 -1.70839657e-02 1.87882661e+01] [ 5.35398410e-02 1.34340573e-03 9.98564810e-01 7.84450696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.76, Y:18.81, Z:7.85 [[ 9.53737376e-01 -2.96325813e-01 -5.07546024e-02 1.47758056e+02] [ 2.95835027e-01 9.55086042e-01 -1.70964754e-02 1.88061406e+01] [ 5.35411393e-02 1.29055840e-03 9.98564811e-01 7.84882829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:147.81, Y:18.83, Z:7.85 [[ 9.52116017e-01 -3.01495524e-01 -5.07497604e-02 1.47812112e+02] [ 3.01011297e-01 9.53467051e-01 -1.71108368e-02 1.88291953e+01] [ 5.35470651e-02 1.01525054e-03 9.98564811e-01 7.84614474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.87, Y:18.84, Z:7.85 [[ 9.53309289e-01 -2.97701229e-01 -5.07481791e-02 1.47869066e+02] [ 2.97211376e-01 9.54658293e-01 -1.71155254e-02 1.88426463e+01] [ 5.35424829e-02 1.23345318e-03 9.98564811e-01 7.85079653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.92, Y:18.87, Z:7.85 [[ 9.52198274e-01 -3.01236637e-01 -5.07438248e-02 1.47923346e+02] [ 3.00751106e-01 9.53548840e-01 -1.71284252e-02 1.88654979e+01] [ 5.35464244e-02 1.04839547e-03 9.98564811e-01 7.85180308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.98, Y:18.88, Z:7.86 [[ 9.53634866e-01 -2.96658150e-01 -5.07393694e-02 1.47978456e+02] [ 2.96165434e-01 9.54982827e-01 -1.71416131e-02 1.88791089e+01] [ 5.35404257e-02 1.31959259e-03 9.98564811e-01 7.86187622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:148.03, Y:18.90, Z:7.86 [[ 9.53707604e-01 -2.96424604e-01 -5.07371656e-02 1.48031925e+02] [ 2.95931211e-01 9.55055318e-01 -1.71481336e-02 1.88999106e+01] [ 5.35399285e-02 1.33959451e-03 9.98564811e-01 7.86371539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.09, Y:18.92, Z:7.86 [[ 9.54191643e-01 -2.94863119e-01 -5.07350901e-02 1.48086809e+02] [ 2.94367195e-01 9.55538427e-01 -1.71542721e-02 1.89205172e+01] [ 5.35374904e-02 1.43371695e-03 9.98564811e-01 7.86496598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:18.94, Z:7.87 [[ 9.54298743e-01 -2.94517161e-01 -5.07301786e-02 1.48140637e+02] [ 2.94019978e-01 9.55645063e-01 -1.71687846e-02 1.89383750e+01] [ 5.35365464e-02 1.46846359e-03 9.98564811e-01 7.86869833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:18.96, Z:7.87 [[ 9.53773448e-01 -2.96214235e-01 -5.07280700e-02 1.48195025e+02] [ 2.95719117e-01 9.55120528e-01 -1.71750126e-02 1.89594731e+01] [ 5.35389042e-02 1.37981099e-03 9.98564811e-01 7.87028170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.25, Y:18.98, Z:7.87 [[ 9.52764076e-01 -2.99445779e-01 -5.07231792e-02 1.48250040e+02] [ 2.98954462e-01 9.54112547e-01 -1.71894444e-02 1.89778913e+01] [ 5.35429283e-02 1.21356430e-03 9.98564811e-01 7.87250030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.31, Y:19.00, Z:7.88 [[ 9.51104847e-01 -3.04675603e-01 -5.07183031e-02 1.48305084e+02] [ 3.04190935e-01 9.52455723e-01 -1.72038198e-02 1.89972988e+01] [ 5.35485222e-02 9.34588336e-04 9.98564811e-01 7.87739099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.36, Y:19.02, Z:7.88 [[ 9.49916389e-01 -3.08361695e-01 -5.07140983e-02 1.48359238e+02] [ 3.07881608e-01 9.51268899e-01 -1.72162058e-02 1.90178151e+01] [ 5.35515628e-02 7.40017896e-04 9.98564811e-01 7.88199208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.41, Y:19.04, Z:7.88 [[ 9.48333309e-01 -3.13197216e-01 -5.07093608e-02 1.48413149e+02] [ 3.12723281e-01 9.49687986e-01 -1.72301487e-02 1.90436918e+01] [ 5.35545053e-02 4.81926308e-04 9.98564811e-01 7.87898514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.47, Y:19.06, Z:7.88 [[ 9.48497433e-01 -3.12700496e-01 -5.07052221e-02 1.48467133e+02] [ 3.12225201e-01 9.49851634e-01 -1.72423194e-02 1.90636421e+01] [ 5.35541199e-02 5.22847488e-04 9.98564812e-01 7.88024402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:19.08, Z:7.89 [[ 9.48979871e-01 -3.11233993e-01 -5.07011411e-02 1.48522731e+02] [ 3.10755965e-01 9.50333110e-01 -1.72543113e-02 1.90811473e+01] [ 5.35531013e-02 6.18312077e-04 9.98564812e-01 7.88522578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:19.10, Z:7.89 [[ 9.48671246e-01 -3.12174202e-01 -5.06964929e-02 1.48577519e+02] [ 3.11696785e-01 9.50024700e-01 -1.72679579e-02 1.91008815e+01] [ 5.35535315e-02 5.79681215e-04 9.98564812e-01 7.88705457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:19.12, Z:7.89 [[ 9.46898765e-01 -3.17510730e-01 -5.06918711e-02 1.48630200e+02] [ 3.17040216e-01 9.48254634e-01 -1.72815151e-02 1.91244850e+01] [ 5.35558681e-02 2.92483581e-04 9.98564812e-01 7.88680273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:19.14, Z:7.89 [[ 9.46602610e-01 -3.18392871e-01 -5.06900239e-02 1.48684331e+02] [ 3.17923330e-01 9.47958817e-01 -1.72869315e-02 1.91432151e+01] [ 5.35560908e-02 2.48313243e-04 9.98564812e-01 7.89245716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:19.16, Z:7.90 [[ 9.47288436e-01 -3.16346857e-01 -5.06881177e-02 1.48738310e+02] [ 3.15874088e-01 9.48643521e-01 -1.72925191e-02 1.91610679e+01] [ 5.35553885e-02 3.69940442e-04 9.98564812e-01 7.89880807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450385723 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:148.79, Y:19.18, Z:7.90 [[ 9.49427961e-01 -3.09866828e-01 -5.06862481e-02 1.48792693e+02] [ 3.09384518e-01 9.50779680e-01 -1.72979972e-02 1.91800061e+01] [ 5.35515303e-02 7.41661717e-04 9.98564812e-01 7.90228305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.85, Y:19.20, Z:7.90 [[ 9.48605932e-01 -3.12374786e-01 -5.06831304e-02 1.48846216e+02] [ 3.11895563e-01 9.49958747e-01 -1.73071272e-02 1.92022641e+01] [ 5.35531933e-02 6.09800015e-04 9.98564812e-01 7.90234871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.90, Y:19.23, Z:7.90 [[ 9.47653730e-01 -3.15252067e-01 -5.06807815e-02 1.48900544e+02] [ 3.14776584e-01 9.49007865e-01 -1.73140028e-02 1.92268923e+01] [ 5.35547355e-02 4.54556055e-04 9.98564812e-01 7.90091317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.96, Y:19.24, Z:7.91 [[ 9.48629676e-01 -3.12303775e-01 -5.06763243e-02 1.48956167e+02] [ 3.11823387e-01 9.49982078e-01 -1.73270389e-02 1.92427441e+01] [ 5.35528995e-02 6.34880187e-04 9.98564812e-01 7.90595178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.01, Y:19.26, Z:7.91 [[ 9.48580479e-01 -3.12453426e-01 -5.06747706e-02 1.49010219e+02] [ 3.11973009e-01 9.49932870e-01 -1.73315818e-02 1.92621739e+01] [ 5.35529424e-02 6.31239515e-04 9.98564812e-01 7.91270208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:149.07, Y:19.28, Z:7.92 [[ 9.48704513e-01 -3.12077406e-01 -5.06699014e-02 1.49065897e+02] [ 3.11595693e-01 9.50056444e-01 -1.73458054e-02 1.92819700e+01] [ 5.35525003e-02 6.67520817e-04 9.98564812e-01 7.91698515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.12, Y:19.30, Z:7.92 [[ 9.49157830e-01 -3.10696644e-01 -5.06656591e-02 1.49121819e+02] [ 3.10212304e-01 9.50508822e-01 -1.73581879e-02 1.93013534e+01] [ 5.35512867e-02 7.58549122e-04 9.98564812e-01 7.91765580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:19.32, Z:7.92 [[ 9.50560243e-01 -3.06379900e-01 -5.06614336e-02 1.49177489e+02] [ 3.05888768e-01 9.51908781e-01 -1.73705119e-02 1.93209190e+01] [ 5.35470391e-02 1.01495448e-03 9.98564812e-01 7.92304929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:19.34, Z:7.92 [[ 9.51041296e-01 -3.04884075e-01 -5.06572291e-02 1.49232916e+02] [ 3.04390170e-01 9.52388820e-01 -1.73827645e-02 1.93409105e+01] [ 5.35451067e-02 1.11216425e-03 9.98564812e-01 7.92418034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:19.36, Z:7.93 [[ 9.50790980e-01 -3.05664494e-01 -5.06530310e-02 1.49289577e+02] [ 3.05171044e-01 9.52138671e-01 -1.73949892e-02 1.93583282e+01] [ 5.35457402e-02 1.08116043e-03 9.98564813e-01 7.92648215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:149.34, Y:19.38, Z:7.93 [[ 9.49872208e-01 -3.08508483e-01 -5.06488428e-02 1.49344479e+02] [ 3.08018419e-01 9.51221133e-01 -1.74071755e-02 1.93771925e+01] [ 5.35485109e-02 9.33815780e-04 9.98564813e-01 7.92962581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.40, Y:19.39, Z:7.93 [[ 9.48656390e-01 -3.12227434e-01 -5.06466442e-02 1.49399715e+02] [ 3.11742317e-01 9.50007103e-01 -1.74135700e-02 1.93949695e+01] [ 5.35516660e-02 7.30792253e-04 9.98564813e-01 7.93326335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:19.41, Z:7.94 [[ 9.48054881e-01 -3.14049896e-01 -5.06419410e-02 1.49455239e+02] [ 3.13566646e-01 9.49406262e-01 -1.74272370e-02 1.94126752e+01] [ 5.35527979e-02 6.42353497e-04 9.98564813e-01 7.93636815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230385723 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:149.51, Y:19.43, Z:7.94 [[ 9.47814347e-01 -3.14775837e-01 -5.06373069e-02 1.49511144e+02] [ 3.14292903e-01 9.49165841e-01 -1.74406918e-02 1.94317049e+01] [ 5.35531103e-02 6.15591695e-04 9.98564813e-01 7.93528360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.57, Y:19.45, Z:7.94 [[ 9.46805176e-01 -3.17799097e-01 -5.06329200e-02 1.49565192e+02] [ 3.17319797e-01 9.48157964e-01 -1.74534183e-02 1.94500368e+01] [ 5.35546869e-02 4.58158881e-04 9.98564813e-01 7.94217146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:19.47, Z:7.95 [[ 9.46321888e-01 -3.19235644e-01 -5.06308958e-02 1.49621033e+02] [ 3.18758084e-01 9.47675291e-01 -1.74592884e-02 1.94661935e+01] [ 5.35552761e-02 3.83099471e-04 9.98564813e-01 7.94597036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:19.49, Z:7.94 [[ 9.43619194e-01 -3.27138312e-01 -5.06294615e-02 1.49675552e+02] [ 3.26671864e-01 9.44976466e-01 -1.74634466e-02 1.94909793e+01] [ 5.35566120e-02 -6.03771542e-05 9.98564813e-01 7.94137760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.73, Y:19.50, Z:7.95 [[ 9.43133567e-01 -3.28536435e-01 -5.06249447e-02 1.49733407e+02] [ 3.28071297e-01 9.44491289e-01 -1.74765307e-02 1.95005951e+01] [ 5.35564963e-02 -1.25888477e-04 9.98564813e-01 7.95315434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:19.52, Z:7.96 [[ 9.41390263e-01 -3.33499531e-01 -5.06205089e-02 1.49789162e+02] [ 3.33040861e-01 9.42750183e-01 -1.74893695e-02 1.95167694e+01] [ 5.35551905e-02 -3.94375687e-04 9.98564813e-01 7.95654481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.84, Y:19.53, Z:7.96 [[ 9.40665512e-01 -3.35538535e-01 -5.06190257e-02 1.49844577e+02] [ 3.35082582e-01 9.42026345e-01 -1.74936613e-02 1.95346034e+01] [ 5.35542532e-02 -5.05869947e-04 9.98564813e-01 7.96031118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:149.90, Y:19.55, Z:7.96 [[ 9.40593914e-01 -3.35739895e-01 -5.06143382e-02 1.49899214e+02] [ 3.35283503e-01 9.41954601e-01 -1.75072130e-02 1.95498830e+01] [ 5.35542786e-02 -5.02974647e-04 9.98564813e-01 7.96286464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:19.57, Z:7.97 [[ 9.41235967e-01 -3.33935993e-01 -5.06123186e-02 1.49953709e+02] [ 3.33476680e-01 9.42595670e-01 -1.75130495e-02 1.95689728e+01] [ 5.35551900e-02 -3.94115844e-04 9.98564813e-01 7.96551667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.01, Y:19.59, Z:7.97 [[ 9.42628025e-01 -3.29986794e-01 -5.06075320e-02 1.50008646e+02] [ 3.29521042e-01 9.43985536e-01 -1.75268706e-02 1.95883720e+01] [ 5.35564140e-02 -1.54927302e-04 9.98564813e-01 7.96696083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:19.61, Z:7.97 [[ 9.43697111e-01 -3.26917612e-01 -5.06027451e-02 1.50063461e+02] [ 3.26446704e-01 9.45052842e-01 -1.75406804e-02 1.96071507e+01] [ 5.35566254e-02 3.39900385e-05 9.98564813e-01 7.97079469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.12, Y:19.63, Z:7.97 [[ 9.44079772e-01 -3.25811642e-01 -5.05980004e-02 1.50118698e+02] [ 3.25338413e-01 9.45434695e-01 -1.75543563e-02 1.96268385e+01] [ 5.35565187e-02 1.11239584e-04 9.98564814e-01 7.96985731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:19.65, Z:7.96 [[ 9.43172240e-01 -3.28430219e-01 -5.05936491e-02 1.50172626e+02] [ 3.27960080e-01 9.44528237e-01 -1.75668881e-02 1.96522181e+01] [ 5.35566271e-02 -2.40959761e-05 9.98564814e-01 7.96302716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.23, Y:19.66, Z:7.98 [[ 9.44806637e-01 -3.23699260e-01 -5.05886200e-02 1.50228493e+02] [ 3.23221556e-01 9.46159987e-01 -1.75813588e-02 1.96647127e+01] [ 5.35560009e-02 2.59651993e-04 9.98564814e-01 7.97972292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.28, Y:19.68, Z:7.98 [[ 9.43950597e-01 -3.26187404e-01 -5.05870283e-02 1.50284068e+02] [ 3.25713022e-01 9.45305116e-01 -1.75859377e-02 1.96827914e+01] [ 5.35564880e-02 1.23402545e-04 9.98564814e-01 7.98377201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:19.70, Z:7.99 [[ 9.43445330e-01 -3.27646612e-01 -5.05826643e-02 1.50338922e+02] [ 3.27173653e-01 9.44800346e-01 -1.75984809e-02 1.96997613e+01] [ 5.35566014e-02 5.38895907e-05 9.98564814e-01 7.98852648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19038572300002 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:19.72, Z:7.98 [[ 9.42150473e-01 -3.31351830e-01 -5.05811384e-02 1.50393508e+02] [ 3.30883963e-01 9.43507256e-01 -1.76028655e-02 1.97231025e+01] [ 5.35564128e-02 -1.51939538e-04 9.98564814e-01 7.98057209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:19.74, Z:7.99 [[ 9.43943788e-01 -3.26208685e-01 -5.05768561e-02 1.50449807e+02] [ 3.25732768e-01 9.45297768e-01 -1.76151608e-02 1.97363246e+01] [ 5.35564077e-02 1.53182250e-04 9.98564814e-01 7.99127819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:19.75, Z:8.00 [[ 9.44956373e-01 -3.23263982e-01 -5.05752104e-02 1.50505859e+02] [ 3.22783592e-01 9.46308772e-01 -1.76198846e-02 1.97540696e+01] [ 5.35556393e-02 3.25174133e-04 9.98564814e-01 7.99543047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.56, Y:19.77, Z:8.00 [[ 9.46340515e-01 -3.19189919e-01 -5.05710012e-02 1.50560879e+02] [ 3.18703062e-01 9.47690599e-01 -1.76319572e-02 1.97724865e+01] [ 5.35536054e-02 5.68702529e-04 9.98564814e-01 7.99897544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.62, Y:19.79, Z:8.00 [[ 9.48189400e-01 -3.13655746e-01 -5.05661389e-02 1.50616011e+02] [ 3.13160267e-01 9.49536345e-01 -1.76458906e-02 1.97910701e+01] [ 5.35491217e-02 8.96340878e-04 9.98564814e-01 8.00282645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:19.81, Z:8.01 [[ 9.49247028e-01 -3.10441052e-01 -5.05611858e-02 1.50671769e+02] [ 3.09940257e-01 9.50592004e-01 -1.76600717e-02 1.98098936e+01] [ 5.35454701e-02 1.09282363e-03 9.98564814e-01 8.01259496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:150.73, Y:19.83, Z:8.01 [[ 9.49372644e-01 -3.10057387e-01 -5.05568905e-02 1.50728585e+02] [ 3.09555394e-01 9.50717174e-01 -1.76723594e-02 1.98269172e+01] [ 5.35447497e-02 1.12749643e-03 9.98564814e-01 8.00929318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:19.85, Z:8.02 [[ 9.48128181e-01 -3.13842598e-01 -5.05546911e-02 1.50783368e+02] [ 3.13345638e-01 9.49474579e-01 -1.76786491e-02 1.98475073e+01] [ 5.35487072e-02 9.20533492e-04 9.98564814e-01 8.01725275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:19.87, Z:8.01 [[ 9.46415764e-01 -3.18970039e-01 -5.05501272e-02 1.50838195e+02] [ 3.18479678e-01 9.47764580e-01 -1.76916893e-02 1.98704734e+01] [ 5.35527389e-02 6.44505433e-04 9.98564815e-01 8.01400915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:19.88, Z:8.01 [[ 9.47910428e-01 -3.14501148e-01 -5.05455146e-02 1.50894833e+02] [ 3.14003726e-01 9.49256655e-01 -1.77048579e-02 1.98827139e+01] [ 5.35488643e-02 9.11139521e-04 9.98564815e-01 8.01480668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790385723 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:150.95, Y:19.91, Z:8.02 [[ 9.45245663e-01 -3.22422009e-01 -5.05438974e-02 1.50947053e+02] [ 3.21935623e-01 9.46595917e-01 -1.77094736e-02 1.99123084e+01] [ 5.35545709e-02 4.67922006e-04 9.98564815e-01 8.01603402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85038572300002 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:19.93, Z:8.02 [[ 9.45346463e-01 -3.22127057e-01 -5.05393256e-02 1.51002885e+02] [ 3.21639553e-01 9.46696314e-01 -1.77225110e-02 1.99313109e+01] [ 5.35542935e-02 4.98466987e-04 9.98564815e-01 8.02474272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91038572300002 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:151.06, Y:19.96, Z:8.02 [[ 9.44683122e-01 -3.24067882e-01 -5.05352017e-02 1.51057463e+02] [ 3.23582522e-01 9.46033745e-01 -1.77342623e-02 1.99558563e+01] [ 5.35551109e-02 4.00950260e-04 9.98564815e-01 8.02384572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:151.11, Y:19.98, Z:8.03 [[ 9.45208808e-01 -3.22531898e-01 -5.05320080e-02 1.51111992e+02] [ 3.22043857e-01 9.46558465e-01 -1.77433576e-02 1.99752867e+01] [ 5.35542988e-02 4.97655126e-04 9.98564815e-01 8.02847359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:151.17, Y:19.99, Z:8.03 [[ 9.45552946e-01 -3.21522415e-01 -5.05268519e-02 1.51166446e+02] [ 3.21032150e-01 9.46901796e-01 -1.77580284e-02 1.99948094e+01] [ 5.35535710e-02 5.70412135e-04 9.98564815e-01 8.03199727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:151.22, Y:20.01, Z:8.04 [[ 9.46938688e-01 -3.17418775e-01 -5.05216987e-02 1.51222363e+02] [ 3.16921883e-01 9.48285111e-01 -1.77726773e-02 2.00122435e+01] [ 5.35503561e-02 8.18203897e-04 9.98564815e-01 8.04016297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.28, Y:20.03, Z:8.04 [[ 9.48589569e-01 -3.12451338e-01 -5.05172310e-02 1.51278332e+02] [ 3.11946720e-01 9.49933116e-01 -1.77853672e-02 2.00288980e+01] [ 5.35450524e-02 1.11232926e-03 9.98564815e-01 8.03794550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:151.33, Y:20.05, Z:8.04 [[ 9.48515545e-01 -3.12676237e-01 -5.05156605e-02 1.51333146e+02] [ 3.12171701e-01 9.49859122e-01 -1.77898268e-02 2.00470233e+01] [ 5.35452170e-02 1.10436765e-03 9.98564815e-01 8.03859608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.39, Y:20.07, Z:8.05 [[ 9.46053296e-01 -3.20049185e-01 -5.05141519e-02 1.51386797e+02] [ 3.19554893e-01 9.47400676e-01 -1.77941093e-02 2.00720990e+01] [ 5.35521319e-02 6.92131337e-04 9.98564815e-01 8.04500004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:151.44, Y:20.09, Z:8.04 [[ 9.44772766e-01 -3.23810444e-01 -5.05095626e-02 1.51441228e+02] [ 3.23320821e-01 9.46121849e-01 -1.78071269e-02 2.00943012e+01] [ 5.35543344e-02 4.92895325e-04 9.98564815e-01 8.04445083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:20.11, Z:8.05 [[ 9.45132168e-01 -3.22760601e-01 -5.05052491e-02 1.51495848e+02] [ 3.22268826e-01 9.46480467e-01 -1.78193525e-02 2.01122372e+01] [ 5.35536167e-02 5.65375917e-04 9.98564815e-01 8.05177799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:20.13, Z:8.05 [[ 9.45072177e-01 -3.22937065e-01 -5.04998321e-02 1.51550068e+02] [ 3.22444722e-01 9.46420269e-01 -1.78346910e-02 2.01324486e+01] [ 5.35535475e-02 5.71665947e-04 9.98564816e-01 8.04768375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:20.15, Z:8.05 [[ 9.46300270e-01 -3.19321332e-01 -5.04944090e-02 1.51605604e+02] [ 3.18823020e-01 9.47646167e-01 -1.78500320e-02 2.01470487e+01] [ 5.35507292e-02 7.92710158e-04 9.98564816e-01 8.05422426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57038572300002 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:151.66, Y:20.17, Z:8.05 [[ 9.46357160e-01 -3.19152959e-01 -5.04927238e-02 1.51661066e+02] [ 3.18654153e-01 9.47702874e-01 -1.78547978e-02 2.01671515e+01] [ 5.35505110e-02 8.07299573e-04 9.98564816e-01 8.05064233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.72, Y:20.19, Z:8.06 [[ 9.47063260e-01 -3.17052348e-01 -5.04875218e-02 1.51715511e+02] [ 3.16549774e-01 9.48407571e-01 -1.78694954e-02 2.01863946e+01] [ 5.35483134e-02 9.41728908e-04 9.98564816e-01 8.05790801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:20.20, Z:8.06 [[ 9.47910699e-01 -3.14509942e-01 -5.04856654e-02 1.51770824e+02] [ 3.14003484e-01 9.49253552e-01 -1.78747385e-02 2.02034340e+01] [ 5.35454802e-02 1.09098104e-03 9.98564816e-01 8.06399978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750385723 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:20.22, Z:8.06 [[ 9.48413423e-01 -3.12991507e-01 -5.04806493e-02 1.51826779e+02] [ 3.12482145e-01 9.49755177e-01 -1.78888935e-02 2.02225203e+01] [ 5.35433297e-02 1.19176512e-03 9.98564816e-01 8.06063837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.88, Y:20.24, Z:8.07 [[ 9.49209534e-01 -3.10569606e-01 -5.04755520e-02 1.51880090e+02] [ 3.10056057e-01 9.50549691e-01 -1.79032646e-02 2.02434020e+01] [ 5.35397302e-02 1.34369884e-03 9.98564816e-01 8.07239224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870385723 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:151.94, Y:20.26, Z:8.07 [[ 9.49962361e-01 -3.08259493e-01 -5.04737334e-02 1.51935865e+02] [ 3.07742413e-01 9.51301160e-01 -1.79083903e-02 2.02634627e+01] [ 5.35361524e-02 1.47938822e-03 9.98564816e-01 8.06778751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.99, Y:20.29, Z:8.08 [[ 9.50994738e-01 -3.05060530e-01 -5.04686133e-02 1.51988276e+02] [ 3.04538184e-01 9.52331490e-01 -1.79228079e-02 2.02868920e+01] [ 5.35303910e-02 1.67487620e-03 9.98564816e-01 8.07725567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.04, Y:20.31, Z:8.08 [[ 9.51751443e-01 -3.02691749e-01 -5.04667861e-02 1.52042865e+02] [ 3.02165804e-01 9.53086783e-01 -1.79279513e-02 2.03075469e+01] [ 5.35258698e-02 1.81361651e-03 9.98564816e-01 8.08051250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:20.33, Z:8.08 [[ 9.52207406e-01 -3.01255016e-01 -5.04625693e-02 1.52098389e+02] [ 3.00726427e-01 9.53541703e-01 -1.79398129e-02 2.03275355e+01] [ 5.35226228e-02 1.90699450e-03 9.98564816e-01 8.08414708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110385723 meters Centerline goodness : 0.998484 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:20.35, Z:8.08 [[ 9.52274634e-01 -3.01043144e-01 -5.04583800e-02 1.52153457e+02] [ 3.00513635e-01 9.53608565e-01 -1.79515879e-02 2.03487796e+01] [ 5.35217458e-02 1.93141061e-03 9.98564816e-01 8.08142718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170385723 meters Centerline goodness : 0.997765 with order 1 Centerline is valid? [True, True] Translation: X:152.21, Y:20.37, Z:8.09 [[ 9.51619115e-01 -3.03109689e-01 -5.04537132e-02 1.52208063e+02] [ 3.02582384e-01 9.52953918e-01 -1.79646948e-02 2.03671155e+01] [ 5.35253367e-02 1.82914211e-03 9.98564816e-01 8.08541965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.26, Y:20.39, Z:8.10 [[ 9.50410422e-01 -3.06879523e-01 -5.04478824e-02 1.52263394e+02] [ 3.06356646e-01 9.51746966e-01 -1.79810536e-02 2.03865046e+01] [ 5.35316362e-02 1.63433671e-03 9.98564817e-01 8.09607656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:152.32, Y:20.41, Z:8.09 [[ 9.47045129e-01 -3.17113651e-01 -5.04425961e-02 1.52317312e+02] [ 3.16604433e-01 9.48386937e-01 -1.79958714e-02 2.04111018e+01] [ 5.35458356e-02 1.07255283e-03 9.98564817e-01 8.09171473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:152.37, Y:20.42, Z:8.10 [[ 9.49178482e-01 -3.10670601e-01 -5.04379547e-02 1.52373843e+02] [ 3.10151586e-01 9.50516530e-01 -1.80088705e-02 2.04237472e+01] [ 5.35369364e-02 1.45022075e-03 9.98564817e-01 8.10225834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41038572300002 meters Centerline goodness : 0.997287 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:20.44, Z:8.10 [[ 9.48553079e-01 -3.12575686e-01 -5.04331009e-02 1.52429292e+02] [ 3.12058636e-01 9.49891888e-01 -1.80224534e-02 2.04427950e+01] [ 5.35393741e-02 1.35716895e-03 9.98564817e-01 8.09881969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47038572300002 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:20.46, Z:8.11 [[ 9.47626960e-01 -3.15372945e-01 -5.04286650e-02 1.52482984e+02] [ 3.14859188e-01 9.48967036e-01 -1.80348569e-02 2.04633908e+01] [ 5.35428467e-02 1.21238818e-03 9.98564817e-01 8.10740191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:20.49, Z:8.11 [[ 9.46699938e-01 -3.18145807e-01 -5.04229458e-02 1.52536836e+02] [ 3.17635125e-01 9.48041188e-01 -1.80508327e-02 2.04886733e+01] [ 5.35458262e-02 1.07262349e-03 9.98564817e-01 8.10796780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:20.50, Z:8.11 [[ 9.48158373e-01 -3.13773318e-01 -5.04182871e-02 1.52592723e+02] [ 3.13255761e-01 9.49496986e-01 -1.80638358e-02 2.05033504e+01] [ 5.35399613e-02 1.33355835e-03 9.98564817e-01 8.11055870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:152.65, Y:20.53, Z:8.11 [[ 9.46237618e-01 -3.19519742e-01 -5.04133433e-02 1.52645149e+02] [ 3.19009580e-01 9.47579066e-01 -1.80776225e-02 2.05277447e+01] [ 5.35467861e-02 1.02338697e-03 9.98564817e-01 8.10917397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.70, Y:20.54, Z:8.12 [[ 9.48419502e-01 -3.12984261e-01 -5.04113117e-02 1.52702548e+02] [ 3.12464556e-01 9.49757283e-01 -1.80832861e-02 2.05420692e+01] [ 5.35382944e-02 1.39879303e-03 9.98564817e-01 8.11996142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:152.76, Y:20.57, Z:8.12 [[ 9.49709824e-01 -3.09047046e-01 -5.04100517e-02 1.52756539e+02] [ 3.08521610e-01 9.51045364e-01 -1.80867980e-02 2.05653401e+01] [ 5.35319174e-02 1.62461939e-03 9.98564817e-01 8.12280531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:152.81, Y:20.59, Z:8.12 [[ 9.49935452e-01 -3.08353618e-01 -5.04051935e-02 1.52812048e+02] [ 3.07826490e-01 9.51270325e-01 -1.81003270e-02 2.05859703e+01] [ 5.35302661e-02 1.67808852e-03 9.98564817e-01 8.12468221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.87, Y:20.61, Z:8.13 [[ 9.50837209e-01 -3.05562470e-01 -5.04001938e-02 1.52865665e+02] [ 3.05030688e-01 9.52170234e-01 -1.81142379e-02 2.06077327e+01] [ 5.35245956e-02 1.85008561e-03 9.98564818e-01 8.13392960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:152.92, Y:20.63, Z:8.14 [[ 9.50828724e-01 -3.05589166e-01 -5.03984107e-02 1.52919292e+02] [ 3.05057158e-01 9.52161659e-01 -1.81191975e-02 2.06286792e+01] [ 5.35244648e-02 1.85385743e-03 9.98564818e-01 8.13705174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:20.65, Z:8.14 [[ 9.50853656e-01 -3.05512406e-01 -5.03933998e-02 1.52972689e+02] [ 3.04979553e-01 9.52186254e-01 -1.81331232e-02 2.06519150e+01] [ 5.35237967e-02 1.87298992e-03 9.98564818e-01 8.13566467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:20.67, Z:8.14 [[ 9.50807914e-01 -3.05655565e-01 -5.03883573e-02 1.53026471e+02] [ 3.05122173e-01 9.52140295e-01 -1.81471247e-02 2.06740265e+01] [ 5.35235550e-02 1.87982475e-03 9.98564818e-01 8.13747240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:20.70, Z:8.14 [[ 9.49860398e-01 -3.08587742e-01 -5.03868023e-02 1.53079943e+02] [ 3.08058234e-01 9.51194328e-01 -1.81514411e-02 2.06965485e+01] [ 5.35289528e-02 1.71926570e-03 9.98564818e-01 8.14148470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:20.73, Z:8.14 [[ 9.46429002e-01 -3.18957396e-01 -5.03817747e-02 1.53132334e+02] [ 3.18441766e-01 9.47768358e-01 -1.81653853e-02 2.07251191e+01] [ 5.35442358e-02 1.14858618e-03 9.98564818e-01 8.13742480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:20.74, Z:8.14 [[ 9.46163337e-01 -3.19745341e-01 -5.03771385e-02 1.53187468e+02] [ 3.19230143e-01 9.47502859e-01 -1.81782334e-02 2.07427897e+01] [ 5.35448882e-02 1.11767684e-03 9.98564818e-01 8.14211153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.24, Y:20.76, Z:8.15 [[ 9.46081017e-01 -3.19989691e-01 -5.03716772e-02 1.53241694e+02] [ 3.19474035e-01 9.47420362e-01 -1.81933540e-02 2.07619840e+01] [ 5.35448384e-02 1.11994395e-03 9.98564818e-01 8.15290658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:20.79, Z:8.15 [[ 9.45795217e-01 -3.20833735e-01 -5.03698593e-02 1.53295248e+02] [ 3.20319005e-01 9.47134918e-01 -1.81983858e-02 2.07857385e+01] [ 5.35457086e-02 1.07752304e-03 9.98564818e-01 8.15235538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.35, Y:20.81, Z:8.15 [[ 9.46317007e-01 -3.19292198e-01 -5.03648211e-02 1.53348819e+02] [ 3.18774546e-01 9.47655581e-01 -1.82123186e-02 2.08082530e+01] [ 5.35435550e-02 1.17960391e-03 9.98564818e-01 8.15341174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:153.40, Y:20.83, Z:8.16 [[ 9.48207597e-01 -3.13633873e-01 -5.03601665e-02 1.53403074e+02] [ 3.13107551e-01 9.49542787e-01 -1.82251803e-02 2.08302293e+01] [ 5.35351667e-02 1.51310599e-03 9.98564818e-01 8.15788076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.46, Y:20.86, Z:8.16 [[ 9.47611550e-01 -3.15430937e-01 -5.03554715e-02 1.53456118e+02] [ 3.14906459e-01 9.48947466e-01 -1.82381430e-02 2.08565104e+01] [ 5.35375716e-02 1.42541173e-03 9.98564818e-01 8.15938396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:153.51, Y:20.87, Z:8.17 [[ 9.48577122e-01 -3.12516071e-01 -5.03502600e-02 1.53510380e+02] [ 3.11986726e-01 9.49911116e-01 -1.82525194e-02 2.08723661e+01] [ 5.35324773e-02 1.60530955e-03 9.98564819e-01 8.16730790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670385723 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:153.56, Y:20.89, Z:8.17 [[ 9.47623208e-01 -3.15397341e-01 -5.03465328e-02 1.53564354e+02] [ 3.14871506e-01 9.48958590e-01 -1.82627943e-02 2.08927389e+01] [ 5.35368115e-02 1.45355904e-03 9.98564819e-01 8.16938485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:153.62, Y:20.92, Z:8.18 [[ 9.45466249e-01 -3.21806502e-01 -5.03403168e-02 1.53617674e+02] [ 3.21288811e-01 9.46804808e-01 -1.82799123e-02 2.09156011e+01] [ 5.35450486e-02 1.10925951e-03 9.98564819e-01 8.17502709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:20.94, Z:8.17 [[ 9.43349937e-01 -3.27958754e-01 -5.03383779e-02 1.53672594e+02] [ 3.27449509e-01 9.44691732e-01 -1.82852500e-02 2.09372947e+01] [ 5.35510572e-02 7.66112354e-04 9.98564819e-01 8.17151745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85038572300002 meters Centerline goodness : 0.997579 with order 1 Centerline is valid? [True, True] Translation: X:153.73, Y:20.96, Z:8.18 [[ 9.43183927e-01 -3.28436619e-01 -5.03335645e-02 1.53728948e+02] [ 3.27927347e-01 9.44525712e-01 -1.82984902e-02 2.09554052e+01] [ 5.35512401e-02 7.53089595e-04 9.98564819e-01 8.17552215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.78, Y:20.98, Z:8.17 [[ 9.40529281e-01 -3.35963576e-01 -5.03303871e-02 1.53779807e+02] [ 3.35464576e-01 9.41874919e-01 -1.83072256e-02 2.09817800e+01] [ 5.35554903e-02 3.34419735e-04 9.98564819e-01 8.17426327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.83, Y:21.00, Z:8.18 [[ 9.41303775e-01 -3.33788107e-01 -5.03259725e-02 1.53834838e+02] [ 3.33285349e-01 9.42648014e-01 -1.83193533e-02 2.10004543e+01] [ 5.35544602e-02 4.71167118e-04 9.98564819e-01 8.17635191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030385723 meters Centerline goodness : 0.997268 with order 1 Centerline is valid? [True, True] Translation: X:153.89, Y:21.01, Z:8.18 [[ 9.42325121e-01 -3.30893994e-01 -5.03242602e-02 1.53891646e+02] [ 3.30386856e-01 9.43667714e-01 -1.83240557e-02 2.10133186e+01] [ 5.35526996e-02 6.40743914e-04 9.98564819e-01 8.18205504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090385723 meters Centerline goodness : 0.997732 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:21.03, Z:8.19 [[ 9.42787730e-01 -3.29574601e-01 -5.03177836e-02 1.53945723e+02] [ 3.29064636e-01 9.44129251e-01 -1.83418234e-02 2.10332934e+01] [ 5.35514904e-02 7.34642890e-04 9.98564819e-01 8.18553571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.00, Y:21.05, Z:8.20 [[ 9.43981491e-01 -3.26140645e-01 -5.03112677e-02 1.53999884e+02] [ 3.25624849e-01 9.45320781e-01 -1.83596789e-02 2.10531164e+01] [ 5.35481244e-02 9.48598123e-04 9.98564819e-01 8.19612567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.05, Y:21.08, Z:8.19 [[ 9.42892489e-01 -3.29276069e-01 -5.03092850e-02 1.54054314e+02] [ 3.28764438e-01 9.44233375e-01 -1.83651103e-02 2.10773833e+01] [ 5.35508973e-02 7.76420745e-04 9.98564819e-01 8.18987679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.11, Y:21.09, Z:8.20 [[ 9.46012653e-01 -3.20202304e-01 -5.03045150e-02 1.54111478e+02] [ 3.19677119e-01 9.47348290e-01 -1.83781667e-02 2.10891970e+01] [ 5.35406276e-02 1.30477582e-03 9.98564820e-01 8.20074140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330385723 meters Centerline goodness : 0.997289 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:21.11, Z:8.20 [[ 9.46528554e-01 -3.18674450e-01 -5.03020047e-02 1.54168748e+02] [ 3.18146746e-01 9.47863196e-01 -1.83850349e-02 2.11057215e+01] [ 5.35382599e-02 1.39854140e-03 9.98564820e-01 8.19780668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:154.22, Y:21.12, Z:8.20 [[ 9.46711688e-01 -3.18130821e-01 -5.02967274e-02 1.54224564e+02] [ 3.17601584e-01 9.48045723e-01 -1.83994611e-02 2.11215432e+01] [ 5.35370329e-02 1.44466456e-03 9.98564820e-01 8.20401186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.28, Y:21.14, Z:8.21 [[ 9.46972431e-01 -3.17354152e-01 -5.02947001e-02 1.54280963e+02] [ 3.16823527e-01 9.48305915e-01 -1.84050011e-02 2.11360775e+01] [ 5.35356651e-02 1.49448432e-03 9.98564820e-01 8.21048595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.34, Y:21.16, Z:8.20 [[ 9.44953580e-01 -3.23316638e-01 -5.02899959e-02 1.54335758e+02] [ 3.22793745e-01 9.46290115e-01 -1.84178458e-02 2.11588464e+01] [ 5.35437220e-02 1.17071319e-03 9.98564820e-01 8.20444370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.39, Y:21.17, Z:8.21 [[ 9.44934157e-01 -3.23374126e-01 -5.02853268e-02 1.54391527e+02] [ 3.22850636e-01 9.46270458e-01 -1.84305849e-02 2.11739703e+01] [ 5.35434935e-02 1.18103944e-03 9.98564820e-01 8.20759093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.45, Y:21.18, Z:8.22 [[ 9.47234490e-01 -3.16573445e-01 -5.02799623e-02 1.54449428e+02] [ 3.16039588e-01 9.48566683e-01 -1.84452079e-02 2.11830825e+01] [ 5.35331601e-02 1.58147852e-03 9.98564820e-01 8.22053223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:21.20, Z:8.22 [[ 9.47467679e-01 -3.15875116e-01 -5.02783029e-02 1.54503615e+02] [ 3.15340038e-01 9.48799382e-01 -1.84497300e-02 2.11998116e+01] [ 5.35318334e-02 1.62576092e-03 9.98564820e-01 8.22213202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:154.56, Y:21.22, Z:8.22 [[ 9.47237068e-01 -3.16566322e-01 -5.02762354e-02 1.54559974e+02] [ 3.16031917e-01 9.48569042e-01 -1.84553623e-02 2.12188688e+01] [ 5.35328266e-02 1.59270820e-03 9.98564820e-01 8.22142265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.61, Y:21.24, Z:8.23 [[ 9.47328015e-01 -3.16294753e-01 -5.02718788e-02 1.54614429e+02] [ 3.15759337e-01 9.48659582e-01 -1.84672221e-02 2.12373456e+01] [ 5.35319850e-02 1.62070173e-03 9.98564820e-01 8.22728303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.67, Y:21.26, Z:8.23 [[ 9.46821111e-01 -3.17809738e-01 -5.02668370e-02 1.54668767e+02] [ 3.17275726e-01 9.48153241e-01 -1.84809355e-02 2.12564098e+01] [ 5.35340857e-02 1.54969269e-03 9.98564820e-01 8.22754731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.72, Y:21.28, Z:8.23 [[ 9.46410244e-01 -3.19031715e-01 -5.02634473e-02 1.54724367e+02] [ 3.18498934e-01 9.47742868e-01 -1.84901500e-02 2.12750078e+01] [ 5.35357679e-02 1.49041300e-03 9.98564820e-01 8.23250790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990385723 meters Centerline goodness : 0.998069 with order 1 Centerline is valid? [True, True] Translation: X:154.78, Y:21.29, Z:8.23 [[ 9.46601384e-01 -3.18464827e-01 -5.02590721e-02 1.54780526e+02] [ 3.17930617e-01 9.47933435e-01 -1.85020348e-02 2.12930207e+01] [ 5.35345022e-02 1.53515397e-03 9.98564820e-01 8.23411385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:21.32, Z:8.24 [[ 9.45543354e-01 -3.21593042e-01 -5.02561553e-02 1.54834264e+02] [ 3.21062819e-01 9.46876997e-01 -1.85099542e-02 2.13150844e+01] [ 5.35390699e-02 1.36658128e-03 9.98564820e-01 8.23900705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.89, Y:21.33, Z:8.24 [[ 9.44779723e-01 -3.23830524e-01 -5.02500358e-02 1.54888846e+02] [ 3.23302578e-01 9.46114269e-01 -1.85265521e-02 2.13340011e+01] [ 5.35417390e-02 1.25754468e-03 9.98564821e-01 8.24129303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.94, Y:21.35, Z:8.25 [[ 9.44049917e-01 -3.25952750e-01 -5.02449868e-02 1.54943390e+02] [ 3.25427076e-01 9.45385359e-01 -1.85402352e-02 2.13517186e+01] [ 5.35441156e-02 1.15182838e-03 9.98564821e-01 8.24500022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:21.37, Z:8.25 [[ 9.43918202e-01 -3.26334223e-01 -5.02434373e-02 1.54997846e+02] [ 3.25808865e-01 9.45253769e-01 -1.85444333e-02 2.13724961e+01] [ 5.35444817e-02 1.13467088e-03 9.98564821e-01 8.24751780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290385723 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:155.05, Y:21.39, Z:8.25 [[ 9.46063798e-01 -3.20061498e-01 -5.02387148e-02 1.55053372e+02] [ 3.19526608e-01 9.47395576e-01 -1.85572183e-02 2.13904868e+01] [ 5.35353872e-02 1.50370625e-03 9.98564821e-01 8.25174791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35038572300002 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:21.41, Z:8.26 [[ 9.46496192e-01 -3.18780963e-01 -5.02360002e-02 1.55107607e+02] [ 3.18243882e-01 9.47827088e-01 -1.85645642e-02 2.14100918e+01] [ 5.35330714e-02 1.58398958e-03 9.98564821e-01 8.25897753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.16, Y:21.44, Z:8.25 [[ 9.44691288e-01 -3.24091444e-01 -5.02305333e-02 1.55160084e+02] [ 3.23561060e-01 9.46024867e-01 -1.85793443e-02 2.14397589e+01] [ 5.35407401e-02 1.29910007e-03 9.98564821e-01 8.24947454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:21.46, Z:8.25 [[ 9.41436555e-01 -3.33428496e-01 -5.02259936e-02 1.55215591e+02] [ 3.32910687e-01 9.42775067e-01 -1.85916084e-02 2.14584218e+01] [ 5.35507865e-02 7.82049747e-04 9.98564821e-01 8.25217913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.27, Y:21.47, Z:8.27 [[ 9.41089068e-01 -3.34408855e-01 -5.02203539e-02 1.55272081e+02] [ 3.33891629e-01 9.42427804e-01 -1.86068301e-02 2.14715327e+01] [ 5.35513466e-02 7.42528642e-04 9.98564821e-01 8.26672356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:21.49, Z:8.27 [[ 9.37887554e-01 -3.43285632e-01 -5.02186288e-02 1.55328050e+02] [ 3.42780828e-01 9.39231024e-01 -1.86114849e-02 2.14889142e+01] [ 5.35559495e-02 2.41496893e-04 9.98564821e-01 8.27348928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:155.38, Y:21.51, Z:8.27 [[ 9.34731155e-01 -3.51790006e-01 -5.02141312e-02 1.55383174e+02] [ 3.51296774e-01 9.36078916e-01 -1.86236117e-02 2.15074989e+01] [ 5.35559900e-02 -2.31992193e-04 9.98564821e-01 8.27383934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:21.53, Z:8.27 [[ 9.29226255e-01 -3.66084103e-01 -5.02095255e-02 1.55436982e+02] [ 3.65610928e-01 9.30581188e-01 -1.86360204e-02 2.15324527e+01] [ 5.35463907e-02 -1.04007175e-03 9.98564821e-01 8.27445417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.49, Y:21.56, Z:8.28 [[ 9.25986868e-01 -3.74202941e-01 -5.02043741e-02 1.55490148e+02] [ 3.73740892e-01 9.27345635e-01 -1.86498876e-02 2.15556457e+01] [ 5.35356500e-02 -1.49387651e-03 9.98564821e-01 8.27814230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.54, Y:21.57, Z:8.28 [[ 9.25471955e-01 -3.75475339e-01 -5.01989017e-02 1.55543949e+02] [ 3.75014360e-01 9.26831086e-01 -1.86646058e-02 2.15736585e+01] [ 5.35340018e-02 -1.55173979e-03 9.98564822e-01 8.28312894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.60, Y:21.60, Z:8.29 [[ 9.23795560e-01 -3.79581886e-01 -5.01931866e-02 1.55595331e+02] [ 3.79126115e-01 9.25156445e-01 -1.86799624e-02 2.16022523e+01] [ 5.35271255e-02 -1.77308150e-03 9.98564822e-01 8.28674383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.65, Y:21.63, Z:8.28 [[ 9.24866405e-01 -3.76965952e-01 -5.01876886e-02 1.55646170e+02] [ 3.76505531e-01 9.26225724e-01 -1.86947223e-02 2.16321004e+01] [ 5.35324020e-02 -1.60582169e-03 9.98564822e-01 8.28133098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.70, Y:21.66, Z:8.29 [[ 9.29433625e-01 -3.65560985e-01 -5.01826935e-02 1.55697907e+02] [ 3.65083155e-01 9.30786923e-01 -1.87081211e-02 2.16580101e+01] [ 5.35483541e-02 -9.32899257e-04 9.98564822e-01 8.28797371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:21.68, Z:8.29 [[ 9.33778390e-01 -3.54316015e-01 -5.01804788e-02 1.55750405e+02] [ 3.53821566e-01 9.35125705e-01 -1.87140597e-02 2.16836833e+01] [ 5.35557467e-02 -2.80151052e-04 9.98564822e-01 8.28791538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:21.71, Z:8.29 [[ 9.34386942e-01 -3.52708256e-01 -5.01789588e-02 1.55803554e+02] [ 3.52211271e-01 9.35733323e-01 -1.87181346e-02 2.17067027e+01] [ 5.35561645e-02 -1.83614308e-04 9.98564822e-01 8.29273370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:21.73, Z:8.30 [[ 9.36612591e-01 -3.46755639e-01 -5.01735135e-02 1.55857298e+02] [ 3.46249315e-01 9.37955488e-01 -1.87327192e-02 2.17291853e+01] [ 5.35561984e-02 1.72756009e-04 9.98564822e-01 8.29938312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:155.91, Y:21.75, Z:8.31 [[ 9.37320430e-01 -3.44838485e-01 -5.01680280e-02 1.55911308e+02] [ 3.44328629e-01 9.38661989e-01 -1.87473986e-02 2.17494823e+01] [ 5.35556454e-02 2.98031397e-04 9.98564822e-01 8.30602675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.97, Y:21.77, Z:8.30 [[ 9.37204780e-01 -3.45153480e-01 -5.01625024e-02 1.55965334e+02] [ 3.44643284e-01 9.38546210e-01 -1.87621718e-02 2.17708551e+01] [ 5.35556553e-02 2.95827571e-04 9.98564822e-01 8.30385328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.02, Y:21.79, Z:8.31 [[ 9.37288000e-01 -3.44928236e-01 -5.01569254e-02 1.56019481e+02] [ 3.44416921e-01 9.38629004e-01 -1.87770689e-02 2.17897246e+01] [ 5.35554862e-02 3.24627574e-04 9.98564822e-01 8.30900844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.07, Y:21.81, Z:8.31 [[ 9.36493989e-01 -3.47078571e-01 -5.01544981e-02 1.56074208e+02] [ 3.46569987e-01 9.37836032e-01 -1.87835501e-02 2.18081388e+01] [ 5.35560632e-02 2.08637989e-04 9.98564822e-01 8.31202261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.13, Y:21.83, Z:8.31 [[ 9.35278706e-01 -3.50340999e-01 -5.01490509e-02 1.56129470e+02] [ 3.49836317e-01 9.36622220e-01 -1.87980820e-02 2.18262966e+01] [ 5.35564542e-02 3.74864927e-05 9.98564823e-01 8.31260979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.18, Y:21.84, Z:8.32 [[ 9.34308413e-01 -3.52921242e-01 -5.01436518e-02 1.56184732e+02] [ 3.52419498e-01 9.35653028e-01 -1.88124731e-02 2.18444547e+01] [ 5.35563810e-02 -9.49487067e-05 9.98564823e-01 8.31564918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.24, Y:21.86, Z:8.32 [[ 9.33419063e-01 -3.55267527e-01 -5.01381687e-02 1.56239095e+02] [ 3.54768379e-01 9.34764643e-01 -1.88270751e-02 2.18620171e+01] [ 5.35560358e-02 -2.13885991e-04 9.98564823e-01 8.31737623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.29, Y:21.88, Z:8.32 [[ 9.32884423e-01 -3.56669390e-01 -5.01358111e-02 1.56294154e+02] [ 3.56171927e-01 9.34230626e-01 -1.88333513e-02 2.18801334e+01] [ 5.35556901e-02 -2.87628407e-04 9.98564823e-01 8.32164607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.35, Y:21.90, Z:8.32 [[ 9.32664101e-01 -3.57245892e-01 -5.01302940e-02 1.56348539e+02] [ 3.56748472e-01 9.34010321e-01 -1.88480250e-02 2.19002019e+01] [ 5.35555915e-02 -3.05029464e-04 9.98564823e-01 8.32457267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:21.92, Z:8.33 [[ 9.32571955e-01 -3.57487151e-01 -5.01246980e-02 1.56403271e+02] [ 3.56989280e-01 9.33918008e-01 -1.88628954e-02 2.19204611e+01] [ 5.35556008e-02 -3.02972619e-04 9.98564823e-01 8.32675403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:21.93, Z:8.34 [[ 9.35198135e-01 -3.50560288e-01 -5.01191912e-02 1.56460231e+02] [ 3.50051663e-01 9.36540161e-01 -1.88775159e-02 2.19314254e+01] [ 5.35563428e-02 1.09911462e-04 9.98564823e-01 8.33573487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:21.95, Z:8.34 [[ 9.35690398e-01 -3.49244494e-01 -5.01174984e-02 1.56515041e+02] [ 3.48733741e-01 9.37031615e-01 -1.88820088e-02 2.19514371e+01] [ 5.35561181e-02 1.90051641e-04 9.98564823e-01 8.33922869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:21.98, Z:8.33 [[ 9.35437375e-01 -3.49922366e-01 -5.01124186e-02 1.56568400e+02] [ 3.49411864e-01 9.36778688e-01 -1.88954809e-02 2.19776754e+01] [ 5.35561972e-02 1.65665456e-04 9.98564823e-01 8.33496717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:21.99, Z:8.34 [[ 9.38998181e-01 -3.40251802e-01 -5.01111534e-02 1.56624957e+02] [ 3.39727308e-01 9.40334084e-01 -1.88988356e-02 2.19911492e+01] [ 5.35515885e-02 7.21844994e-04 9.98564823e-01 8.34367364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:22.01, Z:8.34 [[ 9.39835513e-01 -3.37932322e-01 -5.01094251e-02 1.56679994e+02] [ 3.37404287e-01 9.41170021e-01 -1.89034172e-02 2.20103278e+01] [ 5.35495643e-02 8.58967900e-04 9.98564823e-01 8.34399036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.74, Y:22.03, Z:8.35 [[ 9.40166738e-01 -3.37010489e-01 -5.01042478e-02 1.56735381e+02] [ 3.36480415e-01 9.41500437e-01 -1.89171299e-02 2.20267859e+01] [ 5.35484424e-02 9.26158220e-04 9.98564823e-01 8.35124507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:22.04, Z:8.36 [[ 9.39746243e-01 -3.38182019e-01 -5.00991137e-02 1.56791634e+02] [ 3.37652884e-01 9.41080314e-01 -1.89307171e-02 2.20436846e+01] [ 5.35493178e-02 8.73960065e-04 9.98564824e-01 8.35603368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.85, Y:22.06, Z:8.36 [[ 9.38850768e-01 -3.40660787e-01 -5.00945510e-02 1.56847404e+02] [ 3.40134530e-01 9.40185978e-01 -1.89427833e-02 2.20591750e+01] [ 5.35512578e-02 7.45560062e-04 9.98564824e-01 8.36032457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.90, Y:22.08, Z:8.36 [[ 9.38146809e-01 -3.42595439e-01 -5.00892107e-02 1.56902795e+02] [ 3.42071182e-01 9.39482806e-01 -1.89568936e-02 2.20771281e+01] [ 5.35524975e-02 6.50273703e-04 9.98564824e-01 8.36335891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.96, Y:22.09, Z:8.37 [[ 9.36957958e-01 -3.45833802e-01 -5.00875756e-02 1.56957547e+02] [ 3.45313933e-01 9.38295668e-01 -1.89612130e-02 2.20928807e+01] [ 5.35543836e-02 4.69921666e-04 9.98564824e-01 8.36522838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:22.11, Z:8.37 [[ 9.36439928e-01 -3.47234391e-01 -5.00853194e-02 1.57013670e+02] [ 3.46716203e-01 9.37778290e-01 -1.89671708e-02 2.21117988e+01] [ 5.35549791e-02 3.96224251e-04 9.98564824e-01 8.36771474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:157.07, Y:22.13, Z:8.37 [[ 9.36638296e-01 -3.46699601e-01 -5.00808285e-02 1.57069076e+02] [ 3.46180015e-01 9.37976116e-01 -1.89790210e-02 2.21319346e+01] [ 5.35546400e-02 4.39495922e-04 9.98564824e-01 8.37000869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:157.12, Y:22.16, Z:8.37 [[ 9.37174977e-01 -3.45246896e-01 -5.00763817e-02 1.57123506e+02] [ 3.44724611e-01 9.38511744e-01 -1.89907468e-02 2.21552007e+01] [ 5.35537687e-02 5.35091456e-04 9.98564824e-01 8.37198822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.18, Y:22.18, Z:8.38 [[ 9.37398663e-01 -3.44639735e-01 -5.00719510e-02 1.57177450e+02] [ 3.44115960e-01 9.38734847e-01 -1.90024218e-02 2.21781140e+01] [ 5.35532749e-02 5.82287320e-04 9.98564824e-01 8.37932678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.23, Y:22.20, Z:8.38 [[ 9.37039302e-01 -3.45616298e-01 -5.00671701e-02 1.57230306e+02] [ 3.45093243e-01 9.38375769e-01 -1.90150101e-02 2.22005505e+01] [ 5.35537166e-02 5.39969730e-04 9.98564824e-01 8.38379973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.28, Y:22.22, Z:8.39 [[ 9.35943312e-01 -3.48573725e-01 -5.00647095e-02 1.57284578e+02] [ 3.48054547e-01 9.37281289e-01 -1.90214865e-02 2.22240379e+01] [ 5.35551059e-02 3.77783253e-04 9.98564824e-01 8.38760786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:22.24, Z:8.39 [[ 9.35226729e-01 -3.50492451e-01 -5.00600370e-02 1.57338210e+02] [ 3.49975360e-01 9.36565514e-01 -1.90337755e-02 2.22449216e+01] [ 5.35556989e-02 2.81116079e-04 9.98564824e-01 8.39104920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:22.26, Z:8.41 [[ 9.36431107e-01 -3.47262594e-01 -5.00546887e-02 1.57393470e+02] [ 3.46740134e-01 9.37767807e-01 -1.90478298e-02 2.22638715e+01] [ 5.35542745e-02 4.81010872e-04 9.98564824e-01 8.40895664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:22.29, Z:8.39 [[ 9.34704469e-01 -3.51883793e-01 -5.00534935e-02 1.57447664e+02] [ 3.51367774e-01 9.36043668e-01 -1.90509701e-02 2.22911641e+01] [ 5.35559833e-02 2.19842325e-04 9.98564824e-01 8.39352366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.50, Y:22.31, Z:8.39 [[ 9.34643619e-01 -3.52045506e-01 -5.00526524e-02 1.57501718e+02] [ 3.51529601e-01 9.35982861e-01 -1.90531797e-02 2.23129642e+01] [ 5.35560111e-02 2.12943865e-04 9.98564824e-01 8.39471655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.56, Y:22.33, Z:8.41 [[ 9.35855755e-01 -3.48810693e-01 -5.00510311e-02 1.57556788e+02] [ 3.48289931e-01 9.37193117e-01 -1.90574377e-02 2.23336112e+01] [ 5.35549199e-02 4.02742558e-04 9.98564824e-01 8.40953915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.61, Y:22.36, Z:8.40 [[ 9.36292163e-01 -3.47638181e-01 -5.00467777e-02 1.57610982e+02] [ 3.47115148e-01 9.37628638e-01 -1.90686012e-02 2.23570605e+01] [ 5.35542658e-02 4.81787215e-04 9.98564824e-01 8.40451752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.67, Y:22.38, Z:8.42 [[ 9.38047235e-01 -3.42874387e-01 -5.00453726e-02 1.57666069e+02] [ 3.42344370e-01 9.39380956e-01 -1.90722879e-02 2.23779474e+01] [ 5.35510690e-02 7.57955381e-04 9.98564824e-01 8.42029646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:22.40, Z:8.41 [[ 9.38899969e-01 -3.40533011e-01 -5.00411488e-02 1.57720366e+02] [ 3.39999077e-01 9.40232127e-01 -1.90833640e-02 2.24025505e+01] [ 5.35488111e-02 9.03425455e-04 9.98564824e-01 8.41015483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.77, Y:22.43, Z:8.41 [[ 9.40733753e-01 -3.35434005e-01 -5.00403167e-02 1.57774948e+02] [ 3.34892737e-01 9.42062947e-01 -1.90855456e-02 2.24258309e+01] [ 5.35430692e-02 1.19627832e-03 9.98564824e-01 8.41015933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.83, Y:22.45, Z:8.41 [[ 9.41862524e-01 -3.32252025e-01 -5.00357586e-02 1.57827859e+02] [ 3.31705632e-01 9.43189620e-01 -1.90974878e-02 2.24482356e+01] [ 5.35383872e-02 1.39006519e-03 9.98564825e-01 8.41242523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:22.47, Z:8.41 [[ 9.42222408e-01 -3.31230597e-01 -5.00322437e-02 1.57881226e+02] [ 3.30682277e-01 9.43548709e-01 -1.91066919e-02 2.24702883e+01] [ 5.35365799e-02 1.45797697e-03 9.98564825e-01 8.41479891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47038572300002 meters Centerline goodness : 0.997954 with order 1 Centerline is valid? [True, True] Translation: X:157.94, Y:22.49, Z:8.41 [[ 9.42000173e-01 -3.31862868e-01 -5.00270981e-02 1.57935219e+02] [ 3.31314724e-01 9.43326547e-01 -1.91201551e-02 2.24919746e+01] [ 5.35371592e-02 1.43647524e-03 9.98564825e-01 8.40993084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:157.98, Y:22.53, Z:8.40 [[ 9.35742269e-01 -3.49119203e-01 -5.00218721e-02 1.57984278e+02] [ 3.48594798e-01 9.37078206e-01 -1.91338177e-02 2.25311349e+01] [ 5.35543893e-02 4.66957640e-04 9.98564825e-01 8.40129891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.04, Y:22.54, Z:8.43 [[ 9.39523708e-01 -3.38812005e-01 -5.00162748e-02 1.58044631e+02] [ 3.38272168e-01 9.40853484e-01 -1.91484380e-02 2.25352431e+01] [ 5.35457070e-02 1.07129772e-03 9.98564825e-01 8.42658668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:158.09, Y:22.57, Z:8.41 [[ 9.33295277e-01 -3.55610183e-01 -5.00132287e-02 1.58094413e+02] [ 3.55093860e-01 9.34634358e-01 -1.91563908e-02 2.25749087e+01] [ 5.35562895e-02 1.19178641e-04 9.98564825e-01 8.40719411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:22.59, Z:8.42 [[ 9.35551896e-01 -3.49630400e-01 -5.00123394e-02 1.58151402e+02] [ 3.49105394e-01 9.36887596e-01 -1.91587121e-02 2.25902183e+01] [ 5.35544086e-02 4.64391952e-04 9.98564825e-01 8.41728551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:22.60, Z:8.43 [[ 9.39174930e-01 -3.39778336e-01 -5.00113336e-02 1.58208743e+02] [ 3.39239181e-01 9.40504982e-01 -1.91613373e-02 2.26032960e+01] [ 5.35465157e-02 1.03004377e-03 9.98564825e-01 8.42975644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.26, Y:22.63, Z:8.42 [[ 9.36784222e-01 -3.46315323e-01 -5.00101843e-02 1.58261546e+02] [ 3.45785290e-01 9.38117936e-01 -1.91643365e-02 2.26313587e+01] [ 5.35523542e-02 6.60061968e-04 9.98564825e-01 8.41845221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.32, Y:22.64, Z:8.43 [[ 9.36926422e-01 -3.45931083e-01 -5.00056528e-02 1.58318812e+02] [ 3.45399873e-01 9.38259667e-01 -1.91761532e-02 2.26437229e+01] [ 5.35519146e-02 6.94698484e-04 9.98564825e-01 8.43432815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.37, Y:22.67, Z:8.43 [[ 9.32028862e-01 -3.58917948e-01 -5.00010647e-02 1.58371917e+02] [ 3.58404675e-01 9.33369115e-01 -1.91881091e-02 2.26716577e+01] [ 5.35564062e-02 -3.67438352e-05 9.98564825e-01 8.43187882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.43, Y:22.68, Z:8.45 [[ 9.32578675e-01 -3.57487630e-01 -4.99960951e-02 1.58429968e+02] [ 3.56971608e-01 9.33917871e-01 -1.92010489e-02 2.26838124e+01] [ 5.35563842e-02 5.93022561e-05 9.98564825e-01 8.44842242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:22.71, Z:8.45 [[ 9.31916908e-01 -3.59209890e-01 -4.99913221e-02 1.58483539e+02] [ 3.58695676e-01 9.33256800e-01 -1.92134678e-02 2.27065719e+01] [ 5.35564090e-02 -2.63155748e-05 9.98564825e-01 8.44991962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.54, Y:22.73, Z:8.45 [[ 9.32302027e-01 -3.58209904e-01 -4.99859522e-02 1.58536933e+02] [ 3.57693505e-01 9.33641078e-01 -1.92274281e-02 2.27289022e+01] [ 5.35563935e-02 4.61197791e-05 9.98564825e-01 8.45164588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19038572300002 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:158.59, Y:22.75, Z:8.45 [[ 9.32380846e-01 -3.58005431e-01 -4.99806850e-02 1.58591517e+02] [ 3.57488004e-01 9.33719501e-01 -1.92411103e-02 2.27516766e+01] [ 5.35563622e-02 7.25473831e-05 9.98564826e-01 8.45056754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:158.65, Y:22.77, Z:8.45 [[ 9.32175514e-01 -3.58540377e-01 -4.99760788e-02 1.58645088e+02] [ 3.58023078e-01 9.33514218e-01 -1.92530669e-02 2.27732375e+01] [ 5.35563819e-02 5.46479716e-05 9.98564826e-01 8.45282273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.70, Y:22.80, Z:8.45 [[ 9.30121320e-01 -3.63836852e-01 -4.99707488e-02 1.58697781e+02] [ 3.63326433e-01 9.31462662e-01 -1.92668907e-02 2.27997686e+01] [ 5.35558915e-02 -2.35148131e-04 9.98564826e-01 8.44969813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.75, Y:22.82, Z:8.46 [[ 9.32040772e-01 -3.58891936e-01 -4.99657718e-02 1.58752187e+02] [ 3.58373709e-01 9.33379116e-01 -1.92797893e-02 2.28163256e+01] [ 5.35563688e-02 6.31307074e-05 9.98564826e-01 8.46376866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.81, Y:22.84, Z:8.46 [[ 9.31495558e-01 -3.60305005e-01 -4.99632852e-02 1.58805178e+02] [ 3.59788462e-01 9.32834553e-01 -1.92862311e-02 2.28423768e+01] [ 5.35564044e-02 -1.11749991e-05 9.98564826e-01 8.45979429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.86, Y:22.86, Z:8.47 [[ 9.34176745e-01 -3.53295883e-01 -4.99582595e-02 1.58858742e+02] [ 3.52768599e-01 9.35511547e-01 -1.92992405e-02 2.28621407e+01] [ 5.35548709e-02 4.05196496e-04 9.98564826e-01 8.47154449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:22.89, Z:8.47 [[ 9.34167731e-01 -3.53319967e-01 -4.99564992e-02 1.58911110e+02] [ 3.52792473e-01 9.35502450e-01 -1.93037962e-02 2.28875462e+01] [ 5.35548440e-02 4.08706596e-04 9.98564826e-01 8.46784206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.96, Y:22.91, Z:8.47 [[ 9.35151441e-01 -3.50708885e-01 -4.99505869e-02 1.58963567e+02] [ 3.50176849e-01 9.36484355e-01 -1.93190827e-02 2.29096554e+01] [ 5.35533171e-02 5.74728888e-04 9.98564826e-01 8.47367901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.02, Y:22.93, Z:8.48 [[ 9.35101135e-01 -3.50843822e-01 -4.99447719e-02 1.59016860e+02] [ 3.50311176e-01 9.36433806e-01 -1.93341043e-02 2.29323583e+01] [ 5.35532239e-02 5.83131147e-04 9.98564826e-01 8.47775582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:159.07, Y:22.95, Z:8.48 [[ 9.34373554e-01 -3.52777785e-01 -4.99389172e-02 1.59070318e+02] [ 3.52247089e-01 9.35707003e-01 -1.93492149e-02 2.29547294e+01] [ 5.35541677e-02 4.88556463e-04 9.98564826e-01 8.48241710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:22.98, Z:8.49 [[ 9.34803973e-01 -3.51636464e-01 -4.99332477e-02 1.59123607e+02] [ 3.51103360e-01 9.36136460e-01 -1.93638347e-02 2.29781557e+01] [ 5.35533642e-02 5.69658573e-04 9.98564826e-01 8.48550092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:23.00, Z:8.49 [[ 9.36895547e-01 -3.46025979e-01 -4.99275098e-02 1.59177734e+02] [ 3.45484109e-01 9.38224493e-01 -1.93786180e-02 2.29972021e+01] [ 5.35487179e-02 9.06579653e-04 9.98564827e-01 8.49168401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91038572300002 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:159.23, Y:23.02, Z:8.49 [[ 9.34458408e-01 -3.52555385e-01 -4.99217837e-02 1.59230207e+02] [ 3.52022014e-01 9.35790788e-01 -1.93933579e-02 2.30238120e+01] [ 5.35535781e-02 5.48719509e-04 9.98564827e-01 8.49105212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:23.05, Z:8.50 [[ 9.33758372e-01 -3.54406112e-01 -4.99160275e-02 1.59284845e+02] [ 3.53874590e-01 9.35091492e-01 -1.94081625e-02 2.30460396e+01] [ 5.35544240e-02 4.58520479e-04 9.98564827e-01 8.49636858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:23.07, Z:8.50 [[ 9.32417253e-01 -3.57920318e-01 -4.99110409e-02 1.59337950e+02] [ 3.57393134e-01 9.33752094e-01 -1.94209779e-02 2.30681787e+01] [ 5.35557015e-02 2.70591480e-04 9.98564827e-01 8.49990419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090385723 meters Centerline goodness : 0.993892 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:23.08, Z:8.50 [[ 9.34974754e-01 -3.51186072e-01 -4.99054337e-02 1.59395494e+02] [ 3.50648507e-01 9.36305447e-01 -1.94353758e-02 2.30825864e+01] [ 5.35521627e-02 6.72319908e-04 9.98564827e-01 8.49876271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:23.11, Z:8.51 [[ 9.32916208e-01 -3.56619377e-01 -4.98995893e-02 1.59446354e+02] [ 3.56088760e-01 9.34249687e-01 -1.94503695e-02 2.31105781e+01] [ 5.35550543e-02 3.76882050e-04 9.98564827e-01 8.50724864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:159.50, Y:23.13, Z:8.51 [[ 9.32890472e-01 -3.56687718e-01 -4.98922734e-02 1.59499262e+02] [ 3.56156196e-01 9.34223591e-01 -1.94691174e-02 2.31338876e+01] [ 5.35549339e-02 3.93111845e-04 9.98564827e-01 8.50956553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:23.15, Z:8.51 [[ 9.35339442e-01 -3.50216283e-01 -4.98867074e-02 1.59555433e+02] [ 3.49674779e-01 9.36668537e-01 -1.94833692e-02 2.31478594e+01] [ 5.35507023e-02 7.79440256e-04 9.98564828e-01 8.51482685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.61, Y:23.17, Z:8.52 [[ 9.35253965e-01 -3.50444729e-01 -4.98850076e-02 1.59609472e+02] [ 3.49903317e-01 9.36583097e-01 -1.94877204e-02 2.31676099e+01] [ 5.35508238e-02 7.71038144e-04 9.98564828e-01 8.51794644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.66, Y:23.19, Z:8.52 [[ 9.32842511e-01 -3.56814903e-01 -4.98795984e-02 1.59661720e+02] [ 3.56281828e-01 9.34175009e-01 -1.95015555e-02 2.31923547e+01] [ 5.35547200e-02 4.20685474e-04 9.98564828e-01 8.52247343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:23.21, Z:8.53 [[ 9.33898591e-01 -3.54042359e-01 -4.98741302e-02 1.59717968e+02] [ 3.53504583e-01 9.35229199e-01 -1.95155301e-02 2.32084253e+01] [ 5.35530672e-02 5.94792516e-04 9.98564828e-01 8.53429664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:23.23, Z:8.53 [[ 9.34099146e-01 -3.53513079e-01 -4.98727193e-02 1.59773179e+02] [ 3.52974356e-01 9.35429371e-01 -1.95191351e-02 2.32271813e+01] [ 5.35526760e-02 6.29016430e-04 9.98564828e-01 8.53370322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:23.25, Z:8.54 [[ 9.32936086e-01 -3.56571325e-01 -4.98713325e-02 1.59825143e+02] [ 3.56036773e-01 9.34267992e-01 -1.95226779e-02 2.32529303e+01] [ 5.35544168e-02 4.57382405e-04 9.98564828e-01 8.53626146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:23.27, Z:8.54 [[ 9.34993032e-01 -3.51143037e-01 -4.98657950e-02 1.59880869e+02] [ 3.50600000e-01 9.36321501e-01 -1.95368117e-02 2.32708210e+01] [ 5.35506314e-02 7.83835054e-04 9.98564828e-01 8.53984960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.93, Y:23.30, Z:8.54 [[ 9.34317505e-01 -3.52937323e-01 -4.98602672e-02 1.59933742e+02] [ 3.52396084e-01 9.35646708e-01 -1.95509092e-02 2.32952043e+01] [ 5.35518404e-02 6.96193829e-04 9.98564828e-01 8.53990846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.99, Y:23.31, Z:8.55 [[ 9.36225934e-01 -3.47843655e-01 -4.98577194e-02 1.59989830e+02] [ 3.47294840e-01 9.37552026e-01 -1.95574043e-02 2.33131859e+01] [ 5.35471248e-02 9.94820489e-04 9.98564828e-01 8.54790636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:23.33, Z:8.55 [[ 9.36317089e-01 -3.47598903e-01 -4.98528960e-02 1.60044500e+02] [ 3.47049088e-01 9.37642767e-01 -1.95696918e-02 2.33327900e+01] [ 5.35466107e-02 1.02203482e-03 9.98564828e-01 8.55068257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.10, Y:23.36, Z:8.55 [[ 9.34197046e-01 -3.53257325e-01 -4.98512028e-02 1.60099099e+02] [ 3.52715310e-01 9.35525932e-01 -1.95740039e-02 2.33556725e+01] [ 5.35517532e-02 7.02694151e-04 9.98564828e-01 8.55074777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.15, Y:23.37, Z:8.56 [[ 9.34281569e-01 -3.53034438e-01 -4.98461083e-02 1.60154816e+02] [ 3.52491414e-01 9.35610044e-01 -1.95869688e-02 2.33710635e+01] [ 5.35513941e-02 7.29418761e-04 9.98564828e-01 8.55751844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:23.39, Z:8.56 [[ 9.33289793e-01 -3.55648291e-01 -4.98443076e-02 1.60209421e+02] [ 3.55108744e-01 9.34619683e-01 -1.95915501e-02 2.33905473e+01] [ 5.35531723e-02 5.84444255e-04 9.98564828e-01 8.56041460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:23.41, Z:8.56 [[ 9.33281190e-01 -3.55671224e-01 -4.98417591e-02 1.60263866e+02] [ 3.55131363e-01 9.34610952e-01 -1.95980314e-02 2.34106301e+01] [ 5.35531098e-02 5.90102220e-04 9.98564828e-01 8.56377231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:23.43, Z:8.57 [[ 9.33127021e-01 -3.56076265e-01 -4.98362950e-02 1.60318598e+02] [ 3.55536240e-01 9.34456716e-01 -1.96119163e-02 2.34314800e+01] [ 5.35531985e-02 5.81800123e-04 9.98564828e-01 8.56516153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.37, Y:23.45, Z:8.57 [[ 9.32354643e-01 -3.58094461e-01 -4.98314872e-02 1.60374572e+02] [ 3.57556662e-01 9.33685240e-01 -1.96241248e-02 2.34497225e+01] [ 5.35542145e-02 4.79063621e-04 9.98564828e-01 8.56900624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.43, Y:23.47, Z:8.57 [[ 9.31214347e-01 -3.61050072e-01 -4.98265602e-02 1.60429744e+02] [ 3.60515827e-01 9.32546375e-01 -1.96366268e-02 2.34686353e+01] [ 5.35553836e-02 3.22645092e-04 9.98564829e-01 8.57234089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:23.49, Z:8.58 [[ 9.30107691e-01 -3.63891700e-01 -4.98248301e-02 1.60484854e+02] [ 3.63361290e-01 9.31441251e-01 -1.96410155e-02 2.34878538e+01] [ 5.35561046e-02 1.63845027e-04 9.98564829e-01 8.57523007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.54, Y:23.51, Z:8.58 [[ 9.29572528e-01 -3.65257376e-01 -4.98193188e-02 1.60539912e+02] [ 3.64728175e-01 9.30906569e-01 -1.96549851e-02 2.35066508e+01] [ 5.35562594e-02 1.00224914e-04 9.98564829e-01 8.57842434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.59, Y:23.53, Z:8.58 [[ 9.29935834e-01 -3.64332162e-01 -4.98138501e-02 1.60594329e+02] [ 3.63800893e-01 9.31269052e-01 -1.96688352e-02 2.35261654e+01] [ 5.35560862e-02 1.68431503e-04 9.98564829e-01 8.58224755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.65, Y:23.55, Z:8.59 [[ 9.31494782e-01 -3.60328450e-01 -4.98084293e-02 1.60648836e+02] [ 3.59790717e-01 9.32825405e-01 -1.96825532e-02 2.35488082e+01] [ 5.35547521e-02 4.13585123e-04 9.98564829e-01 8.58675074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:23.57, Z:8.59 [[ 9.33543185e-01 -3.54988330e-01 -4.98036897e-02 1.60701946e+02] [ 3.54442347e-01 9.34870444e-01 -1.96945388e-02 2.35727118e+01] [ 5.35513289e-02 7.33165816e-04 9.98564829e-01 8.58865145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:23.59, Z:8.58 [[ 9.35711233e-01 -3.49234329e-01 -4.97983042e-02 1.60756654e+02] [ 3.48679461e-01 9.37034803e-01 -1.97081468e-02 2.35943042e+01] [ 5.35455056e-02 1.07748847e-03 9.98564829e-01 8.58279334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:23.62, Z:8.59 [[ 9.37028888e-01 -3.45684110e-01 -4.97931711e-02 1.60810743e+02] [ 3.45123539e-01 9.38350052e-01 -1.97211072e-02 2.36176789e+01] [ 5.35406981e-02 1.29445169e-03 9.98564829e-01 8.58920864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.87, Y:23.64, Z:8.59 [[ 9.36891918e-01 -3.46055893e-01 -4.97880756e-02 1.60865429e+02] [ 3.45495164e-01 9.38213016e-01 -1.97339628e-02 2.36393633e+01] [ 5.35408747e-02 1.28705093e-03 9.98564829e-01 8.59263459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:23.66, Z:8.60 [[ 9.36457607e-01 -3.47230128e-01 -4.97834104e-02 1.60919436e+02] [ 3.46670431e-01 9.37779142e-01 -1.97457250e-02 2.36588301e+01] [ 5.35421545e-02 1.23259807e-03 9.98564829e-01 8.59900635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:160.97, Y:23.68, Z:8.60 [[ 9.36152017e-01 -3.48053410e-01 -4.97817706e-02 1.60973437e+02] [ 3.47494656e-01 9.37473950e-01 -1.97498582e-02 2.36796233e+01] [ 5.35431186e-02 1.18997034e-03 9.98564829e-01 8.59988652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.03, Y:23.70, Z:8.60 [[ 9.34638349e-01 -3.52098687e-01 -4.97762113e-02 1.61027136e+02] [ 3.51544909e-01 9.35962375e-01 -1.97638595e-02 2.37016338e+01] [ 5.35474899e-02 9.73487334e-04 9.98564829e-01 8.60324201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:161.08, Y:23.72, Z:8.61 [[ 9.33371463e-01 -3.55443701e-01 -4.97743606e-02 1.61081751e+02] [ 3.54894420e-01 9.34697361e-01 -1.97685193e-02 2.37228137e+01] [ 5.35505592e-02 7.86728932e-04 9.98564829e-01 8.60945274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.14, Y:23.74, Z:8.61 [[ 9.31286812e-01 -3.60871043e-01 -4.97691075e-02 1.61136176e+02] [ 3.60328783e-01 9.32615597e-01 -1.97817359e-02 2.37424641e+01] [ 5.35541015e-02 4.89227794e-04 9.98564830e-01 8.60984153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:161.19, Y:23.77, Z:8.61 [[ 9.30482746e-01 -3.62939937e-01 -4.97640580e-02 1.61190455e+02] [ 3.62399952e-01 9.31812457e-01 -1.97944305e-02 2.37655933e+01] [ 5.35549585e-02 3.83883841e-04 9.98564830e-01 8.61400294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:23.79, Z:8.61 [[ 9.28604764e-01 -3.67718914e-01 -4.97593501e-02 1.61244452e+02] [ 3.67185140e-01 9.29936979e-01 -1.98062581e-02 2.37908433e+01] [ 5.35561954e-02 1.21291743e-04 9.98564830e-01 8.60860657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:23.81, Z:8.62 [[ 9.28113198e-01 -3.68958219e-01 -4.97566479e-02 1.61299302e+02] [ 3.68425859e-01 9.29445980e-01 -1.98130442e-02 2.38096133e+01] [ 5.35563018e-02 5.71121286e-05 9.98564830e-01 8.62192635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:23.83, Z:8.63 [[ 9.26247611e-01 -3.73617606e-01 -4.97518653e-02 1.61353468e+02] [ 3.73091306e-01 9.27582797e-01 -1.98250462e-02 2.38326540e+01] [ 5.35559607e-02 -1.99086736e-04 9.98564830e-01 8.62702721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:23.86, Z:8.62 [[ 9.24667126e-01 -3.77512815e-01 -4.97471584e-02 1.61406047e+02] [ 3.76991505e-01 9.26004268e-01 -1.98368505e-02 2.38572753e+01] [ 5.35547462e-02 -4.11772542e-04 9.98564830e-01 8.62408488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:23.88, Z:8.62 [[ 9.24395034e-01 -3.78179310e-01 -4.97416378e-02 1.61457545e+02] [ 3.77658219e-01 9.25732261e-01 -1.98506839e-02 2.38817220e+01] [ 5.35545568e-02 -4.35464703e-04 9.98564830e-01 8.62156406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:161.51, Y:23.90, Z:8.63 [[ 9.24040664e-01 -3.79045114e-01 -4.97358428e-02 1.61510603e+02] [ 3.78524495e-01 9.25378075e-01 -1.98651926e-02 2.39041579e+01] [ 5.35542626e-02 -4.69989003e-04 9.98564830e-01 8.62599183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:23.93, Z:8.63 [[ 9.23619067e-01 -3.80072050e-01 -4.97298219e-02 1.61562698e+02] [ 3.79552107e-01 9.24956741e-01 -1.98802537e-02 2.39319657e+01] [ 5.35538628e-02 -5.13277352e-04 9.98564830e-01 8.62991215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.62, Y:23.96, Z:8.64 [[ 9.24834239e-01 -3.77106207e-01 -4.97246219e-02 1.61616145e+02] [ 3.76581276e-01 9.26169963e-01 -1.98932515e-02 2.39552411e+01] [ 5.35553199e-02 -3.27401416e-04 9.98564830e-01 8.63904367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:23.98, Z:8.64 [[ 9.24492160e-01 -3.77944686e-01 -4.97198284e-02 1.61668257e+02] [ 3.77420322e-01 9.25828107e-01 -1.99052248e-02 2.39846911e+01] [ 5.35550885e-02 -3.63049353e-04 9.98564830e-01 8.63541532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:161.72, Y:24.01, Z:8.64 [[ 9.24500396e-01 -3.77925220e-01 -4.97146428e-02 1.61721335e+02] [ 3.77400132e-01 9.25836058e-01 -1.99181678e-02 2.40082499e+01] [ 5.35551869e-02 -3.47958717e-04 9.98564831e-01 8.63866712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.77, Y:24.04, Z:8.64 [[ 9.23677601e-01 -3.79932001e-01 -4.97128235e-02 1.61773716e+02] [ 3.79409570e-01 9.25014305e-01 -1.99227076e-02 2.40361368e+01] [ 5.35543470e-02 -4.59362247e-04 9.98564831e-01 8.63932580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.83, Y:24.06, Z:8.64 [[ 9.23688756e-01 -3.79905530e-01 -4.97078555e-02 1.61826708e+02] [ 3.79382395e-01 9.25025184e-01 -1.99350952e-02 2.40592826e+01] [ 5.35544711e-02 -4.44462010e-04 9.98564831e-01 8.64306377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.88, Y:24.08, Z:8.65 [[ 9.23897559e-01 -3.79397799e-01 -4.97052392e-02 1.61880508e+02] [ 3.78873578e-01 9.25233562e-01 -1.99416165e-02 2.40822739e+01] [ 5.35547609e-02 -4.07990995e-04 9.98564831e-01 8.64925405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:24.11, Z:8.65 [[ 9.24173278e-01 -3.78726313e-01 -4.97004182e-02 1.61932899e+02] [ 3.78200476e-01 9.25508646e-01 -1.99536245e-02 2.41067687e+01] [ 5.35551294e-02 -3.56115260e-04 9.98564831e-01 8.64547135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.99, Y:24.13, Z:8.65 [[ 9.22475686e-01 -3.82843111e-01 -4.96966984e-02 1.61986427e+02] [ 3.82322734e-01 9.23813190e-01 -1.99628850e-02 2.41309740e+01] [ 5.35531184e-02 -5.84901574e-04 9.98564831e-01 8.64800199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:162.04, Y:24.15, Z:8.65 [[ 9.22727453e-01 -3.82236520e-01 -4.96919648e-02 1.62042228e+02] [ 3.81714629e-01 9.24064367e-01 -1.99746609e-02 2.41505293e+01] [ 5.35536189e-02 -5.36981950e-04 9.98564831e-01 8.65374504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:24.18, Z:8.66 [[ 9.23135374e-01 -3.81250959e-01 -4.96868884e-02 1.62094366e+02] [ 3.80726962e-01 9.24471465e-01 -1.99872803e-02 2.41752965e+01] [ 5.35542803e-02 -4.66172591e-04 9.98564831e-01 8.65584562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.15, Y:24.20, Z:8.66 [[ 9.24799095e-01 -3.77197592e-01 -4.96851099e-02 1.62149447e+02] [ 3.76667501e-01 9.26132780e-01 -1.99917006e-02 2.41961976e+01] [ 5.35558302e-02 -2.26459601e-04 9.98564831e-01 8.66200817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:162.20, Y:24.22, Z:8.66 [[ 9.26767437e-01 -3.72335836e-01 -4.96804070e-02 1.62203465e+02] [ 3.71798123e-01 9.28098066e-01 -2.00033806e-02 2.42189355e+01] [ 5.35562651e-02 6.73996940e-05 9.98564831e-01 8.66333133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.26, Y:24.24, Z:8.67 [[ 9.29242476e-01 -3.66115870e-01 -4.96748559e-02 1.62258038e+02] [ 3.65568514e-01 9.30569167e-01 -2.00171564e-02 2.42400175e+01] [ 5.35544879e-02 4.41228657e-04 9.98564831e-01 8.66524808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:24.26, Z:8.67 [[ 9.30269423e-01 -3.63499316e-01 -4.96693939e-02 1.62312532e+02] [ 3.62947505e-01 9.31594268e-01 -2.00307003e-02 2.42606370e+01] [ 5.35528685e-02 6.06565370e-04 9.98564831e-01 8.67097818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:162.37, Y:24.28, Z:8.67 [[ 9.30052332e-01 -3.64055176e-01 -4.96637624e-02 1.62367139e+02] [ 3.63503412e-01 9.31377196e-01 -2.00446533e-02 2.42831469e+01] [ 5.35530555e-02 5.89629434e-04 9.98564831e-01 8.67299949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:24.30, Z:8.68 [[ 9.30160447e-01 -3.63779568e-01 -4.96585268e-02 1.62421568e+02] [ 3.63226719e-01 9.31484859e-01 -2.00576154e-02 2.43030343e+01] [ 5.35527165e-02 6.19496704e-04 9.98564832e-01 8.68007274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:24.32, Z:8.68 [[ 9.29249684e-01 -3.66100037e-01 -4.96566965e-02 1.62478103e+02] [ 3.65550254e-01 9.30575371e-01 -2.00621457e-02 2.43215439e+01] [ 5.35540511e-02 4.90724491e-04 9.98564832e-01 8.68305007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:24.34, Z:8.69 [[ 9.28780030e-01 -3.67290511e-01 -4.96521518e-02 1.62534669e+02] [ 3.66741826e-01 9.30106173e-01 -2.00733872e-02 2.43394730e+01] [ 5.35545375e-02 4.34240353e-04 9.98564832e-01 8.68862634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:24.36, Z:8.69 [[ 9.27148435e-01 -3.71390239e-01 -4.96494737e-02 1.62588816e+02] [ 3.70847064e-01 9.28476843e-01 -2.00800091e-02 2.43628414e+01] [ 5.35559060e-02 2.04787421e-04 9.98564832e-01 8.68521226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:24.38, Z:8.69 [[ 9.28590864e-01 -3.67769070e-01 -4.96479412e-02 1.62645806e+02] [ 3.67220512e-01 9.29917059e-01 -2.00837975e-02 2.43796701e+01] [ 5.35546670e-02 4.17888461e-04 9.98564832e-01 8.69150732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.70, Y:24.40, Z:8.69 [[ 9.29440649e-01 -3.65616795e-01 -4.96431157e-02 1.62701656e+02] [ 3.65064529e-01 9.30765304e-01 -2.00957180e-02 2.43992223e+01] [ 5.35534217e-02 5.54836527e-04 9.98564832e-01 8.69411403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.76, Y:24.42, Z:8.70 [[ 9.31077956e-01 -3.61427611e-01 -4.96379039e-02 1.62757540e+02] [ 3.60868700e-01 9.32399821e-01 -2.01085833e-02 2.44159217e+01] [ 5.35501700e-02 8.09892734e-04 9.98564832e-01 8.70086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:24.43, Z:8.70 [[ 9.30772606e-01 -3.62214061e-01 -4.96319509e-02 1.62813021e+02] [ 3.61655484e-01 9.32094612e-01 -2.01232659e-02 2.44349174e+01] [ 5.35506038e-02 7.80517380e-04 9.98564832e-01 8.70211597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:24.46, Z:8.70 [[ 9.29596380e-01 -3.65222894e-01 -4.96266773e-02 1.62866829e+02] [ 3.64667903e-01 9.30919895e-01 -2.01362628e-02 2.44561778e+01] [ 5.35526854e-02 6.21340624e-04 9.98564832e-01 8.70062554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.92, Y:24.48, Z:8.70 [[ 9.27970050e-01 -3.69336403e-01 -4.96206339e-02 1.62920839e+02] [ 3.68786483e-01 9.29295680e-01 -2.01511443e-02 2.44785292e+01] [ 5.35547919e-02 4.00239276e-04 9.98564832e-01 8.69797128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.97, Y:24.50, Z:8.70 [[ 9.27511946e-01 -3.70486148e-01 -4.96145687e-02 1.62973318e+02] [ 3.69937073e-01 9.28837926e-01 -2.01660666e-02 2.45029631e+01] [ 5.35551414e-02 3.49999373e-04 9.98564832e-01 8.69837149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:163.03, Y:24.53, Z:8.70 [[ 9.27008158e-01 -3.71745698e-01 -4.96085833e-02 1.63026106e+02] [ 3.71197637e-01 9.28334557e-01 -2.01807800e-02 2.45287898e+01] [ 5.35554803e-02 2.93158826e-04 9.98564832e-01 8.70010525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:24.55, Z:8.70 [[ 9.26895926e-01 -3.72026134e-01 -4.96034128e-02 1.63079493e+02] [ 3.71477795e-01 9.28222210e-01 -2.01934808e-02 2.45519654e+01] [ 5.35554920e-02 2.90688689e-04 9.98564833e-01 8.70411331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:24.57, Z:8.71 [[ 9.27306568e-01 -3.71002195e-01 -4.95973851e-02 1.63134570e+02] [ 3.70451600e-01 9.28631917e-01 -2.02082746e-02 2.45706282e+01] [ 5.35550291e-02 3.65835070e-04 9.98564833e-01 8.70983533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:24.59, Z:8.71 [[ 9.27178687e-01 -3.71322452e-01 -4.95915134e-02 1.63186603e+02] [ 3.70771545e-01 9.28503907e-01 -2.02226738e-02 2.45933995e+01] [ 5.35550467e-02 3.62910089e-04 9.98564833e-01 8.71257660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.24, Y:24.62, Z:8.71 [[ 9.26174993e-01 -3.73819230e-01 -4.95889731e-02 1.63240743e+02] [ 3.73271562e-01 9.27501554e-01 -2.02289010e-02 2.46156692e+01] [ 5.35558018e-02 2.25348839e-04 9.98564833e-01 8.71265490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:24.64, Z:8.72 [[ 9.25998875e-01 -3.74256083e-01 -4.95829450e-02 1.63294895e+02] [ 3.73708250e-01 9.27325368e-01 -2.02436657e-02 2.46371512e+01] [ 5.35558377e-02 2.16056017e-04 9.98564833e-01 8.71556157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:24.66, Z:8.72 [[ 9.25637908e-01 -3.75148739e-01 -4.95770843e-02 1.63347165e+02] [ 3.74601418e-01 9.26964612e-01 -2.02580084e-02 2.46605699e+01] [ 5.35559690e-02 1.79934389e-04 9.98564833e-01 8.71556036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.40, Y:24.68, Z:8.72 [[ 9.28030627e-01 -3.69190548e-01 -4.95731263e-02 1.63401776e+02] [ 3.68634192e-01 9.29353567e-01 -2.02676894e-02 2.46798146e+01] [ 5.35536011e-02 5.34687139e-04 9.98564833e-01 8.72252178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:24.70, Z:8.73 [[ 9.28811807e-01 -3.67221177e-01 -4.95704898e-02 1.63455218e+02] [ 3.66661672e-01 9.30133419e-01 -2.02741357e-02 2.47016909e+01] [ 5.35522611e-02 6.55257949e-04 9.98564833e-01 8.72692243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.51, Y:24.72, Z:8.73 [[ 9.28836421e-01 -3.67159686e-01 -4.95647857e-02 1.63508566e+02] [ 3.66599350e-01 9.30157681e-01 -2.02880712e-02 2.47236667e+01] [ 5.35520279e-02 6.73881205e-04 9.98564833e-01 8.73062396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:163.56, Y:24.75, Z:8.73 [[ 9.28314360e-01 -3.68478425e-01 -4.95590574e-02 1.63561477e+02] [ 3.67919219e-01 9.29636098e-01 -2.03020544e-02 2.47478752e+01] [ 5.35527578e-02 6.12958908e-04 9.98564833e-01 8.73475818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.61, Y:24.77, Z:8.74 [[ 9.27709977e-01 -3.69998185e-01 -4.95534197e-02 1.63614139e+02] [ 3.69440411e-01 9.29032320e-01 -2.03158057e-02 2.47729104e+01] [ 5.35535397e-02 5.40139887e-04 9.98564833e-01 8.73735028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:24.80, Z:8.74 [[ 9.28749689e-01 -3.67381372e-01 -4.95473845e-02 1.63666207e+02] [ 3.66819087e-01 9.30070120e-01 -2.03305141e-02 2.47956973e+01] [ 5.35515940e-02 7.07032316e-04 9.98564834e-01 8.74211565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:24.82, Z:8.74 [[ 9.29240323e-01 -3.66139155e-01 -4.95433171e-02 1.63718932e+02] [ 3.65574577e-01 9.30559776e-01 -2.03404211e-02 2.48197472e+01] [ 5.35504426e-02 7.89362293e-04 9.98564834e-01 8.74382673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:24.84, Z:8.75 [[ 9.28942279e-01 -3.66895439e-01 -4.95376612e-02 1.63773719e+02] [ 3.66331201e-01 9.30261876e-01 -2.03541862e-02 2.48415894e+01] [ 5.35508557e-02 7.60673219e-04 9.98564834e-01 8.74521035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.83, Y:24.86, Z:8.75 [[ 9.28906196e-01 -3.66987493e-01 -4.95324109e-02 1.63826867e+02] [ 3.66422705e-01 9.30225558e-01 -2.03669550e-02 2.48625589e+01] [ 5.35507323e-02 7.69190685e-04 9.98564834e-01 8.74546105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:24.88, Z:8.75 [[ 9.28968625e-01 -3.66829979e-01 -4.95283769e-02 1.63881873e+02] [ 3.66264444e-01 9.30287668e-01 -2.03767601e-02 2.48843731e+01] [ 5.35504447e-02 7.88887338e-04 9.98564834e-01 8.74636445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.94, Y:24.91, Z:8.75 [[ 9.29372073e-01 -3.65807324e-01 -4.95232435e-02 1.63935652e+02] [ 3.65239674e-01 9.30690206e-01 -2.03892287e-02 2.49052392e+01] [ 5.35493269e-02 8.61326467e-04 9.98564834e-01 8.74895661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.99, Y:24.93, Z:8.75 [[ 9.29154752e-01 -3.66359215e-01 -4.95214284e-02 1.63990793e+02] [ 3.65792113e-01 9.30473122e-01 -2.03936362e-02 2.49260343e+01] [ 5.35497546e-02 8.34296075e-04 9.98564834e-01 8.75474316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.05, Y:24.95, Z:8.76 [[ 9.28308850e-01 -3.68498029e-01 -4.95164754e-02 1.64045169e+02] [ 3.67933323e-01 9.29628248e-01 -2.04056552e-02 2.49487072e+01] [ 5.35513580e-02 7.23988921e-04 9.98564834e-01 8.75831789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:24.97, Z:8.76 [[ 9.27995882e-01 -3.69286182e-01 -4.95112032e-02 1.64097578e+02] [ 3.68721916e-01 9.29315467e-01 -2.04184394e-02 2.49726002e+01] [ 5.35517744e-02 6.92361968e-04 9.98564834e-01 8.75765659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.15, Y:25.00, Z:8.75 [[ 9.26743978e-01 -3.72417604e-01 -4.95048271e-02 1.64149795e+02] [ 3.71856971e-01 9.28065111e-01 -2.04338866e-02 2.50009388e+01] [ 5.35536419e-02 5.28266275e-04 9.98564834e-01 8.75393081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.21, Y:25.02, Z:8.76 [[ 9.29275520e-01 -3.66055789e-01 -4.94991650e-02 1.64205257e+02] [ 3.65485383e-01 9.30592462e-01 -2.04475934e-02 2.50167325e+01] [ 5.35485098e-02 9.10226749e-04 9.98564834e-01 8.76272872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.26, Y:25.04, Z:8.76 [[ 9.29716039e-01 -3.64936263e-01 -4.94935513e-02 1.64257600e+02] [ 3.64363548e-01 9.31031979e-01 -2.04611724e-02 2.50411397e+01] [ 5.35471028e-02 9.89434182e-04 9.98564835e-01 8.76349299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.31, Y:25.06, Z:8.77 [[ 9.30042612e-01 -3.64104104e-01 -4.94867826e-02 1.64311434e+02] [ 3.63529342e-01 9.31357659e-01 -2.04775298e-02 2.50631479e+01] [ 5.35458467e-02 1.05507783e-03 9.98564835e-01 8.76970464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.37, Y:25.08, Z:8.77 [[ 9.30119593e-01 -3.63908184e-01 -4.94810725e-02 1.64365177e+02] [ 3.63332412e-01 9.31434198e-01 -2.04913184e-02 2.50839042e+01] [ 5.35453215e-02 1.08129928e-03 9.98564835e-01 8.77344614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:25.11, Z:8.78 [[ 9.30502928e-01 -3.62927658e-01 -4.94754014e-02 1.64418971e+02] [ 3.62349773e-01 9.31816606e-01 -2.05050018e-02 2.51068048e+01] [ 5.35438329e-02 1.15256376e-03 9.98564835e-01 8.77684788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.47, Y:25.13, Z:8.78 [[ 9.30283454e-01 -3.63490538e-01 -4.94704345e-02 1.64472310e+02] [ 3.62912812e-01 9.31597201e-01 -2.05169779e-02 2.51294822e+01] [ 5.35442457e-02 1.13315059e-03 9.98564835e-01 8.77988084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:25.15, Z:8.78 [[ 9.30494032e-01 -3.62951918e-01 -4.94647427e-02 1.64525813e+02] [ 3.62372703e-01 9.31807123e-01 -2.05306913e-02 2.51514142e+01] [ 5.35432534e-02 1.17901324e-03 9.98564835e-01 8.77910469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:164.58, Y:25.17, Z:8.78 [[ 9.31059437e-01 -3.61499291e-01 -4.94629882e-02 1.64579775e+02] [ 3.60917802e-01 9.32371523e-01 -2.05349175e-02 2.51721500e+01] [ 5.35412397e-02 1.26715570e-03 9.98564835e-01 8.77917554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.63, Y:25.19, Z:8.78 [[ 9.31083868e-01 -3.61436593e-01 -4.94612907e-02 1.64633261e+02] [ 3.60854800e-01 9.32395819e-01 -2.05390053e-02 2.51939562e+01] [ 5.35410487e-02 1.27519238e-03 9.98564835e-01 8.78363531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.69, Y:25.22, Z:8.79 [[ 9.30041503e-01 -3.64111188e-01 -4.94554931e-02 1.64687492e+02] [ 3.63532426e-01 9.31354793e-01 -2.05529559e-02 2.52171225e+01] [ 5.35441717e-02 1.13642658e-03 9.98564835e-01 8.78631658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:164.74, Y:25.24, Z:8.79 [[ 9.29114632e-01 -3.66470522e-01 -4.94505571e-02 1.64740652e+02] [ 3.65894464e-01 9.30429110e-01 -2.05648250e-02 2.52376259e+01] [ 5.35466400e-02 1.01339472e-03 9.98564835e-01 8.79019331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.79, Y:25.26, Z:8.80 [[ 9.28470701e-01 -3.68099258e-01 -4.94479011e-02 1.64793877e+02] [ 3.67525165e-01 9.29786039e-01 -2.05712093e-02 2.52604701e+01] [ 5.35482150e-02 9.26417089e-04 9.98564835e-01 8.79508666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.85, Y:25.28, Z:8.80 [[ 9.28833302e-01 -3.67184149e-01 -4.94418608e-02 1.64846488e+02] [ 3.66607989e-01 9.30147736e-01 -2.05857167e-02 2.52829888e+01] [ 5.35469837e-02 9.94918031e-04 9.98564835e-01 8.79626411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.90, Y:25.31, Z:8.80 [[ 9.29260581e-01 -3.66101804e-01 -4.94392631e-02 1.64897703e+02] [ 3.65523782e-01 9.30574197e-01 -2.05919534e-02 2.53079039e+01] [ 5.35456539e-02 1.06406415e-03 9.98564836e-01 8.79676295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.95, Y:25.33, Z:8.80 [[ 9.29154117e-01 -3.66372443e-01 -4.94354153e-02 1.64950665e+02] [ 3.65794311e-01 9.30467685e-01 -2.06011868e-02 2.53309675e+01] [ 5.35457636e-02 1.05848388e-03 9.98564836e-01 8.79941069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:25.35, Z:8.80 [[ 9.29302308e-01 -3.65997187e-01 -4.94295448e-02 1.65004505e+02] [ 3.65417777e-01 9.30615312e-01 -2.06152626e-02 2.53535708e+01] [ 5.35450194e-02 1.09537671e-03 9.98564836e-01 8.80143840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:25.38, Z:8.81 [[ 9.30585031e-01 -3.62724160e-01 -4.94235031e-02 1.65057797e+02] [ 3.62139365e-01 9.31895646e-01 -2.06297369e-02 2.53752814e+01] [ 5.35404514e-02 1.29952834e-03 9.98564836e-01 8.80873936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.11, Y:25.40, Z:8.81 [[ 9.28909795e-01 -3.66993313e-01 -4.94216541e-02 1.65110727e+02] [ 3.66414306e-01 9.30222977e-01 -2.06341656e-02 2.54020667e+01] [ 5.35457590e-02 1.05847744e-03 9.98564836e-01 8.80579898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:25.42, Z:8.82 [[ 9.29085534e-01 -3.66548884e-01 -4.94164606e-02 1.65164951e+02] [ 3.65968587e-01 9.30398147e-01 -2.06465959e-02 2.54209034e+01] [ 5.35449701e-02 1.09758131e-03 9.98564836e-01 8.81552987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57038572300002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:25.44, Z:8.82 [[ 9.26865909e-01 -3.72126027e-01 -4.94146375e-02 1.65219872e+02] [ 3.71553398e-01 9.28181884e-01 -2.06509584e-02 2.54430540e+01] [ 5.35505304e-02 7.80492841e-04 9.98564836e-01 8.81709733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.27, Y:25.47, Z:8.82 [[ 9.26107960e-01 -3.74009042e-01 -4.94093417e-02 1.65272304e+02] [ 3.73438413e-01 9.27424804e-01 -2.06636213e-02 2.54672347e+01] [ 5.35518302e-02 6.85397992e-04 9.98564836e-01 8.82190949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:165.33, Y:25.49, Z:8.82 [[ 9.25599008e-01 -3.75267623e-01 -4.94033127e-02 1.65325228e+02] [ 3.74698015e-01 9.26916294e-01 -2.06780256e-02 2.54913183e+01] [ 5.35525291e-02 6.28236824e-04 9.98564836e-01 8.82360152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.38, Y:25.51, Z:8.83 [[ 9.25503277e-01 -3.75504475e-01 -4.93970995e-02 1.65379550e+02] [ 3.74934413e-01 9.26820366e-01 -2.06928574e-02 2.55130565e+01] [ 5.35524985e-02 6.30634827e-04 9.98564836e-01 8.82608190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.43, Y:25.54, Z:8.83 [[ 9.25413413e-01 -3.75726692e-01 -4.93909807e-02 1.65432887e+02] [ 3.75156167e-01 9.26730302e-01 -2.07074519e-02 2.55353661e+01] [ 5.35524609e-02 6.33622744e-04 9.98564836e-01 8.83028498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.49, Y:25.56, Z:8.83 [[ 9.24844500e-01 -3.77125678e-01 -4.93849511e-02 1.65485884e+02] [ 3.76556378e-01 9.26161919e-01 -2.07218220e-02 2.55579161e+01] [ 5.35531922e-02 5.68244745e-04 9.98564837e-01 8.83305417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:165.54, Y:25.58, Z:8.84 [[ 9.24981195e-01 -3.76791085e-01 -4.93788198e-02 1.65539480e+02] [ 3.76220529e-01 9.26298070e-01 -2.07364221e-02 2.55787869e+01] [ 5.35528045e-02 6.03474815e-04 9.98564837e-01 8.83826100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:25.60, Z:8.84 [[ 9.24705767e-01 -3.77466771e-01 -4.93769318e-02 1.65592996e+02] [ 3.76896938e-01 9.26022955e-01 -2.07409168e-02 2.56002553e+01] [ 5.35531792e-02 5.69230961e-04 9.98564837e-01 8.84245208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.65, Y:25.62, Z:8.85 [[ 9.24617321e-01 -3.77683609e-01 -4.93751044e-02 1.65647230e+02] [ 3.77113852e-01 9.25934542e-01 -2.07452663e-02 2.56232605e+01] [ 5.35532617e-02 5.61396688e-04 9.98564837e-01 8.84624900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.70, Y:25.65, Z:8.85 [[ 9.24821092e-01 -3.77185022e-01 -4.93700970e-02 1.65700888e+02] [ 3.76613919e-01 9.26137730e-01 -2.07571761e-02 2.56454270e+01] [ 5.35528055e-02 6.03208601e-04 9.98564837e-01 8.84929459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.75, Y:25.67, Z:8.85 [[ 9.23513454e-01 -3.80376210e-01 -4.93643524e-02 1.65753761e+02] [ 3.79808928e-01 9.24831742e-01 -2.07708289e-02 2.56712839e+01] [ 5.35544492e-02 4.33118182e-04 9.98564837e-01 8.84599041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.81, Y:25.69, Z:8.85 [[ 9.23566010e-01 -3.80249259e-01 -4.93591613e-02 1.65807601e+02] [ 3.79681136e-01 9.24883936e-01 -2.07831575e-02 2.56928491e+01] [ 5.35542756e-02 4.53875442e-04 9.98564837e-01 8.84836774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:165.86, Y:25.71, Z:8.85 [[ 9.25151833e-01 -3.76375260e-01 -4.93533233e-02 1.65861451e+02] [ 3.75800880e-01 9.26467044e-01 -2.07970116e-02 2.57133981e+01] [ 5.35517082e-02 6.93371029e-04 9.98564837e-01 8.85402340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35038572300002 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:165.91, Y:25.74, Z:8.85 [[ 9.24196477e-01 -3.78715327e-01 -4.93515321e-02 1.65914578e+02] [ 3.78144050e-01 9.25513039e-01 -2.08012614e-02 2.57396354e+01] [ 5.35532429e-02 5.62464316e-04 9.98564837e-01 8.85190550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.97, Y:25.76, Z:8.86 [[ 9.26114169e-01 -3.74002019e-01 -4.93460887e-02 1.65967239e+02] [ 3.73423355e-01 9.27427500e-01 -2.08141664e-02 2.57599311e+01] [ 5.35494600e-02 8.49312436e-04 9.98564837e-01 8.85940018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.02, Y:25.78, Z:8.86 [[ 9.25923343e-01 -3.74475011e-01 -4.93399388e-02 1.66020535e+02] [ 3.73896242e-01 9.27236628e-01 -2.08287346e-02 2.57821298e+01] [ 5.35496391e-02 8.37793858e-04 9.98564837e-01 8.86386535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.07, Y:25.80, Z:8.87 [[ 9.26798430e-01 -3.72304771e-01 -4.93338401e-02 1.66073033e+02] [ 3.71722158e-01 9.28110015e-01 -2.08431698e-02 2.58049325e+01] [ 5.35472426e-02 9.78935607e-04 9.98564837e-01 8.86812343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.13, Y:25.82, Z:8.88 [[ 9.27479244e-01 -3.70605728e-01 -4.93320011e-02 1.66128156e+02] [ 3.70020481e-01 9.28789656e-01 -2.08475214e-02 2.58230501e+01] [ 5.35452632e-02 1.08179257e-03 9.98564837e-01 8.87563802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:25.85, Z:8.87 [[ 9.26095000e-01 -3.74052057e-01 -4.93265638e-02 1.66181053e+02] [ 3.73471003e-01 9.27407275e-01 -2.08603786e-02 2.58490816e+01] [ 5.35486816e-02 8.96651039e-04 9.98564838e-01 8.87386104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:25.87, Z:8.88 [[ 9.26103809e-01 -3.74030981e-01 -4.93209857e-02 1.66233880e+02] [ 3.73449195e-01 9.27415761e-01 -2.08735587e-02 2.58723329e+01] [ 5.35484171e-02 9.12199867e-04 9.98564838e-01 8.87514197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.29, Y:25.90, Z:8.88 [[ 9.26620380e-01 -3.72750258e-01 -4.93144738e-02 1.66286138e+02] [ 3.72165841e-01 9.27931161e-01 -2.08889321e-02 2.58972187e+01] [ 5.35467917e-02 1.00294757e-03 9.98564838e-01 8.87835390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:166.34, Y:25.92, Z:8.88 [[ 9.27230795e-01 -3.71230060e-01 -4.93081635e-02 1.66337571e+02] [ 3.70642703e-01 9.28540261e-01 -2.09038167e-02 2.59215345e+01] [ 5.35447402e-02 1.10695153e-03 9.98564838e-01 8.88097562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.39, Y:25.95, Z:8.88 [[ 9.27978016e-01 -3.69358600e-01 -4.93054384e-02 1.66388957e+02] [ 3.68768261e-01 9.29286141e-01 -2.09102424e-02 2.59470627e+01] [ 5.35422385e-02 1.22196451e-03 9.98564838e-01 8.88026861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.44, Y:25.97, Z:8.88 [[ 9.27527463e-01 -3.70488918e-01 -4.93028167e-02 1.66441129e+02] [ 3.69899845e-01 9.28836158e-01 -2.09164221e-02 2.59713668e+01] [ 5.35435415e-02 1.16345167e-03 9.98564838e-01 8.88452196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.010385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:166.49, Y:26.00, Z:8.89 [[ 9.27581500e-01 -3.70354419e-01 -4.92967008e-02 1.66493002e+02] [ 3.69764391e-01 9.28889765e-01 -2.09308264e-02 2.59958923e+01] [ 5.35430249e-02 1.18688279e-03 9.98564838e-01 8.88959631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:26.02, Z:8.89 [[ 9.27483922e-01 -3.70598967e-01 -4.92948189e-02 1.66545921e+02] [ 3.70009049e-01 9.28792237e-01 -2.09352577e-02 2.60194693e+01] [ 5.35432300e-02 1.17758590e-03 9.98564838e-01 8.89316519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:26.04, Z:8.90 [[ 9.27909897e-01 -3.69531903e-01 -4.92889131e-02 1.66597172e+02] [ 3.68939742e-01 9.29217197e-01 -2.09491529e-02 2.60437826e+01] [ 5.35414860e-02 1.25428739e-03 9.98564838e-01 8.89558723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.65, Y:26.07, Z:8.90 [[ 9.27260432e-01 -3.71158922e-01 -4.92863743e-02 1.66651928e+02] [ 3.70568738e-01 9.28568626e-01 -2.09551240e-02 2.60653908e+01] [ 5.35434621e-02 1.16686779e-03 9.98564838e-01 8.89773573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.70, Y:26.09, Z:8.90 [[ 9.25578928e-01 -3.75333263e-01 -4.92807265e-02 1.66703481e+02] [ 3.74748273e-01 9.26889453e-01 -2.09683978e-02 2.60904950e+01] [ 5.35479228e-02 9.40039989e-04 9.98564838e-01 8.89919905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.76, Y:26.11, Z:8.90 [[ 9.23661600e-01 -3.80027575e-01 -4.92776862e-02 1.66756338e+02] [ 3.79448866e-01 9.24974911e-01 -2.09755402e-02 2.61148828e+01] [ 5.35519071e-02 6.75938916e-04 9.98564838e-01 8.90114622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.81, Y:26.13, Z:8.91 [[ 9.23327768e-01 -3.80838743e-01 -4.92715445e-02 1.66810937e+02] [ 3.80260418e-01 9.24641247e-01 -2.09899573e-02 2.61340057e+01] [ 5.35522913e-02 6.44592300e-04 9.98564838e-01 8.90543049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.430385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:166.86, Y:26.16, Z:8.91 [[ 9.19745954e-01 -3.89409951e-01 -4.92673333e-02 1.66862664e+02] [ 3.88843338e-01 9.21064528e-01 -2.09998370e-02 2.61612174e+01] [ 5.35559386e-02 1.57240742e-04 9.98564839e-01 8.90723804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.92, Y:26.18, Z:8.91 [[ 9.18699480e-01 -3.91873318e-01 -4.92602120e-02 1.66915972e+02] [ 3.91309346e-01 9.20019185e-01 -2.10165286e-02 2.61840047e+01] [ 5.35561569e-02 3.18926010e-05 9.98564839e-01 8.91158947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.550385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:166.97, Y:26.21, Z:8.92 [[ 9.17667006e-01 -3.94285286e-01 -4.92582851e-02 1.66969260e+02] [ 3.93724540e-01 9.18988086e-01 -2.10210438e-02 2.62060939e+01] [ 5.35560654e-02 -1.03877283e-04 9.98564839e-01 8.91654173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:26.23, Z:8.92 [[ 9.17439898e-01 -3.94814200e-01 -4.92522247e-02 1.67021418e+02] [ 3.94253454e-01 9.18760977e-01 -2.10352338e-02 2.62317061e+01] [ 5.35560311e-02 -1.19296947e-04 9.98564839e-01 8.91929144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.670385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:26.25, Z:8.93 [[ 9.19743517e-01 -3.89418389e-01 -4.92461381e-02 1.67075560e+02] [ 3.88849130e-01 9.21060950e-01 -2.10494735e-02 2.62516933e+01] [ 5.35557469e-02 2.10798868e-04 9.98564839e-01 8.92655552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:26.28, Z:8.92 [[ 9.19777710e-01 -3.89337855e-01 -4.92442676e-02 1.67126737e+02] [ 3.88768247e-01 9.21094993e-01 -2.10538486e-02 2.62827792e+01] [ 5.35557086e-02 2.20253070e-04 9.98564839e-01 8.92158654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.790385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:167.18, Y:26.31, Z:8.93 [[ 9.21232234e-01 -3.85884265e-01 -4.92392637e-02 1.67177839e+02] [ 3.85309093e-01 9.22547097e-01 -2.10655450e-02 2.63094258e+01] [ 5.35544021e-02 4.33922988e-04 9.98564839e-01 8.92697418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.23, Y:26.33, Z:8.93 [[ 9.22211233e-01 -3.83539500e-01 -4.92330539e-02 1.67229812e+02] [ 3.82960211e-01 9.23524287e-01 -2.10800482e-02 2.63332391e+01] [ 5.35529521e-02 5.85956556e-04 9.98564839e-01 8.93138994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.28, Y:26.36, Z:8.94 [[ 9.23627305e-01 -3.80117049e-01 -4.92303888e-02 1.67282533e+02] [ 3.79532563e-01 9.24938053e-01 -2.10862704e-02 2.63566879e+01] [ 5.35503109e-02 7.91319446e-04 9.98564839e-01 8.93612657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:26.38, Z:8.94 [[ 9.24318614e-01 -3.78433277e-01 -4.92275790e-02 1.67335458e+02] [ 3.77846054e-01 9.25628139e-01 -2.10928281e-02 2.63824875e+01] [ 5.35486604e-02 8.96047177e-04 9.98564839e-01 8.94114331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.030385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:26.41, Z:8.94 [[ 9.23994567e-01 -3.79224515e-01 -4.92220304e-02 1.67388379e+02] [ 3.78637724e-01 9.25304285e-01 -2.11057683e-02 2.64065145e+01] [ 5.35491804e-02 8.64297696e-04 9.98564839e-01 8.94280360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.090385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:26.43, Z:8.95 [[ 9.23049371e-01 -3.81519647e-01 -4.92200844e-02 1.67441226e+02] [ 3.80935871e-01 9.24360437e-01 -2.11103054e-02 2.64311247e+01] [ 5.35510950e-02 7.36158380e-04 9.98564839e-01 8.94598775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.50, Y:26.45, Z:8.95 [[ 9.23308830e-01 -3.80892087e-01 -4.92140578e-02 1.67495071e+02] [ 3.80306671e-01 9.24619164e-01 -2.11243458e-02 2.64517457e+01] [ 5.35503571e-02 7.87860525e-04 9.98564839e-01 8.95384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:26.48, Z:8.95 [[ 9.21955589e-01 -3.84156722e-01 -4.92087880e-02 1.67546694e+02] [ 3.83575292e-01 9.23267696e-01 -2.11366147e-02 2.64774121e+01] [ 5.35526569e-02 6.11744822e-04 9.98564840e-01 8.95109010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:167.60, Y:26.50, Z:8.96 [[ 9.21231559e-01 -3.85890181e-01 -4.92055230e-02 1.67600460e+02] [ 3.85310814e-01 9.22544578e-01 -2.11442128e-02 2.64998536e+01] [ 5.35536326e-02 5.19295978e-04 9.98564840e-01 8.95581000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.66, Y:26.52, Z:8.96 [[ 9.21631819e-01 -3.84934038e-01 -4.91993593e-02 1.67655646e+02] [ 3.84352544e-01 9.22943898e-01 -2.11585451e-02 2.65194024e+01] [ 5.35528926e-02 5.90489460e-04 9.98564840e-01 8.96113129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.390385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:167.71, Y:26.54, Z:8.96 [[ 9.21784478e-01 -3.84569040e-01 -4.91938001e-02 1.67708658e+02] [ 3.83986338e-01 9.23096020e-01 -2.11714624e-02 2.65403008e+01] [ 5.35524900e-02 6.25778274e-04 9.98564840e-01 8.96251993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.76, Y:26.56, Z:8.97 [[ 9.22017319e-01 -3.84010813e-01 -4.91910561e-02 1.67763382e+02] [ 3.83426976e-01 9.23328356e-01 -2.11778360e-02 2.65621045e+01] [ 5.35520150e-02 6.65153708e-04 9.98564840e-01 8.96596523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.82, Y:26.58, Z:8.97 [[ 9.21459118e-01 -3.85349017e-01 -4.91856555e-02 1.67817470e+02] [ 3.84766415e-01 9.22770705e-01 -2.11903716e-02 2.65843942e+01] [ 5.35527709e-02 6.01072776e-04 9.98564840e-01 8.96663932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.87, Y:26.60, Z:8.97 [[ 9.22558527e-01 -3.82710269e-01 -4.91794177e-02 1.67872929e+02] [ 3.82123145e-01 9.23868095e-01 -2.12048387e-02 2.66029436e+01] [ 5.35506044e-02 7.70111043e-04 9.98564840e-01 8.96701640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.93, Y:26.62, Z:8.97 [[ 9.25014552e-01 -3.76735519e-01 -4.91775161e-02 1.67929228e+02] [ 3.76139703e-01 9.26320189e-01 -2.12092478e-02 2.66178346e+01] [ 5.35444030e-02 1.12124658e-03 9.98564840e-01 8.97104037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.99, Y:26.63, Z:8.98 [[ 9.25779249e-01 -3.74853151e-01 -4.91721113e-02 1.67985587e+02] [ 3.74254016e-01 9.27083366e-01 -2.12217712e-02 2.66338230e+01] [ 5.35416942e-02 1.24381532e-03 9.98564840e-01 8.98145805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.04, Y:26.65, Z:8.98 [[ 9.26511202e-01 -3.73041073e-01 -4.91665685e-02 1.68042660e+02] [ 3.72438706e-01 9.27813829e-01 -2.12346049e-02 2.66499086e+01] [ 5.35388020e-02 1.36256614e-03 9.98564840e-01 8.98383580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.10, Y:26.67, Z:8.99 [[ 9.27078636e-01 -3.71629336e-01 -4.91613655e-02 1.68098823e+02] [ 3.71024348e-01 9.28380048e-01 -2.12466438e-02 2.66672776e+01] [ 5.35363070e-02 1.45724593e-03 9.98564840e-01 8.98743367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.15, Y:26.69, Z:8.99 [[ 9.28684194e-01 -3.67599431e-01 -4.91561457e-02 1.68154176e+02] [ 3.66988159e-01 9.29982666e-01 -2.12587136e-02 2.66874040e+01] [ 5.35290544e-02 1.70290789e-03 9.98564840e-01 8.98813906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.21, Y:26.71, Z:8.99 [[ 9.27998929e-01 -3.69326588e-01 -4.91513807e-02 1.68208887e+02] [ 3.68717150e-01 9.29298263e-01 -2.12697247e-02 2.67077052e+01] [ 5.35317676e-02 1.61532469e-03 9.98564840e-01 8.99320118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.26, Y:26.73, Z:8.99 [[ 9.28086382e-01 -3.69107574e-01 -4.91453674e-02 1.68263744e+02] [ 3.68497095e-01 9.29385226e-01 -2.12836098e-02 2.67306142e+01] [ 5.35309200e-02 1.64310333e-03 9.98564841e-01 8.99282400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:26.75, Z:9.00 [[ 9.27455594e-01 -3.70690052e-01 -4.91427145e-02 1.68318098e+02] [ 3.70081465e-01 9.28755326e-01 -2.12897337e-02 2.67520629e+01] [ 5.35334503e-02 1.55847480e-03 9.98564841e-01 8.99786218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.37, Y:26.78, Z:9.00 [[ 9.25552203e-01 -3.75417969e-01 -4.91372359e-02 1.68371152e+02] [ 3.74815352e-01 9.26854714e-01 -2.13023709e-02 2.67786312e+01] [ 5.35403715e-02 1.29906600e-03 9.98564841e-01 8.99742849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.43, Y:26.80, Z:9.01 [[ 9.26680349e-01 -3.72625321e-01 -4.91314626e-02 1.68425974e+02] [ 3.72018074e-01 9.27980708e-01 -2.13156781e-02 2.67977466e+01] [ 5.35358108e-02 1.47502790e-03 9.98564841e-01 9.00557911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:26.82, Z:9.01 [[ 9.26855117e-01 -3.72191131e-01 -4.91258953e-02 1.68479579e+02] [ 3.71582596e-01 9.28154874e-01 -2.13285012e-02 2.68202816e+01] [ 5.35347181e-02 1.51410274e-03 9.98564841e-01 9.00628849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:26.85, Z:9.01 [[ 9.25721079e-01 -3.75003092e-01 -4.91239723e-02 1.68531617e+02] [ 3.74398271e-01 9.27022568e-01 -2.13329293e-02 2.68483137e+01] [ 5.35389454e-02 1.35641200e-03 9.98564841e-01 9.00507191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:26.87, Z:9.02 [[ 9.27444362e-01 -3.70721340e-01 -4.91186781e-02 1.68586806e+02] [ 3.70109866e-01 9.28742738e-01 -2.13451122e-02 2.68663395e+01] [ 5.35317042e-02 1.61709655e-03 9.98564841e-01 9.01604342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.64, Y:26.89, Z:9.02 [[ 9.26888637e-01 -3.72108844e-01 -4.91168346e-02 1.68641352e+02] [ 3.71499090e-01 9.28187821e-01 -2.13493534e-02 2.68877315e+01] [ 5.35339309e-02 1.54161372e-03 9.98564841e-01 9.02291575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.70, Y:26.91, Z:9.03 [[ 9.26444015e-01 -3.73215144e-01 -4.91115351e-02 1.68695304e+02] [ 3.72606295e-01 9.27743625e-01 -2.13615372e-02 2.69099088e+01] [ 5.35353628e-02 1.49100118e-03 9.98564841e-01 9.02656936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:26.93, Z:9.03 [[ 9.26643912e-01 -3.72719342e-01 -4.91055268e-02 1.68748510e+02] [ 3.72109067e-01 9.27942852e-01 -2.13753402e-02 2.69326309e+01] [ 5.35341253e-02 1.53471710e-03 9.98564841e-01 9.02810603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.590385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:168.80, Y:26.96, Z:9.03 [[ 9.26361425e-01 -3.73421129e-01 -4.91036808e-02 1.68802653e+02] [ 3.72811614e-01 9.27660721e-01 -2.13795799e-02 2.69556692e+01] [ 5.35351428e-02 1.49879555e-03 9.98564841e-01 9.03170490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.650385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:26.98, Z:9.04 [[ 9.24830026e-01 -3.77198574e-01 -4.90984575e-02 1.68856917e+02] [ 3.76593730e-01 9.26131504e-01 -2.13915687e-02 2.69787845e+01] [ 5.35404975e-02 1.29339376e-03 9.98564841e-01 9.03899561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.710385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:168.91, Y:27.00, Z:9.05 [[ 9.22163333e-01 -3.83672574e-01 -4.90932091e-02 1.68911688e+02] [ 3.83076228e-01 9.23468727e-01 -2.14036069e-02 2.69984529e+01] [ 5.35480202e-02 9.31180134e-04 9.98564841e-01 9.04605910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.770385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:168.96, Y:27.03, Z:9.05 [[ 9.16325745e-01 -3.97413210e-01 -4.90904224e-02 1.68963701e+02] [ 3.96836100e-01 9.17639756e-01 -2.14099964e-02 2.70264085e+01] [ 5.35559386e-02 1.37679142e-04 9.98564841e-01 9.04587147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.02, Y:27.05, Z:9.05 [[ 9.13618032e-01 -4.03599758e-01 -4.90849064e-02 1.69017575e+02] [ 4.03030867e-01 9.14935621e-01 -2.14226350e-02 2.70491892e+01] [ 5.35556996e-02 -2.10626757e-04 9.98564842e-01 9.04572416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.890385723 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:169.07, Y:27.07, Z:9.06 [[ 9.15805706e-01 -3.98611586e-01 -4.90786426e-02 1.69072929e+02] [ 3.98034750e-01 9.17119836e-01 -2.14369756e-02 2.70653022e+01] [ 5.35560235e-02 9.70993040e-05 9.98564842e-01 9.05833407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.950385723 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:169.12, Y:27.10, Z:9.05 [[ 9.12933055e-01 -4.05147879e-01 -4.90757888e-02 1.69122659e+02] [ 4.04580100e-01 9.14251125e-01 -2.14435069e-02 2.71003878e+01] [ 5.35553864e-02 -2.78601255e-04 9.98564842e-01 9.05163489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.010385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:169.17, Y:27.13, Z:9.05 [[ 9.11843874e-01 -4.07593979e-01 -4.90703318e-02 1.69174164e+02] [ 4.07029065e-01 9.13163173e-01 -2.14559870e-02 2.71252274e+01] [ 5.35545511e-02 -4.08540951e-04 9.98564842e-01 9.05125316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07038572300002 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:27.15, Z:9.05 [[ 9.10111278e-01 -4.11448637e-01 -4.90660770e-02 1.69225267e+02] [ 4.10888786e-01 9.11432734e-01 -2.14657127e-02 2.71503804e+01] [ 5.35524669e-02 -6.24513513e-04 9.98564842e-01 9.05077243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13038572300002 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:169.28, Y:27.17, Z:9.07 [[ 9.08630951e-01 -4.14707816e-01 -4.90634454e-02 1.69280924e+02] [ 4.14152380e-01 9.09954269e-01 -2.14717259e-02 2.71689510e+01] [ 5.35499842e-02 -8.09867948e-04 9.98564842e-01 9.06750315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19038572300002 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:169.33, Y:27.19, Z:9.07 [[ 9.06873396e-01 -4.18537796e-01 -4.90587198e-02 1.69334251e+02] [ 4.17987364e-01 9.08198803e-01 -2.14825176e-02 2.71943428e+01] [ 5.35463162e-02 -1.02400126e-03 9.98564842e-01 9.07346507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.250385723 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:169.39, Y:27.22, Z:9.08 [[ 9.05859339e-01 -4.20728661e-01 -4.90535550e-02 1.69387541e+02] [ 4.20180796e-01 9.07185810e-01 -2.14943047e-02 2.72194458e+01] [ 5.35439590e-02 -1.14054516e-03 9.98564842e-01 9.08018428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.310385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:27.24, Z:9.08 [[ 9.07139133e-01 -4.17962731e-01 -4.90484320e-02 1.69439226e+02] [ 4.17410190e-01 9.08463662e-01 -2.15059885e-02 2.72449306e+01] [ 5.35474199e-02 -9.64391607e-04 9.98564842e-01 9.08351287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:169.49, Y:27.27, Z:9.08 [[ 9.11234774e-01 -4.08957244e-01 -4.90424249e-02 1.69490491e+02] [ 4.08390875e-01 9.12553449e-01 -2.15196786e-02 2.72717764e+01] [ 5.35544624e-02 -4.18999362e-04 9.98564842e-01 9.08260245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:169.54, Y:27.30, Z:9.09 [[ 9.16179668e-01 -3.97756496e-01 -4.90365733e-02 1.69542791e+02] [ 3.97173291e-01 9.17490984e-01 -2.15330043e-02 2.72963829e+01] [ 5.35555062e-02 2.52083554e-04 9.98564842e-01 9.08625090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.60, Y:27.32, Z:9.09 [[ 9.19820932e-01 -3.89262700e-01 -4.90306411e-02 1.69595616e+02] [ 3.88666668e-01 9.21126468e-01 -2.15465033e-02 2.73202454e+01] [ 5.35506713e-02 7.62348892e-04 9.98564842e-01 9.08969067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.550385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:169.65, Y:27.34, Z:9.09 [[ 9.22052992e-01 -3.83946433e-01 -4.90246480e-02 1.69648084e+02] [ 3.83342151e-01 9.23354729e-01 -2.15601307e-02 2.73423246e+01] [ 5.35450759e-02 1.08636904e-03 9.98564842e-01 9.09204478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.70, Y:27.37, Z:9.09 [[ 9.22151922e-01 -3.83709281e-01 -4.90206003e-02 1.69700675e+02] [ 3.83104175e-01 9.23453277e-01 -2.15693301e-02 2.73686993e+01] [ 5.35445861e-02 1.11020257e-03 9.98564843e-01 9.08700064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.75, Y:27.39, Z:9.10 [[ 9.23146087e-01 -3.81311633e-01 -4.90177543e-02 1.69754926e+02] [ 3.80702804e-01 9.24445704e-01 -2.15757958e-02 2.73881455e+01] [ 5.35413543e-02 1.25641494e-03 9.98564843e-01 9.09940287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:27.41, Z:9.10 [[ 9.21450982e-01 -3.85390102e-01 -4.90158844e-02 1.69809074e+02] [ 3.84786800e-01 9.22753174e-01 -2.15800429e-02 2.74089564e+01] [ 5.35462979e-02 1.02428640e-03 9.98564843e-01 9.10312287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:27.43, Z:9.10 [[ 9.18440472e-01 -3.92511298e-01 -4.90100116e-02 1.69863734e+02] [ 3.91917383e-01 9.19746971e-01 -2.15933724e-02 2.74317843e+01] [ 5.35524524e-02 6.24351633e-04 9.98564843e-01 9.10228248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:27.45, Z:9.10 [[ 9.16820159e-01 -3.96281898e-01 -4.90046237e-02 1.69918179e+02] [ 3.95692704e-01 9.18128794e-01 -2.16055931e-02 2.74510513e+01] [ 5.35544615e-02 4.17671244e-04 9.98564843e-01 9.10041922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91038572300002 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:169.97, Y:27.47, Z:9.11 [[ 9.15625406e-01 -3.99034894e-01 -4.90027455e-02 1.69972790e+02] [ 3.98449406e-01 9.16935704e-01 -2.16098521e-02 2.74710064e+01] [ 5.35554519e-02 2.61414777e-04 9.98564843e-01 9.10737023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.970385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:170.03, Y:27.49, Z:9.11 [[ 9.14746757e-01 -4.01045792e-01 -4.89963647e-02 1.70025855e+02] [ 4.00462410e-01 9.16057993e-01 -2.16243096e-02 2.74941235e+01] [ 5.35558499e-02 1.59564805e-04 9.98564843e-01 9.10991098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.030385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:170.08, Y:27.51, Z:9.12 [[ 9.14088954e-01 -4.02543604e-01 -4.89901094e-02 1.70080515e+02] [ 4.01961612e-01 9.15400808e-01 -2.16384718e-02 2.75137037e+01] [ 5.35560142e-02 8.73446744e-05 9.98564843e-01 9.11638727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.13, Y:27.54, Z:9.12 [[ 9.13575877e-01 -4.03707462e-01 -4.89836931e-02 1.70134570e+02] [ 4.03126363e-01 9.14888126e-01 -2.16529868e-02 2.75351007e+01] [ 5.35560716e-02 3.50283849e-05 9.98564843e-01 9.12022751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.19, Y:27.56, Z:9.12 [[ 9.11522809e-01 -4.08322644e-01 -4.89774161e-02 1.70187695e+02] [ 4.07747426e-01 9.12837647e-01 -2.16671756e-02 2.75587907e+01] [ 5.35556277e-02 -2.20290602e-04 9.98564843e-01 9.12050417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.24, Y:27.58, Z:9.12 [[ 9.08615040e-01 -4.14753600e-01 -4.89710185e-02 1.70241349e+02] [ 4.14186909e-01 9.09933576e-01 -2.16816257e-02 2.75808564e+01] [ 5.35529062e-02 -5.82903558e-04 9.98564843e-01 9.12267201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.29, Y:27.60, Z:9.13 [[ 9.06446184e-01 -4.19473214e-01 -4.89646573e-02 1.70294421e+02] [ 4.18912613e-01 9.07767320e-01 -2.16959820e-02 2.76013562e+01] [ 5.35493990e-02 -8.45672449e-04 9.98564844e-01 9.12720712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.35, Y:27.63, Z:9.13 [[ 9.04954150e-01 -4.22682759e-01 -4.89619331e-02 1.70347222e+02] [ 4.22126511e-01 9.06277125e-01 -2.17021279e-02 2.76250964e+01] [ 5.35461953e-02 -1.02869925e-03 9.98564844e-01 9.13363354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:27.65, Z:9.14 [[ 9.04164795e-01 -4.24369383e-01 -4.89555997e-02 1.70399400e+02] [ 4.23814829e-01 9.05488481e-01 -2.17164054e-02 2.76503941e+01] [ 5.35445092e-02 -1.11289991e-03 9.98564844e-01 9.13698122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.45, Y:27.68, Z:9.14 [[ 9.03595331e-01 -4.25581301e-01 -4.89492957e-02 1.70450161e+02] [ 4.25027754e-01 9.04919438e-01 -2.17306056e-02 2.76777636e+01] [ 5.35433085e-02 -1.16913543e-03 9.98564844e-01 9.13885399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:27.71, Z:9.14 [[ 9.03618355e-01 -4.25532725e-01 -4.89465846e-02 1.70501613e+02] [ 4.24978776e-01 9.04942294e-01 -2.17367105e-02 2.77059186e+01] [ 5.35435162e-02 -1.15956905e-03 9.98564844e-01 9.14091492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:27.73, Z:9.14 [[ 9.04089686e-01 -4.24531088e-01 -4.89407360e-02 1.70553113e+02] [ 4.23974960e-01 9.05412710e-01 -2.17498706e-02 2.77341987e+01] [ 5.35450607e-02 -1.08581294e-03 9.98564844e-01 9.14304403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:27.76, Z:9.14 [[ 9.05954250e-01 -4.20538156e-01 -4.89342011e-02 1.70603313e+02] [ 4.19975403e-01 9.07274470e-01 -2.17645634e-02 2.77627248e+01] [ 5.35495807e-02 -8.33462121e-04 9.98564844e-01 9.14312575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:27.79, Z:9.15 [[ 9.08659916e-01 -4.14659857e-01 -4.89321983e-02 1.70654079e+02] [ 4.14088320e-01 9.09976357e-01 -2.17690652e-02 2.77900268e+01] [ 5.35539011e-02 -4.81574876e-04 9.98564844e-01 9.14711579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.71, Y:27.82, Z:9.15 [[ 9.11323077e-01 -4.08774399e-01 -4.89258615e-02 1.70705312e+02] [ 4.08193596e-01 9.12635457e-01 -2.17832980e-02 2.78173767e+01] [ 5.35559305e-02 -1.19601146e-04 9.98564844e-01 9.15120050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:27.84, Z:9.15 [[ 9.12697519e-01 -4.05697080e-01 -4.89195012e-02 1.70756053e+02] [ 4.05111086e-01 9.14007589e-01 -2.17975722e-02 2.78439378e+01] [ 5.35560067e-02 7.67578112e-05 9.98564844e-01 9.15256917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:27.87, Z:9.16 [[ 9.15624169e-01 -3.99048282e-01 -4.89167643e-02 1.70807094e+02] [ 3.98452448e-01 9.16929793e-01 -2.18037125e-02 2.78747284e+01] [ 5.35539725e-02 4.73001669e-04 9.98564844e-01 9.15785708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.86, Y:27.90, Z:9.16 [[ 9.15598404e-01 -3.99108081e-01 -4.89111692e-02 1.70858870e+02] [ 3.98511662e-01 9.16903760e-01 -2.18162564e-02 2.79013377e+01] [ 5.35538792e-02 4.83258212e-04 9.98564844e-01 9.15932926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.91, Y:27.93, Z:9.17 [[ 9.15010098e-01 -4.00455797e-01 -4.89047652e-02 1.70910734e+02] [ 3.99860534e-01 9.16315982e-01 -2.18306025e-02 2.79267983e+01] [ 5.35544093e-02 4.20136189e-04 9.98564845e-01 9.16745752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:27.95, Z:9.16 [[ 9.11941267e-01 -4.07396174e-01 -4.89027978e-02 1.70962508e+02] [ 4.06810613e-01 9.13251530e-01 -2.18350088e-02 2.79546662e+01] [ 5.35560540e-02 1.80683924e-05 9.98564845e-01 9.16340108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.02, Y:27.98, Z:9.17 [[ 9.10005205e-01 -4.11702841e-01 -4.89008945e-02 1.71015439e+02] [ 4.11123252e-01 9.11318121e-01 -2.18392707e-02 2.79800857e+01] [ 5.35555610e-02 -2.30444792e-04 9.98564845e-01 9.17237274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.07, Y:28.01, Z:9.18 [[ 9.08833748e-01 -4.14283089e-01 -4.88951946e-02 1.71066431e+02] [ 4.13706542e-01 9.10148002e-01 -2.18520244e-02 2.80053452e+01] [ 5.35547879e-02 -3.68404631e-04 9.98564845e-01 9.17643317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.12, Y:28.03, Z:9.18 [[ 9.08203393e-01 -4.15663483e-01 -4.88924000e-02 1.71117576e+02] [ 4.15088597e-01 9.09518374e-01 -2.18582754e-02 2.80326650e+01] [ 5.35542230e-02 -4.42917784e-04 9.98564845e-01 9.18009529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.17, Y:28.06, Z:9.18 [[ 9.08069674e-01 -4.15955755e-01 -4.88904637e-02 1.71169015e+02] [ 4.15381059e-01 9.09384738e-01 -2.18626055e-02 2.80591219e+01] [ 5.35541181e-02 -4.55403509e-04 9.98564845e-01 9.18413345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35038572300002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:171.22, Y:28.09, Z:9.19 [[ 9.07799783e-01 -4.16545153e-01 -4.88844423e-02 1.71219678e+02] [ 4.15970586e-01 9.09114904e-01 -2.18760611e-02 2.80878933e+01] [ 5.35539423e-02 -4.75406601e-04 9.98564845e-01 9.18692925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:28.12, Z:9.18 [[ 9.07058145e-01 -4.18158366e-01 -4.88784529e-02 1.71271813e+02] [ 4.17585417e-01 9.08373972e-01 -2.18894351e-02 2.81168265e+01] [ 5.35531648e-02 -5.55938721e-04 9.98564845e-01 9.18360891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.32, Y:28.14, Z:9.18 [[ 9.08530824e-01 -4.14949618e-01 -4.88728632e-02 1.71323512e+02] [ 4.14371350e-01 9.09844322e-01 -2.19019083e-02 2.81446072e+01] [ 5.35548855e-02 -3.52955531e-04 9.98564845e-01 9.18484156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.530385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:171.37, Y:28.17, Z:9.19 [[ 9.10887808e-01 -4.09750500e-01 -4.88664446e-02 1.71373736e+02] [ 4.09163968e-01 9.12197636e-01 -2.19162198e-02 2.81736327e+01] [ 5.35560372e-02 -3.11709259e-05 9.98564845e-01 9.18544614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.590385723 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:171.43, Y:28.20, Z:9.19 [[ 9.15393081e-01 -3.99585108e-01 -4.88594767e-02 1.71426827e+02] [ 3.98983203e-01 9.16695916e-01 -2.19317428e-02 2.81956510e+01] [ 5.35528806e-02 5.82055123e-04 9.98564845e-01 9.18756086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.48, Y:28.22, Z:9.19 [[ 9.16395609e-01 -3.97280836e-01 -4.88571826e-02 1.71477882e+02] [ 3.96675383e-01 9.17696799e-01 -2.19368523e-02 2.82227747e+01] [ 5.35511711e-02 7.22393543e-04 9.98564845e-01 9.19052843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.710385723 meters Centerline goodness : 0.997821 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:28.24, Z:9.19 [[ 9.17667000e-01 -3.94336141e-01 -4.88496192e-02 1.71533112e+02] [ 3.93725617e-01 9.18965818e-01 -2.19536817e-02 2.82416704e+01] [ 5.35482604e-02 9.12822772e-04 9.98564845e-01 9.19167788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:28.27, Z:9.20 [[ 9.16047066e-01 -3.98085058e-01 -4.88473043e-02 1.71586501e+02] [ 3.97479575e-01 9.17348242e-01 -2.19588312e-02 2.82657659e+01] [ 5.35514713e-02 6.99517196e-04 9.98564845e-01 9.19904221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:171.64, Y:28.29, Z:9.21 [[ 9.16227818e-01 -3.97669695e-01 -4.88405446e-02 1.71640069e+02] [ 3.97062822e-01 9.17528346e-01 -2.19738558e-02 2.82876783e+01] [ 5.35509206e-02 7.40293484e-04 9.98564846e-01 9.20959044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.890385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:28.31, Z:9.22 [[ 9.16107659e-01 -3.97946638e-01 -4.88388207e-02 1.71693398e+02] [ 3.97339954e-01 9.17408275e-01 -2.19776866e-02 2.83102058e+01] [ 5.35510848e-02 7.28312295e-04 9.98564846e-01 9.21502624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.950385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:171.75, Y:28.33, Z:9.22 [[ 9.16093881e-01 -3.97979093e-01 -4.88327992e-02 1.71748387e+02] [ 3.97371742e-01 9.17394186e-01 -2.19910578e-02 2.83292168e+01] [ 5.35509073e-02 7.41098975e-04 9.98564846e-01 9.21829155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.010385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:28.35, Z:9.22 [[ 9.16238889e-01 -3.97645365e-01 -4.88309513e-02 1.71802111e+02] [ 3.97037322e-01 9.17538870e-01 -2.19951604e-02 2.83515428e+01] [ 5.35505694e-02 7.65111231e-04 9.98564846e-01 9.22139120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07038572300002 meters Centerline goodness : 0.996508 with order 1 Centerline is valid? [True, True] Translation: X:171.86, Y:28.37, Z:9.21 [[ 9.16492780e-01 -3.97060570e-01 -4.88250676e-02 1.71857603e+02] [ 3.96451002e-01 9.17792047e-01 -2.20082133e-02 2.83715408e+01] [ 5.35498525e-02 8.13621664e-04 9.98564846e-01 9.21403168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13038572300002 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:171.91, Y:28.39, Z:9.22 [[ 9.16142359e-01 -3.97869270e-01 -4.88182450e-02 1.71912331e+02] [ 3.97260043e-01 9.17441786e-01 -2.20233366e-02 2.83945133e+01] [ 5.35503068e-02 7.82973402e-04 9.98564846e-01 9.21684471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19038572300002 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:28.42, Z:9.23 [[ 9.15768042e-01 -3.98730929e-01 -4.88112665e-02 1.71965846e+02] [ 3.98122101e-01 9.17067655e-01 -2.20387926e-02 2.84163074e+01] [ 5.35507820e-02 7.49577933e-04 9.98564846e-01 9.22584219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.02, Y:28.43, Z:9.24 [[ 9.18265174e-01 -3.92946893e-01 -4.88037734e-02 1.72021667e+02] [ 3.92328999e-01 9.19560502e-01 -2.20553733e-02 2.84326671e+01] [ 5.35446128e-02 1.10554565e-03 9.98564846e-01 9.23718738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:28.46, Z:9.23 [[ 9.16019455e-01 -3.98154170e-01 -4.88017993e-02 1.72074488e+02] [ 3.97543408e-01 9.17318160e-01 -2.20597405e-02 2.84627727e+01] [ 5.35499544e-02 8.06317834e-04 9.98564846e-01 9.22698954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:28.48, Z:9.24 [[ 9.18595456e-01 -3.92174583e-01 -4.88004477e-02 1.72131939e+02] [ 3.91555210e-01 9.19890077e-01 -2.20627302e-02 2.84753672e+01] [ 5.35434896e-02 1.15865417e-03 9.98564846e-01 9.24157583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:28.50, Z:9.24 [[ 9.14822510e-01 -4.00897035e-01 -4.87990063e-02 1.72185759e+02] [ 4.00289837e-01 9.16122886e-01 -2.20659177e-02 2.85022943e+01] [ 5.35520475e-02 6.52651938e-04 9.98564846e-01 9.23752094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.490385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:28.52, Z:9.25 [[ 9.14694188e-01 -4.01189976e-01 -4.87969955e-02 1.72242717e+02] [ 4.00582957e-01 9.15994647e-01 -2.20703637e-02 2.85159952e+01] [ 5.35521953e-02 6.40388626e-04 9.98564846e-01 9.24956107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:28.54, Z:9.24 [[ 9.09386124e-01 -4.13080991e-01 -4.87952159e-02 1.72296578e+02] [ 4.12490767e-01 9.10694291e-01 -2.20742973e-02 2.85428314e+01] [ 5.35559972e-02 -5.35163570e-05 9.98564846e-01 9.24468570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:172.35, Y:28.57, Z:9.24 [[ 9.05267859e-01 -4.22029932e-01 -4.87938567e-02 1.72348437e+02] [ 4.21452478e-01 9.06581713e-01 -2.20773013e-02 2.85700968e+01] [ 5.35529002e-02 -5.78420569e-04 9.98564846e-01 9.23934094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:28.58, Z:9.26 [[ 9.09552496e-01 -4.12715452e-01 -4.87874318e-02 1.72407854e+02] [ 4.12123780e-01 9.10860009e-01 -2.20914902e-02 2.85771561e+01] [ 5.35560200e-02 -1.30907654e-05 9.98564846e-01 9.25906719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.46, Y:28.60, Z:9.26 [[ 9.09563860e-01 -4.12690638e-01 -4.87854802e-02 1.72462444e+02] [ 4.12098699e-01 9.10871252e-01 -2.20957994e-02 2.85979318e+01] [ 5.35560209e-02 -6.89237347e-06 9.98564846e-01 9.26305880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.52, Y:28.62, Z:9.26 [[ 9.11052114e-01 -4.09395434e-01 -4.87793396e-02 1.72517388e+02] [ 4.08798042e-01 9.12357023e-01 -2.21093472e-02 2.86200589e+01] [ 5.35556388e-02 2.01869008e-04 9.98564847e-01 9.26492900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:28.64, Z:9.27 [[ 9.13717666e-01 -4.03411850e-01 -4.87740311e-02 1.72571552e+02] [ 4.02805288e-01 9.15018338e-01 -2.21210517e-02 2.86414165e+01] [ 5.35530273e-02 5.65958141e-04 9.98564847e-01 9.26903454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:28.67, Z:9.27 [[ 9.14072418e-01 -4.02608127e-01 -4.87679225e-02 1.72624270e+02] [ 4.01999703e-01 9.15372220e-01 -2.21345106e-02 2.86705831e+01] [ 5.35523353e-02 6.27855221e-04 9.98564847e-01 9.26873465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:28.69, Z:9.27 [[ 9.16407315e-01 -3.97265370e-01 -4.87633026e-02 1.72678472e+02] [ 3.96648828e-01 9.17703285e-01 -2.21446837e-02 2.86939000e+01] [ 5.35475590e-02 9.51643324e-04 9.98564847e-01 9.27245549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.73, Y:28.72, Z:9.28 [[ 9.18494899e-01 -3.92415357e-01 -4.87576477e-02 1.72732309e+02] [ 3.91791312e-01 9.19787274e-01 -2.21571275e-02 2.87155760e+01] [ 5.35414610e-02 1.24838581e-03 9.98564847e-01 9.27647027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.090385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:172.79, Y:28.74, Z:9.28 [[ 9.19870825e-01 -3.89179890e-01 -4.87511996e-02 1.72785707e+02] [ 3.88550549e-01 9.21160629e-01 -2.21713059e-02 2.87383220e+01] [ 5.35363121e-02 1.45243207e-03 9.98564847e-01 9.27920835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.84, Y:28.76, Z:9.28 [[ 9.19828375e-01 -3.89281026e-01 -4.87446716e-02 1.72838070e+02] [ 3.88651068e-01 9.21117878e-01 -2.21856488e-02 2.87628924e+01] [ 5.35360406e-02 1.46232065e-03 9.98564847e-01 9.27874590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.210385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:172.89, Y:28.79, Z:9.28 [[ 9.19196791e-01 -3.90770843e-01 -4.87381610e-02 1.72892738e+02] [ 3.90142217e-01 9.20486943e-01 -2.21999424e-02 2.87851663e+01] [ 5.35379310e-02 1.39130160e-03 9.98564847e-01 9.28013619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.270385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:28.80, Z:9.28 [[ 9.16979532e-01 -3.95946564e-01 -4.87325064e-02 1.72948508e+02] [ 3.95324563e-01 9.18272891e-01 -2.22123481e-02 2.88033314e+01] [ 5.35446424e-02 1.10311172e-03 9.98564847e-01 9.28496777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:28.82, Z:9.29 [[ 9.17311072e-01 -3.95178680e-01 -4.87258447e-02 1.73006857e+02] [ 3.94554821e-01 9.18603536e-01 -2.22269518e-02 2.88153261e+01] [ 5.35433507e-02 1.16401204e-03 9.98564848e-01 9.29404769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:28.84, Z:9.30 [[ 9.15695268e-01 -3.98908674e-01 -4.87241932e-02 1.73061567e+02] [ 3.98289887e-01 9.16990168e-01 -2.22305716e-02 2.88361852e+01] [ 5.35475739e-02 9.50075821e-04 9.98564848e-01 9.29822430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:28.86, Z:9.30 [[ 9.14884248e-01 -4.00765874e-01 -4.87188475e-02 1.73115718e+02] [ 4.00149093e-01 9.16180105e-01 -2.22422808e-02 2.88580480e+01] [ 5.35491859e-02 8.54309697e-04 9.98564848e-01 9.30291811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.510385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:173.17, Y:28.88, Z:9.31 [[ 9.14102698e-01 -4.02545956e-01 -4.87135681e-02 1.73170486e+02] [ 4.01931082e-01 9.15399460e-01 -2.22538373e-02 2.88795800e+01] [ 5.35505661e-02 7.62795578e-04 9.98564848e-01 9.30923808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:28.90, Z:9.31 [[ 9.13038116e-01 -4.04955435e-01 -4.87082619e-02 1.73224299e+02] [ 4.04343365e-01 9.14336204e-01 -2.22654452e-02 2.89025059e+01] [ 5.35522403e-02 6.34337577e-04 9.98564848e-01 9.30962783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:28.92, Z:9.32 [[ 9.11210442e-01 -4.09051988e-01 -4.87032050e-02 1.73278744e+02] [ 4.08445163e-01 9.12510990e-01 -2.22765012e-02 2.89246989e+01] [ 5.35544569e-02 4.05992041e-04 9.98564848e-01 9.31698340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.33, Y:28.95, Z:9.32 [[ 9.08660751e-01 -4.14685648e-01 -4.86975662e-02 1.73331690e+02] [ 4.14086226e-01 9.09964728e-01 -2.22888211e-02 2.89477729e+01] [ 5.35559218e-02 8.79854897e-05 9.98564848e-01 9.32099383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.750385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:173.38, Y:28.97, Z:9.32 [[ 9.06841530e-01 -4.18649716e-01 -4.86914143e-02 1.73384210e+02] [ 4.18055273e-01 9.08147784e-01 -2.23022523e-02 2.89722593e+01] [ 5.35558316e-02 -1.31093911e-04 9.98564848e-01 9.32493361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.44, Y:29.00, Z:9.33 [[ 9.06308035e-01 -4.19804126e-01 -4.86851331e-02 1.73437030e+02] [ 4.19210611e-01 9.07614710e-01 -2.23159554e-02 2.89965613e+01] [ 5.35556731e-02 -1.84194708e-04 9.98564848e-01 9.32799426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.870385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:173.49, Y:29.02, Z:9.33 [[ 9.05111842e-01 -4.22377694e-01 -4.86789164e-02 1.73488283e+02] [ 4.21787166e-01 9.06419870e-01 -2.23295080e-02 2.90229436e+01] [ 5.35550232e-02 -3.21440111e-04 9.98564848e-01 9.33067455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.930385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:173.54, Y:29.05, Z:9.33 [[ 9.04517563e-01 -4.23649552e-01 -4.86727422e-02 1.73538742e+02] [ 4.23060139e-01 9.05826093e-01 -2.23429582e-02 2.90506155e+01] [ 5.35546241e-02 -3.81898968e-04 9.98564848e-01 9.33118806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.990385723 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:29.09, Z:9.32 [[ 8.99199677e-01 -4.34823524e-01 -4.86666525e-02 1.73585975e+02] [ 4.34249651e-01 9.00515097e-01 -2.23562146e-02 2.90890415e+01] [ 5.35460634e-02 -1.03077587e-03 9.98564848e-01 9.32267470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.050385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:173.64, Y:29.11, Z:9.34 [[ 9.02908721e-01 -4.27068596e-01 -4.86647260e-02 1.73642401e+02] [ 4.26483197e-01 9.04219052e-01 -2.23604075e-02 2.91060500e+01] [ 5.35530003e-02 -5.65281016e-04 9.98564848e-01 9.34278457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.110385723 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:173.69, Y:29.15, Z:9.32 [[ 8.96562277e-01 -4.40236705e-01 -4.86592861e-02 1.73687992e+02] [ 4.39669904e-01 8.97880760e-01 -2.23722392e-02 2.91537521e+01] [ 5.35393176e-02 -1.33591791e-03 9.98564849e-01 9.31898132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.170385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:173.74, Y:29.18, Z:9.32 [[ 8.99254819e-01 -4.34710869e-01 -4.86541973e-02 1.73740141e+02] [ 4.34135366e-01 9.00569527e-01 -2.23833006e-02 2.91805133e+01] [ 5.35467515e-02 -9.94216762e-04 9.98564849e-01 9.32336315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.230385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:173.80, Y:29.19, Z:9.35 [[ 9.08722507e-01 -4.14556070e-01 -4.86484415e-02 1.73798229e+02] [ 4.13950732e-01 9.10023747e-01 -2.23958035e-02 2.91906003e+01] [ 5.35555533e-02 2.13512717e-04 9.98564849e-01 9.35156676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.290385723 meters Centerline goodness : 0.997367 with order 1 Centerline is valid? [True, True] Translation: X:173.85, Y:29.22, Z:9.35 [[ 9.10442522e-01 -4.10765015e-01 -4.86468606e-02 1.73851155e+02] [ 4.10154075e-01 9.11741141e-01 -2.23992370e-02 2.92166634e+01] [ 5.35541671e-02 4.40509672e-04 9.98564849e-01 9.34768776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35038572300002 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:29.24, Z:9.36 [[ 9.12735224e-01 -4.05645435e-01 -4.86435233e-02 1.73903522e+02] [ 4.05026826e-01 9.14030207e-01 -2.24064820e-02 2.92421336e+01] [ 5.35507368e-02 7.49253559e-04 9.98564849e-01 9.35901812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41038572300002 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:173.95, Y:29.28, Z:9.34 [[ 9.10718189e-01 -4.10154652e-01 -4.86368408e-02 1.73952375e+02] [ 4.09541681e-01 9.12015850e-01 -2.24209782e-02 2.92798022e+01] [ 5.35536382e-02 5.00379086e-04 9.98564849e-01 9.34052878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.470385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:174.01, Y:29.30, Z:9.35 [[ 9.13350267e-01 -4.04260164e-01 -4.86313571e-02 1.74006994e+02] [ 4.03638187e-01 9.14643636e-01 -2.24328661e-02 2.93008377e+01] [ 5.35490754e-02 8.59591505e-04 9.98564849e-01 9.35030442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.530385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:29.33, Z:9.35 [[ 9.13831748e-01 -4.03171280e-01 -4.86256590e-02 1.74059824e+02] [ 4.02547105e-01 9.15124058e-01 -2.24452104e-02 2.93261808e+01] [ 5.35477746e-02 9.37027598e-04 9.98564849e-01 9.35347213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:174.12, Y:29.34, Z:9.37 [[ 9.18890443e-01 -3.91505394e-01 -4.86197451e-02 1.74116221e+02] [ 3.90864142e-01 9.20174364e-01 -2.24580136e-02 2.93399026e+01] [ 5.35310765e-02 1.63273919e-03 9.98564849e-01 9.37375095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.17, Y:29.36, Z:9.38 [[ 9.19256292e-01 -3.90645999e-01 -4.86165990e-02 1.74170601e+02] [ 3.90003186e-01 9.20539432e-01 -2.24648222e-02 2.93630424e+01] [ 5.35292893e-02 1.69030070e-03 9.98564849e-01 9.37615143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:29.39, Z:9.37 [[ 9.14411926e-01 -4.01855438e-01 -4.86110677e-02 1.74222038e+02] [ 4.01227726e-01 9.15702521e-01 -2.24767849e-02 2.93938082e+01] [ 5.35456954e-02 1.04893207e-03 9.98564849e-01 9.36504919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:29.41, Z:9.39 [[ 9.17002271e-01 -3.95909531e-01 -4.86053414e-02 1.74279326e+02] [ 3.95272796e-01 9.18288438e-01 -2.24891611e-02 2.94052469e+01] [ 5.35373962e-02 1.41024262e-03 9.98564849e-01 9.38554581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.830385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:29.43, Z:9.39 [[ 9.15662834e-01 -3.98997857e-01 -4.86033329e-02 1.74331946e+02] [ 3.98365230e-01 9.16951027e-01 -2.24935009e-02 2.94263460e+01] [ 5.35417347e-02 1.23458493e-03 9.98564849e-01 9.38734932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.890385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:174.38, Y:29.46, Z:9.38 [[ 9.10485512e-01 -4.10675363e-01 -4.85991594e-02 1.74381513e+02] [ 4.10058781e-01 9.11781461e-01 -2.25025145e-02 2.94590531e+01] [ 5.35530409e-02 5.59701407e-04 9.98564849e-01 9.37592041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.950385723 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:174.44, Y:29.48, Z:9.38 [[ 9.09326194e-01 -4.13236225e-01 -4.85972875e-02 1.74435795e+02] [ 4.12623076e-01 9.10623771e-01 -2.25065564e-02 2.94818129e+01] [ 5.35543696e-02 4.13439040e-04 9.98564849e-01 9.37950917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.010385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:174.49, Y:29.50, Z:9.39 [[ 9.09476001e-01 -4.12907068e-01 -4.85917447e-02 1.74488793e+02] [ 4.12292811e-01 9.10773053e-01 -2.25185170e-02 2.95047404e+01] [ 5.35541065e-02 4.46023774e-04 9.98564850e-01 9.38607616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:174.55, Y:29.52, Z:9.40 [[ 9.13990776e-01 -4.02815514e-01 -4.85852203e-02 1.74545430e+02] [ 4.02186191e-01 9.15280585e-01 -2.25325850e-02 2.95175625e+01] [ 5.35455837e-02 1.05427018e-03 9.98564850e-01 9.40284572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13038572300002 meters Centerline goodness : 0.998190 with order 1 Centerline is valid? [True, True] Translation: X:174.60, Y:29.54, Z:9.40 [[ 9.14980436e-01 -4.00562697e-01 -4.85832117e-02 1.74599484e+02] [ 3.99929969e-01 9.16268578e-01 -2.25369149e-02 2.95405556e+01] [ 5.35427178e-02 1.19095388e-03 9.98564850e-01 9.40078358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19038572300002 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:29.56, Z:9.40 [[ 9.15393389e-01 -3.99619016e-01 -4.85755618e-02 1.74653278e+02] [ 3.98984086e-01 9.16680448e-01 -2.25533914e-02 2.95644541e+01] [ 5.35410318e-02 1.26434927e-03 9.98564850e-01 9.40285337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.250385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:174.70, Y:29.60, Z:9.40 [[ 9.12033260e-01 -4.07230174e-01 -4.85686998e-02 1.74703816e+02] [ 4.06605201e-01 9.13325182e-01 -2.25681591e-02 2.95965116e+01] [ 5.35494519e-02 8.34625728e-04 9.98564850e-01 9.39561054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.310385723 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:29.61, Z:9.41 [[ 9.12641191e-01 -4.05866713e-01 -4.85620035e-02 1.74761862e+02] [ 4.05239044e-01 9.13931806e-01 -2.25825589e-02 2.96112726e+01] [ 5.35478685e-02 9.30553508e-04 9.98564850e-01 9.40694166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.370385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:29.64, Z:9.41 [[ 9.10531215e-01 -4.10578876e-01 -4.85581461e-02 1.74813683e+02] [ 4.09957444e-01 9.11824845e-01 -2.25908502e-02 2.96377214e+01] [ 5.35518499e-02 6.62900835e-04 9.98564850e-01 9.41374060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.430385723 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:29.66, Z:9.42 [[ 9.10320901e-01 -4.11045430e-01 -4.85542068e-02 1.74867590e+02] [ 4.10424210e-01 9.11614633e-01 -2.25993139e-02 2.96574868e+01] [ 5.35520701e-02 6.44805783e-04 9.98564850e-01 9.42192449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.490385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:174.92, Y:29.69, Z:9.42 [[ 9.09455628e-01 -4.12957143e-01 -4.85474850e-02 1.74918651e+02] [ 4.12337872e-01 9.10750294e-01 -2.26137443e-02 2.96873423e+01] [ 5.35531434e-02 5.48230327e-04 9.98564850e-01 9.42055406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.550385723 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:29.71, Z:9.42 [[ 9.11814012e-01 -4.07724130e-01 -4.85411330e-02 1.74973467e+02] [ 4.07096704e-01 9.13104745e-01 -2.26273709e-02 2.97094381e+01] [ 5.35488640e-02 8.71018549e-04 9.98564850e-01 9.42431566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:29.74, Z:9.42 [[ 9.10749187e-01 -4.10097846e-01 -4.85352948e-02 1.75024742e+02] [ 4.09473118e-01 9.12041228e-01 -2.26398869e-02 2.97392709e+01] [ 5.35507587e-02 7.45360079e-04 9.98564851e-01 9.41824367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.670385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:29.76, Z:9.43 [[ 9.11959666e-01 -4.07399695e-01 -4.85289240e-02 1.75080403e+02] [ 4.06770419e-01 9.13249497e-01 -2.26535344e-02 2.97568216e+01] [ 5.35480585e-02 9.18978898e-04 9.98564851e-01 9.43333509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.730385723 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:175.13, Y:29.78, Z:9.43 [[ 9.11196367e-01 -4.09104688e-01 -4.85235460e-02 1.75132416e+02] [ 4.08477212e-01 9.12487076e-01 -2.26650483e-02 2.97819105e+01] [ 5.35494861e-02 8.31546922e-04 9.98564851e-01 9.43109688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.790385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:175.18, Y:29.81, Z:9.43 [[ 9.07993673e-01 -4.16165304e-01 -4.85173209e-02 1.75184391e+02] [ 4.15547154e-01 9.09288873e-01 -2.26783660e-02 2.98112838e+01] [ 5.35542091e-02 4.30578225e-04 9.98564851e-01 9.42938212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:29.83, Z:9.44 [[ 9.09951864e-01 -4.11866881e-01 -4.85105920e-02 1.75238839e+02] [ 4.11241847e-01 9.11243756e-01 -2.26927506e-02 2.98285993e+01] [ 5.35513664e-02 6.99725251e-04 9.98564851e-01 9.44440078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91038572300002 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:29.85, Z:9.44 [[ 9.09684603e-01 -4.12457213e-01 -4.85074305e-02 1.75293126e+02] [ 4.11832656e-01 9.10976726e-01 -2.26995064e-02 2.98535199e+01] [ 5.35517154e-02 6.72447463e-04 9.98564851e-01 9.43967255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.970385723 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:175.34, Y:29.89, Z:9.44 [[ 9.05456577e-01 -4.21658315e-01 -4.85041451e-02 1.75341734e+02] [ 4.21046515e-01 9.06754788e-01 -2.27065244e-02 2.98876974e+01] [ 5.35557607e-02 1.37270588e-04 9.98564851e-01 9.43788424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.030385723 meters Centerline goodness : 0.997124 with order 1 Centerline is valid? [True, True] Translation: X:175.40, Y:29.90, Z:9.45 [[ 9.08395019e-01 -4.15291034e-01 -4.84958467e-02 1.75397539e+02] [ 4.14669189e-01 9.09688448e-01 -2.27242341e-02 2.99036598e+01] [ 5.35532822e-02 5.32847634e-04 9.98564851e-01 9.44908846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.090385723 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:175.45, Y:29.93, Z:9.45 [[ 9.08187942e-01 -4.15744515e-01 -4.84887705e-02 1.75447703e+02] [ 4.15122510e-01 9.09481294e-01 -2.27393233e-02 2.99340989e+01] [ 5.35533787e-02 5.22799100e-04 9.98564851e-01 9.45235704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.150385723 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:29.96, Z:9.46 [[ 9.10498142e-01 -4.10660856e-01 -4.84849971e-02 1.75499431e+02] [ 4.10031202e-01 9.11787788e-01 -2.27473662e-02 2.99597765e+01] [ 5.35494811e-02 8.31073005e-04 9.98564851e-01 9.45852451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.210385723 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:175.55, Y:29.98, Z:9.46 [[ 9.13881924e-01 -4.03075311e-01 -4.84780615e-02 1.75554076e+02] [ 4.02434171e-01 9.15165899e-01 -2.27621374e-02 2.99802555e+01] [ 5.35403243e-02 1.29267740e-03 9.98564852e-01 9.46203009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.270385723 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:175.61, Y:30.01, Z:9.46 [[ 9.14525791e-01 -4.01612577e-01 -4.84759381e-02 1.75606480e+02] [ 4.00969144e-01 9.15808618e-01 -2.27666587e-02 3.00062297e+01] [ 5.35380583e-02 1.38334112e-03 9.98564852e-01 9.46493899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.330385723 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:175.66, Y:30.04, Z:9.46 [[ 9.12191292e-01 -4.06887900e-01 -4.84694066e-02 1.75656066e+02] [ 4.06251150e-01 9.13477449e-01 -2.27805553e-02 3.00396616e+01] [ 5.35448423e-02 1.08947205e-03 9.98564852e-01 9.46192672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.390385723 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:30.06, Z:9.47 [[ 9.12948262e-01 -4.05187283e-01 -4.84637737e-02 1.75708505e+02] [ 4.04547501e-01 9.14232913e-01 -2.27925326e-02 3.00636947e+01] [ 5.35424214e-02 1.20250446e-03 9.98564852e-01 9.46930290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.450385723 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:175.76, Y:30.09, Z:9.46 [[ 9.10555733e-01 -4.10536399e-01 -4.84574223e-02 1.75760759e+02] [ 4.09903447e-01 9.11843764e-01 -2.28060279e-02 3.00923281e+01] [ 5.35483029e-02 9.03294983e-04 9.98564852e-01 9.46450968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.510385723 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:30.11, Z:9.48 [[ 9.12637419e-01 -4.05888413e-01 -4.84513961e-02 1.75817570e+02] [ 4.05248223e-01 9.13921867e-01 -2.28188235e-02 3.01057023e+01] [ 5.35426864e-02 1.19047002e-03 9.98564852e-01 9.47517863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57038572300002 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:30.13, Z:9.48 [[ 9.11934493e-01 -4.07466015e-01 -4.84450847e-02 1.75870591e+02] [ 4.06827337e-01 9.13219693e-01 -2.28322149e-02 3.01310713e+01] [ 5.35443570e-02 1.11269956e-03 9.98564852e-01 9.48063942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63038572300002 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:175.92, Y:30.16, Z:9.48 [[ 9.08335632e-01 -4.15427530e-01 -4.84391117e-02 1.75920991e+02] [ 4.14799443e-01 9.09626041e-01 -2.28448797e-02 3.01644018e+01] [ 5.35518693e-02 6.58301721e-04 9.98564852e-01 9.47504979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69038572300002 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:175.97, Y:30.19, Z:9.48 [[ 9.08036310e-01 -4.16082011e-01 -4.84336617e-02 1.75973961e+02] [ 4.15454238e-01 9.09326872e-01 -2.28564285e-02 3.01879933e+01] [ 5.35521788e-02 6.32496953e-04 9.98564852e-01 9.47755913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.750385723 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:176.03, Y:30.21, Z:9.48 [[ 9.08082804e-01 -4.15981317e-01 -4.84269072e-02 1.76026903e+02] [ 4.15352638e-01 9.09372925e-01 -2.28707307e-02 3.02129975e+01] [ 5.35519149e-02 6.54273665e-04 9.98564852e-01 9.47865745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.810385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:176.08, Y:30.23, Z:9.49 [[ 9.10904357e-01 -4.09766598e-01 -4.84209425e-02 1.76082715e+02] [ 4.09128447e-01 9.12189819e-01 -2.28833518e-02 3.02288686e+01] [ 5.35459240e-02 1.03415989e-03 9.98564852e-01 9.48772405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.14, Y:30.25, Z:9.49 [[ 9.09569192e-01 -4.12722060e-01 -4.84188544e-02 1.76135284e+02] [ 4.12087851e-01 9.10856604e-01 -2.28877692e-02 3.02523812e+01] [ 5.35489205e-02 8.65188050e-04 9.98564852e-01 9.49128757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:30.28, Z:9.50 [[ 9.08349426e-01 -4.15400457e-01 -4.84126001e-02 1.76189327e+02] [ 4.14769341e-01 9.09638356e-01 -2.29009908e-02 3.02761753e+01] [ 5.35510400e-02 7.22039582e-04 9.98564853e-01 9.49783694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.24, Y:30.30, Z:9.50 [[ 9.08044091e-01 -4.16068112e-01 -4.84071727e-02 1.76240727e+02] [ 4.15437332e-01 9.09333186e-01 -2.29124573e-02 3.03002486e+01] [ 5.35513914e-02 6.95374842e-04 9.98564853e-01 9.50033042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.29, Y:30.33, Z:9.50 [[ 9.05466911e-01 -4.21647754e-01 -4.84029364e-02 1.76290319e+02] [ 4.21024440e-01 9.06759632e-01 -2.29214031e-02 3.03316153e+01] [ 5.35545869e-02 3.75752899e-04 9.98564853e-01 9.49863306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.110385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:176.34, Y:30.36, Z:9.50 [[ 9.05368192e-01 -4.21860474e-01 -4.83960524e-02 1.76340956e+02] [ 4.21236687e-01 9.06660685e-01 -2.29359288e-02 3.03569489e+01] [ 5.35545597e-02 3.79267607e-04 9.98564853e-01 9.50186645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.170385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:176.39, Y:30.38, Z:9.51 [[ 9.05671658e-01 -4.21208926e-01 -4.83930722e-02 1.76393823e+02] [ 4.20583873e-01 9.06963539e-01 -2.29422150e-02 3.03816509e+01] [ 5.35542177e-02 4.24768171e-04 9.98564853e-01 9.50525280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.230385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:176.45, Y:30.41, Z:9.51 [[ 9.05881065e-01 -4.20759155e-01 -4.83862503e-02 1.76445913e+02] [ 4.20132693e-01 9.07172263e-01 -2.29565937e-02 3.04060009e+01] [ 5.35538612e-02 4.67297894e-04 9.98564853e-01 9.50686281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:30.42, Z:9.51 [[ 9.07821750e-01 -4.16555787e-01 -4.83833173e-02 1.76500699e+02] [ 4.15923018e-01 9.09109869e-01 -2.29627737e-02 3.04249489e+01] [ 5.35510275e-02 7.22370048e-04 9.98564853e-01 9.51168815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.55, Y:30.46, Z:9.51 [[ 9.05314630e-01 -4.21977101e-01 -4.83812592e-02 1.76550317e+02] [ 4.21351814e-01 9.06606398e-01 -2.29671091e-02 3.04573452e+01] [ 5.35543532e-02 4.06928562e-04 9.98564853e-01 9.51142550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:30.48, Z:9.52 [[ 9.06100313e-01 -4.20288027e-01 -4.83755903e-02 1.76602148e+02] [ 4.19659695e-01 9.07390602e-01 -2.29790432e-02 3.04835004e+01] [ 5.35533728e-02 5.20032721e-04 9.98564853e-01 9.51553001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:30.51, Z:9.52 [[ 9.06512973e-01 -4.19397962e-01 -4.83692014e-02 1.76654850e+02] [ 4.18767646e-01 9.07802294e-01 -2.29924837e-02 3.05084670e+01] [ 5.35526727e-02 5.87528117e-04 9.98564853e-01 9.51932374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.530385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:176.71, Y:30.54, Z:9.52 [[ 9.07611257e-01 -4.17016645e-01 -4.83624162e-02 1.76706276e+02] [ 4.16382186e-01 9.08898545e-01 -2.30067468e-02 3.05370058e+01] [ 5.35507261e-02 7.43933770e-04 9.98564853e-01 9.51896245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.590385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:30.56, Z:9.52 [[ 9.07345973e-01 -4.17594314e-01 -4.83557134e-02 1.76757588e+02] [ 4.16959925e-01 9.08633294e-01 -2.30208261e-02 3.05640412e+01] [ 5.35509773e-02 7.25459238e-04 9.98564853e-01 9.51826856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:30.58, Z:9.53 [[ 9.11427629e-01 -4.08609895e-01 -4.83490586e-02 1.76813369e+02] [ 4.07962078e-01 9.12708245e-01 -2.30347943e-02 3.05807870e+01] [ 5.35408293e-02 1.26996548e-03 9.98564854e-01 9.52768330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:30.62, Z:9.52 [[ 9.05950866e-01 -4.20613354e-01 -4.83470126e-02 1.76862293e+02] [ 4.19982281e-01 9.07239816e-01 -2.30390878e-02 3.06168833e+01] [ 5.35528828e-02 5.67392935e-04 9.98564854e-01 9.52254804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:30.63, Z:9.54 [[ 9.09074794e-01 -4.13818966e-01 -4.83413017e-02 1.76919509e+02] [ 4.13177624e-01 9.10358665e-01 -2.30510644e-02 3.06296491e+01] [ 5.35468905e-02 9.81597468e-04 9.98564854e-01 9.53612861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.97, Y:30.65, Z:9.54 [[ 9.07333163e-01 -4.17624041e-01 -4.83393444e-02 1.76972970e+02] [ 4.16987864e-01 9.08619601e-01 -2.30551682e-02 3.06530872e+01] [ 5.35504684e-02 7.61798678e-04 9.98564854e-01 9.54252775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.03, Y:30.68, Z:9.55 [[ 9.05673114e-01 -4.21212594e-01 -4.83338497e-02 1.77026530e+02] [ 4.20580900e-01 9.06961760e-01 -2.30666818e-02 3.06770079e+01] [ 5.35529303e-02 5.62579467e-04 9.98564854e-01 9.54911443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.950385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:177.08, Y:30.70, Z:9.55 [[ 9.05204883e-01 -4.22218525e-01 -4.83284366e-02 1.77078458e+02] [ 4.21587658e-01 9.06493934e-01 -2.30780175e-02 3.07018251e+01] [ 5.35534011e-02 5.15661655e-04 9.98564854e-01 9.55243648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:30.73, Z:9.55 [[ 9.05909871e-01 -4.20704484e-01 -4.83222827e-02 1.77130440e+02] [ 4.20070776e-01 9.07197527e-01 -2.30908957e-02 3.07289963e+01] [ 5.35522988e-02 6.19491563e-04 9.98564854e-01 9.55319629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:30.76, Z:9.55 [[ 9.06904671e-01 -4.18556341e-01 -4.83167399e-02 1.77182826e+02] [ 4.17918966e-01 9.08190516e-01 -2.31024880e-02 3.07555757e+01] [ 5.35504978e-02 7.59272300e-04 9.98564854e-01 9.55368300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:30.78, Z:9.56 [[ 9.07530784e-01 -4.17197672e-01 -4.83112648e-02 1.77234800e+02] [ 4.16557763e-01 9.08815370e-01 -2.31139319e-02 3.07816393e+01] [ 5.35490985e-02 8.52172337e-04 9.98564854e-01 9.55892834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.29, Y:30.81, Z:9.56 [[ 9.07836732e-01 -4.16532233e-01 -4.83049352e-02 1.77287069e+02] [ 4.15890679e-01 9.09120497e-01 -2.31271522e-02 3.08095243e+01] [ 5.35482111e-02 9.06105903e-04 9.98564854e-01 9.56406304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:30.84, Z:9.57 [[ 9.07625914e-01 -4.16992065e-01 -4.82992499e-02 1.77337838e+02] [ 4.16350530e-01 9.08909688e-01 -2.31390196e-02 3.08406433e+01] [ 5.35484437e-02 8.92155478e-04 9.98564854e-01 9.57186181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.39, Y:30.86, Z:9.57 [[ 9.08343836e-01 -4.15426489e-01 -4.82939735e-02 1.77391753e+02] [ 4.14782157e-01 9.09626208e-01 -2.31500267e-02 3.08636770e+01] [ 5.35465983e-02 9.96705538e-04 9.98564854e-01 9.57079479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.44, Y:30.89, Z:9.57 [[ 9.07430743e-01 -4.17417362e-01 -4.82927798e-02 1.77442718e+02] [ 4.16775711e-01 9.08714459e-01 -2.31525166e-02 3.08919865e+01] [ 5.35486097e-02 8.82047644e-04 9.98564854e-01 9.57408281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.49, Y:30.92, Z:9.58 [[ 9.04564471e-01 -4.23593592e-01 -4.82865090e-02 1.77492973e+02] [ 4.22960009e-01 9.05852188e-01 -2.31655877e-02 3.09237545e+01] [ 5.35532343e-02 5.31505276e-04 9.98564854e-01 9.58067950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.490385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:30.95, Z:9.58 [[ 8.99942817e-01 -4.33326563e-01 -4.82806059e-02 1.77543501e+02] [ 4.32706248e-01 9.01236977e-01 -2.31778840e-02 3.09523278e+01] [ 5.35558601e-02 -3.25496363e-05 9.98564855e-01 9.57571528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:30.97, Z:9.58 [[ 9.00994345e-01 -4.31136141e-01 -4.82785520e-02 1.77599594e+02] [ 4.30512450e-01 9.02286882e-01 -2.31821613e-02 3.09692574e+01] [ 5.35557718e-02 1.02478485e-04 9.98564855e-01 9.58397342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:177.65, Y:31.00, Z:9.59 [[ 8.99348020e-01 -4.34560124e-01 -4.82766737e-02 1.77651200e+02] [ 4.33941145e-01 9.00642820e-01 -2.31860723e-02 3.09957214e+01] [ 5.35557820e-02 -9.68867885e-05 9.98564855e-01 9.58860176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:31.02, Z:9.59 [[ 8.98721764e-01 -4.35854128e-01 -4.82739133e-02 1.77701509e+02] [ 4.35236704e-01 9.00017306e-01 -2.31918180e-02 3.10222691e+01] [ 5.35556070e-02 -1.67587336e-04 9.98564855e-01 9.59075335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:31.05, Z:9.59 [[ 8.99093266e-01 -4.35087547e-01 -4.82713745e-02 1.77753008e+02] [ 4.34468735e-01 9.00388146e-01 -2.31971012e-02 3.10503445e+01] [ 5.35557432e-02 -1.16045567e-04 9.98564855e-01 9.59415546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.81, Y:31.08, Z:9.60 [[ 8.99504387e-01 -4.34237566e-01 -4.82658674e-02 1.77805546e+02] [ 4.33616915e-01 9.00798387e-01 -2.32085539e-02 3.10778640e+01] [ 5.35558415e-02 -5.27004597e-05 9.98564855e-01 9.59775367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85038572300002 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:31.10, Z:9.60 [[ 8.99276642e-01 -4.34709635e-01 -4.82602818e-02 1.77857629e+02] [ 4.34089041e-01 9.00570668e-01 -2.32201630e-02 3.11041324e+01] [ 5.35558228e-02 -6.79091783e-05 9.98564855e-01 9.59759470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:177.91, Y:31.13, Z:9.60 [[ 8.97651225e-01 -4.38056405e-01 -4.82583170e-02 1.77910084e+02] [ 4.37440416e-01 8.98947450e-01 -2.32242457e-02 3.11297332e+01] [ 5.35552206e-02 -2.62865637e-04 9.98564855e-01 9.60311403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.96, Y:31.16, Z:9.61 [[ 8.96032725e-01 -4.41358148e-01 -4.82528878e-02 1.77963089e+02] [ 4.40746328e-01 8.97330923e-01 -2.32355205e-02 3.11552153e+01] [ 5.35539946e-02 -4.47496390e-04 9.98564855e-01 9.60726759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:178.02, Y:31.18, Z:9.60 [[ 8.94526007e-01 -4.44404554e-01 -4.82474398e-02 1.78015025e+02] [ 4.43796545e-01 8.95825994e-01 -2.32468276e-02 3.11826636e+01] [ 5.35523067e-02 -6.17155206e-04 9.98564855e-01 9.60261638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.090385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:31.21, Z:9.61 [[ 8.94542582e-01 -4.44371398e-01 -4.82455108e-02 1.78068250e+02] [ 4.43763125e-01 8.95842446e-01 -2.32508301e-02 3.12056821e+01] [ 5.35523803e-02 -6.10721069e-04 9.98564855e-01 9.60667908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:31.23, Z:9.61 [[ 8.94951677e-01 -4.43547627e-01 -4.82389699e-02 1.78120089e+02] [ 4.42937427e-01 8.96250637e-01 -2.32643928e-02 3.12302426e+01] [ 5.35530737e-02 -5.46337853e-04 9.98564855e-01 9.61381390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.17, Y:31.26, Z:9.61 [[ 8.93842672e-01 -4.45778985e-01 -4.82324947e-02 1.78172094e+02] [ 4.45171303e-01 8.95142812e-01 -2.32778098e-02 3.12570373e+01] [ 5.35517293e-02 -6.65022794e-04 9.98564855e-01 9.61342529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.22, Y:31.28, Z:9.62 [[ 8.91784161e-01 -4.49883597e-01 -4.82261240e-02 1.78224587e+02] [ 4.49281186e-01 8.93086751e-01 -2.32910008e-02 3.12816878e+01] [ 5.35483516e-02 -8.96544627e-04 9.98564855e-01 9.61955414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.330385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:31.31, Z:9.62 [[ 8.88164513e-01 -4.56988695e-01 -4.82196139e-02 1.78275895e+02] [ 4.56395971e-01 8.89471539e-01 -2.33044710e-02 3.13085685e+01] [ 5.35398540e-02 -1.30903336e-03 9.98564855e-01 9.62387946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.33, Y:31.34, Z:9.63 [[ 8.84656930e-01 -4.63742798e-01 -4.82154991e-02 1.78326910e+02] [ 4.63159587e-01 8.85968229e-01 -2.33129811e-02 3.13368590e+01] [ 5.35286274e-02 -1.70748038e-03 9.98564855e-01 9.62513131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:31.36, Z:9.63 [[ 8.82895526e-01 -4.67088217e-01 -4.82087969e-02 1.78378543e+02] [ 4.66509219e-01 8.84208690e-01 -2.33268324e-02 3.13644103e+01] [ 5.35223257e-02 -1.89469220e-03 9.98564856e-01 9.62821054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:31.40, Z:9.63 [[ 8.80813305e-01 -4.71003662e-01 -4.82024045e-02 1.78428216e+02] [ 4.70429779e-01 8.82128713e-01 -2.33400341e-02 3.13952628e+01] [ 5.35139666e-02 -2.11763392e-03 9.98564856e-01 9.63001008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.48, Y:31.43, Z:9.63 [[ 8.81765572e-01 -4.69219152e-01 -4.81960932e-02 1.78477853e+02] [ 4.68641896e-01 8.83079503e-01 -2.33530594e-02 3.14250796e+01] [ 5.35186848e-02 -1.99478467e-03 9.98564856e-01 9.63070736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.53, Y:31.46, Z:9.63 [[ 8.83273926e-01 -4.66374288e-01 -4.81891546e-02 1.78528002e+02] [ 4.65792020e-01 8.84585643e-01 -2.33673684e-02 3.14552202e+01] [ 5.35253742e-02 -1.80633645e-03 9.98564856e-01 9.63356461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:178.58, Y:31.49, Z:9.65 [[ 8.88320428e-01 -4.56689443e-01 -4.81826813e-02 1.78575275e+02] [ 4.56092145e-01 8.89625370e-01 -2.33807087e-02 3.14911534e+01] [ 5.35422584e-02 -1.20618127e-03 9.98564856e-01 9.64662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.62, Y:31.52, Z:9.64 [[ 8.93442484e-01 -4.46586512e-01 -4.81769143e-02 1.78624291e+02] [ 4.45973814e-01 8.94740266e-01 -2.33925857e-02 3.15235353e+01] [ 5.35526384e-02 -5.85712329e-04 9.98564856e-01 9.63868984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.67, Y:31.56, Z:9.64 [[ 8.98842932e-01 -4.35615152e-01 -4.81749098e-02 1.78673227e+02] [ 4.34986391e-01 9.00133009e-01 -2.33967130e-02 3.15557634e+01] [ 5.35557892e-02 7.45399528e-05 9.98564856e-01 9.64019835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:31.59, Z:9.64 [[ 9.02987162e-01 -4.26959019e-01 -4.81682565e-02 1.78722428e+02] [ 4.26317162e-01 9.04270773e-01 -2.34104026e-02 3.15861553e+01] [ 5.35524291e-02 6.04338622e-04 9.98564856e-01 9.64406417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.930385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:31.62, Z:9.65 [[ 9.05400306e-01 -4.21818281e-01 -4.81624705e-02 1.78772261e+02] [ 4.21168504e-01 9.06679926e-01 -2.34223001e-02 3.16174986e+01] [ 5.35478996e-02 9.22042048e-04 9.98564856e-01 9.65337219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.82, Y:31.65, Z:9.66 [[ 9.05705555e-01 -4.21163125e-01 -4.81567178e-02 1.78822349e+02] [ 4.20511793e-01 9.06984385e-01 -2.34341219e-02 3.16457050e+01] [ 5.35469791e-02 9.73946633e-04 9.98564856e-01 9.65757005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.87, Y:31.68, Z:9.66 [[ 9.05250691e-01 -4.22140151e-01 -4.81547426e-02 1.78872480e+02] [ 4.21489984e-01 9.06530113e-01 -2.34381801e-02 3.16755969e+01] [ 5.35479211e-02 9.20687077e-04 9.98564856e-01 9.65981054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.110385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:178.92, Y:31.70, Z:9.66 [[ 9.03883830e-01 -4.25059688e-01 -4.81485571e-02 1.78923496e+02] [ 4.24412977e-01 9.05165002e-01 -2.34508800e-02 3.17043803e+01] [ 5.35504125e-02 7.61998812e-04 9.98564857e-01 9.66092705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.170385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:178.97, Y:31.73, Z:9.66 [[ 9.01948985e-01 -4.29150712e-01 -4.81424375e-02 1.78974395e+02] [ 4.28509143e-01 9.03232739e-01 -2.34634362e-02 3.17323264e+01] [ 5.35531761e-02 5.33347833e-04 9.98564857e-01 9.66151303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.230385723 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:179.03, Y:31.76, Z:9.66 [[ 8.99129488e-01 -4.35027184e-01 -4.81405597e-02 1.79025130e+02] [ 4.34393799e-01 9.00417300e-01 -2.34672882e-02 3.17606840e+01] [ 5.35555011e-02 1.88170221e-04 9.98564857e-01 9.66362654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.290385723 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:31.79, Z:9.67 [[ 8.97253065e-01 -4.38884990e-01 -4.81342178e-02 1.79076566e+02] [ 4.38256445e-01 8.98543246e-01 -2.34802890e-02 3.17880137e+01] [ 5.35558227e-02 -2.73698848e-05 9.98564857e-01 9.66589134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35038572300002 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:179.13, Y:31.82, Z:9.67 [[ 8.95814845e-01 -4.41813830e-01 -4.81279849e-02 1.79127270e+02] [ 4.41188817e-01 8.97106741e-01 -2.34930579e-02 3.18161099e+01] [ 5.35554975e-02 -1.88098668e-04 9.98564857e-01 9.67142018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41038572300002 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:179.18, Y:31.85, Z:9.68 [[ 8.95573067e-01 -4.42304417e-01 -4.81215569e-02 1.79178401e+02] [ 4.41679404e-01 8.96864963e-01 -2.35062171e-02 3.18455477e+01] [ 5.35554420e-02 -2.02765612e-04 9.98564857e-01 9.67608656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.470385723 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:179.23, Y:31.87, Z:9.68 [[ 8.96453615e-01 -4.40517611e-01 -4.81160148e-02 1.79228488e+02] [ 4.39889415e-01 8.97743965e-01 -2.35175562e-02 3.18749535e+01] [ 5.35557596e-02 -8.33273387e-05 9.98564857e-01 9.67970648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.530385723 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:179.28, Y:31.90, Z:9.68 [[ 8.99081965e-01 -4.35128838e-01 -4.81093948e-02 1.79277781e+02] [ 4.34492184e-01 9.00368164e-01 -2.35310906e-02 3.19033434e+01] [ 5.35552236e-02 2.53223157e-04 9.98564857e-01 9.68174038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.590385723 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:31.93, Z:9.68 [[ 9.01895428e-01 -4.29267280e-01 -4.81065482e-02 1.79328413e+02] [ 4.28621957e-01 9.03177298e-01 -2.35369088e-02 3.19307421e+01] [ 5.35523671e-02 6.08307579e-04 9.98564857e-01 9.68142048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.650385723 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:179.38, Y:31.96, Z:9.68 [[ 9.05274050e-01 -4.22095769e-01 -4.81046388e-02 1.79379353e+02] [ 4.21440084e-01 9.06550652e-01 -2.35408107e-02 3.19587942e+01] [ 5.35457682e-02 1.03766202e-03 9.98564857e-01 9.68416188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.710385723 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:179.43, Y:31.99, Z:9.69 [[ 9.07059196e-01 -4.18246574e-01 -4.80980123e-02 1.79431054e+02] [ 4.17584756e-01 9.08332629e-01 -2.35543419e-02 3.19859241e+01] [ 5.35405168e-02 1.28018569e-03 9.98564857e-01 9.68727224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.770385723 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:179.48, Y:32.01, Z:9.69 [[ 9.08721539e-01 -4.14623205e-01 -4.80911992e-02 1.79481557e+02] [ 4.13955575e-01 9.09991934e-01 -2.35682442e-02 3.20124571e+01] [ 5.35345443e-02 1.50935113e-03 9.98564857e-01 9.68894637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.830385723 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:32.04, Z:9.69 [[ 9.07117850e-01 -4.18120659e-01 -4.80866061e-02 1.79533641e+02] [ 4.17457431e-01 9.08390549e-01 -2.35776118e-02 3.20410347e+01] [ 5.35397051e-02 1.31356151e-03 9.98564857e-01 9.68612281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.890385723 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:179.59, Y:32.07, Z:9.69 [[ 9.06631491e-01 -4.19174900e-01 -4.80805758e-02 1.79586100e+02] [ 4.18512501e-01 9.07904622e-01 -2.35899027e-02 3.20650141e+01] [ 5.35408721e-02 1.26502667e-03 9.98564858e-01 9.68819102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.950385723 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:179.64, Y:32.08, Z:9.70 [[ 9.09705077e-01 -4.12462840e-01 -4.80736692e-02 1.79640788e+02] [ 4.11790307e-01 9.10972884e-01 -2.36039693e-02 3.20837684e+01] [ 5.35295692e-02 1.67637968e-03 9.98564858e-01 9.69962668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.010385723 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:179.69, Y:32.11, Z:9.70 [[ 9.11937224e-01 -4.07504142e-01 -4.80715469e-02 1.79693375e+02] [ 4.06824489e-01 9.13201228e-01 -2.36082906e-02 3.21070068e+01] [ 5.35194719e-02 1.97259648e-03 9.98564858e-01 9.70038495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07038572300002 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:32.13, Z:9.70 [[ 9.13402335e-01 -4.04209839e-01 -4.80685055e-02 1.79747031e+02] [ 4.03525304e-01 9.14663701e-01 -2.36144816e-02 3.21320471e+01] [ 5.35117229e-02 2.17266431e-03 9.98564858e-01 9.70188771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13038572300002 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:179.80, Y:32.15, Z:9.70 [[ 9.14503902e-01 -4.01712060e-01 -4.80628148e-02 1.79801344e+02] [ 4.01023473e-01 9.15763061e-01 -2.36260583e-02 3.21541955e+01] [ 5.35050229e-02 2.33180566e-03 9.98564858e-01 9.70441998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19038572300002 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:32.18, Z:9.71 [[ 9.13695274e-01 -4.03548588e-01 -4.80570886e-02 1.79856066e+02] [ 4.02861921e-01 9.14955481e-01 -2.36376999e-02 3.21755327e+01] [ 5.35090571e-02 2.23728364e-03 9.98564858e-01 9.70878176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.250385723 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:179.91, Y:32.20, Z:9.71 [[ 9.12139891e-01 -4.07052674e-01 -4.80514356e-02 1.79910793e+02] [ 4.06370245e-01 9.13402397e-01 -2.36491860e-02 3.21963912e+01] [ 5.35167609e-02 2.04469226e-03 9.98564858e-01 9.71330844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.310385723 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:32.22, Z:9.72 [[ 9.10671423e-01 -4.10328135e-01 -4.80456103e-02 1.79965206e+02] [ 4.09649624e-01 9.11936040e-01 -2.36610148e-02 3.22162018e+01] [ 5.35233037e-02 1.86554381e-03 9.98564858e-01 9.71740180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.370385723 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:180.02, Y:32.24, Z:9.72 [[ 9.09825217e-01 -4.12201394e-01 -4.80425325e-02 1.80018822e+02] [ 4.11525158e-01 9.11091052e-01 -2.36672624e-02 3.22376722e+01] [ 5.35268001e-02 1.76236138e-03 9.98564858e-01 9.72014411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.430385723 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:180.07, Y:32.26, Z:9.72 [[ 9.09648047e-01 -4.12592945e-01 -4.80363670e-02 1.80071515e+02] [ 4.11916594e-01 9.10913820e-01 -2.36797697e-02 3.22618788e+01] [ 5.35270965e-02 1.75327952e-03 9.98564858e-01 9.72234959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.490385723 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:180.13, Y:32.28, Z:9.72 [[ 9.10377478e-01 -4.10981692e-01 -4.80301597e-02 1.80126904e+02] [ 4.10302439e-01 9.11641696e-01 -2.36923534e-02 3.22832463e+01] [ 5.35234197e-02 1.86209331e-03 9.98564858e-01 9.72358866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.550385723 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:32.31, Z:9.73 [[ 9.11658377e-01 -4.08133127e-01 -4.80245242e-02 1.80182144e+02] [ 4.07449323e-01 9.12920139e-01 -2.37037711e-02 3.23055782e+01] [ 5.35168495e-02 2.04218161e-03 9.98564858e-01 9.72510217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.610385723 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:180.24, Y:32.33, Z:9.73 [[ 9.12725315e-01 -4.05742091e-01 -4.80193175e-02 1.80237943e+02] [ 4.05054429e-01 9.13984978e-01 -2.37143143e-02 3.23259553e+01] [ 5.35108303e-02 2.19421774e-03 9.98564858e-01 9.72904595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.670385723 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:180.29, Y:32.35, Z:9.73 [[ 9.13376214e-01 -4.04275363e-01 -4.80137714e-02 1.80292920e+02] [ 4.03585089e-01 9.14634449e-01 -2.37255380e-02 3.23478009e+01] [ 5.35066998e-02 2.29269983e-03 9.98564858e-01 9.73436436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.730385723 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:32.37, Z:9.74 [[ 9.14047136e-01 -4.02756850e-01 -4.80078370e-02 1.80347114e+02] [ 4.02063857e-01 9.15303875e-01 -2.37375400e-02 3.23682535e+01] [ 5.35022161e-02 2.39501435e-03 9.98564859e-01 9.73798701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.790385723 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:180.40, Y:32.39, Z:9.74 [[ 9.14278310e-01 -4.02232049e-01 -4.80057371e-02 1.80401085e+02] [ 4.01538113e-01 9.15534528e-01 -2.37417860e-02 3.23894619e+01] [ 5.35006171e-02 2.43046689e-03 9.98564859e-01 9.74161725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85038572300002 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:180.45, Y:32.41, Z:9.74 [[ 9.14116748e-01 -4.02599874e-01 -4.79990922e-02 1.80454384e+02] [ 4.01905740e-01 9.15372856e-01 -2.37552125e-02 3.24136391e+01] [ 5.35009117e-02 2.42392695e-03 9.98564859e-01 9.74145729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91038572300002 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:32.44, Z:9.75 [[ 9.12996537e-01 -4.05134749e-01 -4.79912348e-02 1.80508289e+02] [ 4.04443271e-01 9.14254110e-01 -2.37710756e-02 3.24362669e+01] [ 5.35066724e-02 2.29317776e-03 9.98564859e-01 9.74593986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.970385723 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:180.56, Y:32.46, Z:9.75 [[ 9.11247868e-01 -4.09053693e-01 -4.79833257e-02 1.80562703e+02] [ 4.08366786e-01 9.12507942e-01 -2.37870300e-02 3.24572014e+01] [ 5.35153383e-02 2.08108386e-03 9.98564859e-01 9.74924880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.030385723 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:32.48, Z:9.75 [[ 9.09814553e-01 -4.12232626e-01 -4.79764702e-02 1.80616421e+02] [ 4.11549395e-01 9.11076624e-01 -2.38008490e-02 3.24784555e+01] [ 5.35217270e-02 1.90967148e-03 9.98564859e-01 9.75339573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.090385723 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:180.67, Y:32.50, Z:9.76 [[ 9.08407577e-01 -4.15324675e-01 -4.79696610e-02 1.80670042e+02] [ 4.14645017e-01 9.09671576e-01 -2.38145649e-02 3.24979655e+01] [ 5.35274135e-02 1.74295027e-03 9.98564859e-01 9.75646199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.150385723 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:180.73, Y:32.52, Z:9.76 [[ 9.07277387e-01 -4.17788129e-01 -4.79668875e-02 1.80725116e+02] [ 4.17111609e-01 9.08543068e-01 -2.38201498e-02 3.25201023e+01] [ 5.35317590e-02 1.60393768e-03 9.98564859e-01 9.76145933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.210385723 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:180.78, Y:32.54, Z:9.76 [[ 9.07625323e-01 -4.17032397e-01 -4.79609510e-02 1.80778409e+02] [ 4.16354192e-01 9.08890102e-01 -2.38320967e-02 3.25419177e+01] [ 5.35299901e-02 1.66187144e-03 9.98564859e-01 9.76495022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.270385723 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:32.56, Z:9.77 [[ 9.09424283e-01 -4.13095026e-01 -4.79580361e-02 1.80831602e+02] [ 4.12411037e-01 9.10685944e-01 -2.38379611e-02 3.25647742e+01] [ 5.35220525e-02 1.90039733e-03 9.98564859e-01 9.76725658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.330385723 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:32.59, Z:9.77 [[ 9.10634929e-01 -4.10420086e-01 -4.79518415e-02 1.80884137e+02] [ 4.09731737e-01 9.11894216e-01 -2.38504154e-02 3.25909753e+01] [ 5.35156965e-02 2.07163006e-03 9.98564859e-01 9.76616099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.390385723 meters Centerline goodness : 0.999796 with order 1 Centerline is valid? [True, True] Translation: X:180.94, Y:32.62, Z:9.77 [[ 9.10286590e-01 -4.11192472e-01 -4.79486699e-02 1.80936529e+02] [ 4.10504857e-01 9.11546278e-01 -2.38567900e-02 3.26162944e+01] [ 5.35171640e-02 2.03335415e-03 9.98564860e-01 9.77131675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.450385723 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:180.99, Y:32.64, Z:9.77 [[ 9.09661739e-01 -4.12573805e-01 -4.79413731e-02 1.80988245e+02] [ 4.11887331e-01 9.10922050e-01 -2.38714441e-02 3.26402748e+01] [ 5.35195864e-02 1.96849514e-03 9.98564860e-01 9.77309641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.510385723 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:181.04, Y:32.66, Z:9.78 [[ 9.08614662e-01 -4.14875228e-01 -4.79368542e-02 1.81040673e+02] [ 4.14191469e-01 9.09876447e-01 -2.38805152e-02 3.26648323e+01] [ 5.35240488e-02 1.84315015e-03 9.98564860e-01 9.77697575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57038572300002 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:181.09, Y:32.69, Z:9.78 [[ 9.06687450e-01 -4.19071050e-01 -4.79304007e-02 1.81094443e+02] [ 4.18392447e-01 9.07952016e-01 -2.38934609e-02 3.26882859e+01] [ 5.35315617e-02 1.61018351e-03 9.98564860e-01 9.78023980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63038572300002 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:181.15, Y:32.71, Z:9.79 [[ 9.06225890e-01 -4.20068871e-01 -4.79247309e-02 1.81147732e+02] [ 4.19391061e-01 9.07490880e-01 -2.39048279e-02 3.27123774e+01] [ 5.35329303e-02 1.56397021e-03 9.98564860e-01 9.78990479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69038572300002 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:181.20, Y:32.75, Z:9.79 [[ 9.01673874e-01 -4.29753431e-01 -4.79188295e-02 1.81195648e+02] [ 4.29088583e-01 9.02945725e-01 -2.39166519e-02 3.27475715e+01] [ 5.35463654e-02 1.00359754e-03 9.98564860e-01 9.78789032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.750385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:181.25, Y:32.76, Z:9.80 [[ 9.05728836e-01 -4.21140994e-01 -4.79117799e-02 1.81250154e+02] [ 4.20463310e-01 9.06993894e-01 -2.39307659e-02 3.27643075e+01] [ 5.35339183e-02 1.52963923e-03 9.98564860e-01 9.79579734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.810385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:181.30, Y:32.80, Z:9.79 [[ 9.03098176e-01 -4.26753553e-01 -4.79070931e-02 1.81297852e+02] [ 4.26083235e-01 9.04367152e-01 -2.39401447e-02 3.27991975e+01] [ 5.35421432e-02 1.20789180e-03 9.98564860e-01 9.79429466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.870385723 meters Centerline goodness : 0.995773 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:32.82, Z:9.79 [[ 9.07108351e-01 -4.18162654e-01 -4.79002558e-02 1.81353856e+02] [ 4.17479601e-01 9.08370518e-01 -2.39538172e-02 3.28181750e+01] [ 5.35277719e-02 1.73132790e-03 9.98564860e-01 9.79065460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.930385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:181.41, Y:32.85, Z:9.80 [[ 9.06666890e-01 -4.19119274e-01 -4.78976534e-02 1.81405730e+02] [ 4.18437279e-01 9.07929628e-01 -2.39590198e-02 3.28459617e+01] [ 5.35293856e-02 1.68068622e-03 9.98564860e-01 9.79996224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.990385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:181.46, Y:32.88, Z:9.81 [[ 9.04147615e-01 -4.24527520e-01 -4.78902412e-02 1.81455824e+02] [ 4.23852295e-01 9.05413987e-01 -2.39738265e-02 3.28766489e+01] [ 5.35380433e-02 1.37748936e-03 9.98564860e-01 9.80731138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:32.90, Z:9.81 [[ 9.03190853e-01 -4.26559972e-01 -4.78839623e-02 1.81507876e+02] [ 4.25886933e-01 9.04458387e-01 -2.39863610e-02 3.29035667e+01] [ 5.35406728e-02 1.27110801e-03 9.98564861e-01 9.81345922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.110385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:181.56, Y:32.93, Z:9.82 [[ 9.03287622e-01 -4.26355708e-01 -4.78777772e-02 1.81560612e+02] [ 4.25681729e-01 9.04554657e-01 -2.39987004e-02 3.29274422e+01] [ 5.35400493e-02 1.29703399e-03 9.98564861e-01 9.81861824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.170385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:181.61, Y:32.96, Z:9.82 [[ 9.02168020e-01 -4.28720445e-01 -4.78711105e-02 1.81610732e+02] [ 4.28049082e-01 9.03436443e-01 -2.40119914e-02 3.29576869e+01] [ 5.35429375e-02 1.17166580e-03 9.98564861e-01 9.81936219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.230385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:181.66, Y:32.99, Z:9.82 [[ 9.03322836e-01 -4.26282094e-01 -4.78688917e-02 1.81662911e+02] [ 4.25607073e-01 9.04589316e-01 -2.40164139e-02 3.29859278e+01] [ 5.35394552e-02 1.32123627e-03 9.98564861e-01 9.82128536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:33.01, Z:9.82 [[ 9.05482388e-01 -4.21676160e-01 -4.78629386e-02 1.81717148e+02] [ 4.20994073e-01 9.06745076e-01 -2.40282720e-02 3.30080898e+01] [ 5.35316334e-02 1.60716366e-03 9.98564861e-01 9.82014388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:33.04, Z:9.83 [[ 9.04502179e-01 -4.23775312e-01 -4.78569987e-02 1.81765468e+02] [ 4.23095530e-01 9.05766110e-01 -2.40400967e-02 3.30413664e+01] [ 5.35348471e-02 1.49623761e-03 9.98564861e-01 9.82610390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:33.07, Z:9.83 [[ 9.05492093e-01 -4.21656234e-01 -4.78548818e-02 1.81815161e+02] [ 4.20973272e-01 9.06754308e-01 -2.40443101e-02 3.30710497e+01] [ 5.35310534e-02 1.62630651e-03 9.98564861e-01 9.82612941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:33.09, Z:9.83 [[ 9.08051468e-01 -4.16116132e-01 -4.78528637e-02 1.81871354e+02] [ 4.15425260e-01 9.09309370e-01 -2.40483258e-02 3.30902908e+01] [ 5.35199537e-02 1.95782916e-03 9.98564861e-01 9.83313631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:33.12, Z:9.84 [[ 9.07546085e-01 -4.17217859e-01 -4.78472728e-02 1.81923747e+02] [ 4.16527929e-01 9.08804505e-01 -2.40594444e-02 3.31171177e+01] [ 5.35218470e-02 1.90532917e-03 9.98564861e-01 9.83975318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.97, Y:33.15, Z:9.84 [[ 9.06616711e-01 -4.19234223e-01 -4.78414724e-02 1.81974614e+02] [ 4.18546484e-01 9.07876329e-01 -2.40709729e-02 3.31466254e+01] [ 5.35255159e-02 1.79926623e-03 9.98564861e-01 9.84496673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.650385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:182.03, Y:33.17, Z:9.85 [[ 9.05577199e-01 -4.21475608e-01 -4.78356462e-02 1.82026767e+02] [ 4.20790377e-01 9.06838183e-01 -2.40825456e-02 3.31744295e+01] [ 5.35293960e-02 1.67982459e-03 9.98564861e-01 9.84616047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.08, Y:33.20, Z:9.85 [[ 9.04136954e-01 -4.24557051e-01 -4.78296982e-02 1.82078662e+02] [ 4.23875493e-01 9.05399927e-01 -2.40943529e-02 3.32027971e+01] [ 5.35344327e-02 1.51075788e-03 9.98564861e-01 9.84908866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.13, Y:33.23, Z:9.85 [[ 9.00852353e-01 -4.31483398e-01 -4.78237989e-02 1.82128212e+02] [ 4.30810932e-01 9.02120191e-01 -2.41060564e-02 3.32342282e+01] [ 5.35441778e-02 1.11298222e-03 9.98564861e-01 9.85403104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:33.26, Z:9.86 [[ 8.99843998e-01 -4.33582546e-01 -4.78221077e-02 1.82182220e+02] [ 4.32912860e-01 9.01113307e-01 -2.41094111e-02 3.32583301e+01] [ 5.35465575e-02 9.91903410e-04 9.98564861e-01 9.85816768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.23, Y:33.29, Z:9.86 [[ 8.98687721e-01 -4.35974762e-01 -4.78161817e-02 1.82233368e+02] [ 4.35307830e-01 8.99958478e-01 -2.41211584e-02 3.32859003e+01] [ 5.35487944e-02 8.62630536e-04 9.98564861e-01 9.86208078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.29, Y:33.31, Z:9.87 [[ 8.97496992e-01 -4.38420987e-01 -4.78140913e-02 1.82285482e+02] [ 4.37757298e-01 8.98769446e-01 -2.41253014e-02 3.33134911e+01] [ 5.35508828e-02 7.21418019e-04 9.98564861e-01 9.86745879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:33.34, Z:9.87 [[ 8.97005855e-01 -4.39425617e-01 -4.78081962e-02 1.82335276e+02] [ 4.38762731e-01 8.98278727e-01 -2.41369777e-02 3.33436386e+01] [ 5.35514920e-02 6.74555565e-04 9.98564862e-01 9.86930402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.39, Y:33.37, Z:9.87 [[ 8.97266103e-01 -4.38894703e-01 -4.78014694e-02 1.82385943e+02] [ 4.38230355e-01 8.98538213e-01 -2.41502925e-02 3.33731845e+01] [ 5.35508823e-02 7.21183922e-04 9.98564862e-01 9.86958241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:33.40, Z:9.87 [[ 8.97774402e-01 -4.37854657e-01 -4.77956330e-02 1.82437767e+02] [ 4.37188221e-01 8.99045419e-01 -2.41618377e-02 3.34009601e+01] [ 5.35498180e-02 7.96191665e-04 9.98564862e-01 9.87030625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.49, Y:33.43, Z:9.87 [[ 8.96978169e-01 -4.39484126e-01 -4.77898180e-02 1.82487060e+02] [ 4.38819386e-01 8.98250074e-01 -2.41733337e-02 3.34326610e+01] [ 5.35510040e-02 7.11853932e-04 9.98564862e-01 9.87424768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:33.46, Z:9.88 [[ 8.96700021e-01 -4.40051987e-01 -4.77841028e-02 1.82539077e+02] [ 4.39387451e-01 8.97972033e-01 -2.41846259e-02 3.34611352e+01] [ 5.35512806e-02 6.90619425e-04 9.98564862e-01 9.87738899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:182.59, Y:33.49, Z:9.88 [[ 8.97049358e-01 -4.39340021e-01 -4.77786078e-02 1.82592829e+02] [ 4.38673897e-01 8.98320539e-01 -2.41954767e-02 3.34852005e+01] [ 5.35505460e-02 7.45308746e-04 9.98564862e-01 9.88026397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.64, Y:33.52, Z:9.88 [[ 8.96317206e-01 -4.40832448e-01 -4.77725670e-02 1.82643819e+02] [ 4.40167806e-01 8.97589162e-01 -2.42073982e-02 3.35155490e+01] [ 5.35515450e-02 6.69561536e-04 9.98564862e-01 9.88105072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:33.54, Z:9.89 [[ 8.97597511e-01 -4.38220358e-01 -4.77663598e-02 1.82695816e+02] [ 4.37551364e-01 8.98867183e-01 -2.42196400e-02 3.35400820e+01] [ 5.35491527e-02 8.39252750e-04 9.98564862e-01 9.88627033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.75, Y:33.57, Z:9.89 [[ 8.97866386e-01 -4.37669437e-01 -4.77641850e-02 1.82746697e+02] [ 4.36999435e-01 8.99135527e-01 -2.42239283e-02 3.35703890e+01] [ 5.35485487e-02 8.76929117e-04 9.98564862e-01 9.88584024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.550385723 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:182.80, Y:33.60, Z:9.89 [[ 9.01272407e-01 -4.30612588e-01 -4.77582222e-02 1.82796812e+02] [ 4.29932029e-01 9.02535918e-01 -2.42356785e-02 3.35992855e+01] [ 5.35396991e-02 1.31015892e-03 9.98564862e-01 9.88542194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.610385723 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:33.63, Z:9.89 [[ 8.99537087e-01 -4.34226187e-01 -4.77561210e-02 1.82849313e+02] [ 4.33550484e-01 9.00803202e-01 -2.42398182e-02 3.36251929e+01] [ 5.35444305e-02 1.09992607e-03 9.98564862e-01 9.89115270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.670385723 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:182.90, Y:33.65, Z:9.89 [[ 9.00118351e-01 -4.33020671e-01 -4.77498911e-02 1.82900810e+02] [ 4.32342623e-01 9.01383211e-01 -2.42520843e-02 3.36524966e+01] [ 5.35426039e-02 1.18543298e-03 9.98564862e-01 9.89250924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.730385723 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:182.95, Y:33.68, Z:9.90 [[ 9.01193455e-01 -4.30778961e-01 -4.77477064e-02 1.82951985e+02] [ 4.30097539e-01 9.02456500e-01 -2.42563847e-02 3.36807973e+01] [ 5.35393682e-02 1.32352410e-03 9.98564862e-01 9.89665193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.790385723 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:183.00, Y:33.71, Z:9.90 [[ 9.02889731e-01 -4.27213011e-01 -4.77407193e-02 1.83004548e+02] [ 4.26525875e-01 9.04149677e-01 -2.42701288e-02 3.37060894e+01] [ 5.35332707e-02 1.55059801e-03 9.98564862e-01 9.90139568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85038572300002 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:33.74, Z:9.91 [[ 9.03830772e-01 -4.25219339e-01 -4.77331081e-02 1.83053505e+02] [ 4.24528635e-01 9.05088765e-01 -2.42850889e-02 3.37370996e+01] [ 5.35291893e-02 1.68553945e-03 9.98564863e-01 9.90920749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91038572300002 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:183.11, Y:33.77, Z:9.90 [[ 9.05000425e-01 -4.22724524e-01 -4.77305759e-02 1.83105193e+02] [ 4.22030090e-01 9.06256363e-01 -2.42900647e-02 3.37654029e+01] [ 5.35241441e-02 1.83877964e-03 9.98564863e-01 9.90008659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.970385723 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:183.16, Y:33.79, Z:9.91 [[ 9.05434337e-01 -4.21794560e-01 -4.77285134e-02 1.83155574e+02] [ 4.21098623e-01 9.06689443e-01 -2.42941166e-02 3.37938213e+01] [ 5.35220655e-02 1.89831612e-03 9.98564863e-01 9.91291773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.030385723 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:33.82, Z:9.91 [[ 9.04902940e-01 -4.22934168e-01 -4.77216826e-02 1.83209112e+02] [ 4.22239106e-01 9.06158530e-01 -2.43075273e-02 3.38178724e+01] [ 5.35238936e-02 1.84599235e-03 9.98564863e-01 9.91335048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.090385723 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:33.85, Z:9.91 [[ 9.02927894e-01 -4.27135183e-01 -4.77153424e-02 1.83259489e+02] [ 4.26445307e-01 9.04186341e-01 -2.43199665e-02 3.38468079e+01] [ 5.35314742e-02 1.61119232e-03 9.98564863e-01 9.91376390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.150385723 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:183.31, Y:33.88, Z:9.92 [[ 9.02540708e-01 -4.27952975e-01 -4.77129050e-02 1.83310543e+02] [ 4.27263987e-01 9.03799642e-01 -2.43247475e-02 3.38753328e+01] [ 5.35327545e-02 1.56806878e-03 9.98564863e-01 9.92085135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.210385723 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:33.90, Z:9.92 [[ 9.01934705e-01 -4.29229374e-01 -4.77067268e-02 1.83361940e+02] [ 4.28541527e-01 9.03194263e-01 -2.43368584e-02 3.39015963e+01] [ 5.35345365e-02 1.50594367e-03 9.98564863e-01 9.91971902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.270385723 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:183.41, Y:33.93, Z:9.93 [[ 9.01472303e-01 -4.30200365e-01 -4.77004470e-02 1.83413055e+02] [ 4.29513225e-01 9.02732246e-01 -2.43491606e-02 3.39286285e+01] [ 5.35357495e-02 1.46212107e-03 9.98564863e-01 9.92728022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.330385723 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:33.96, Z:9.93 [[ 9.00151303e-01 -4.32957861e-01 -4.76982323e-02 1.83465585e+02] [ 4.32274351e-01 9.01413220e-01 -2.43534983e-02 3.39553205e+01] [ 5.35398557e-02 1.30311081e-03 9.98564863e-01 9.92559727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.390385723 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:33.98, Z:9.93 [[ 8.99952918e-01 -4.33370773e-01 -4.76919112e-02 1.83519899e+02] [ 4.32687187e-01 9.01214793e-01 -2.43658708e-02 3.39776994e+01] [ 5.35401122e-02 1.29245759e-03 9.98564863e-01 9.92731819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.450385723 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:34.00, Z:9.94 [[ 8.99474974e-01 -4.34362690e-01 -4.76846320e-02 1.83570850e+02] [ 4.33679741e-01 9.00737194e-01 -2.43801082e-02 3.40032859e+01] [ 5.35411310e-02 1.24943833e-03 9.98564863e-01 9.93765613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.510385723 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:34.03, Z:9.93 [[ 8.96454846e-01 -4.40562272e-01 -4.76822105e-02 1.83625223e+02] [ 4.39887802e-01 8.97721617e-01 -2.43848431e-02 3.40279174e+01] [ 5.35483930e-02 8.85088016e-04 9.98564863e-01 9.93282408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57038572300002 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:183.68, Y:34.05, Z:9.94 [[ 8.97201674e-01 -4.39040030e-01 -4.76760770e-02 1.83678829e+02] [ 4.38362774e-01 8.98466957e-01 -2.43968292e-02 3.40503807e+01] [ 5.35465644e-02 9.89458636e-04 9.98564863e-01 9.94368588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63038572300002 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:183.73, Y:34.08, Z:9.94 [[ 8.98206324e-01 -4.36981717e-01 -4.76694673e-02 1.83733001e+02] [ 4.36300877e-01 8.99469682e-01 -2.44097372e-02 3.40751358e+01] [ 5.35438495e-02 1.12674993e-03 9.98564864e-01 9.94265150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69038572300002 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:183.78, Y:34.10, Z:9.95 [[ 8.98181096e-01 -4.37034325e-01 -4.76625384e-02 1.83784226e+02] [ 4.36352842e-01 8.99444107e-01 -2.44232591e-02 3.41002750e+01] [ 5.35435919e-02 1.13882550e-03 9.98564864e-01 9.95083384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.750385723 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:183.84, Y:34.13, Z:9.95 [[ 8.96656186e-01 -4.40154769e-01 -4.76598748e-02 1.83835291e+02] [ 4.39477405e-01 8.97921411e-01 -2.44284558e-02 3.41291758e+01] [ 5.35471234e-02 9.58487881e-04 9.98564864e-01 9.94962494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.810385723 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:183.89, Y:34.15, Z:9.95 [[ 8.96624114e-01 -4.40220775e-01 -4.76536227e-02 1.83888312e+02] [ 4.39542857e-01 8.97889042e-01 -2.44406460e-02 3.41537769e+01] [ 5.35469457e-02 9.68263069e-04 9.98564864e-01 9.95311812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.870385723 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:34.18, Z:9.96 [[ 8.94890833e-01 -4.43734309e-01 -4.76472474e-02 1.83941224e+02] [ 4.43060697e-01 8.96158059e-01 -2.44530683e-02 3.41759778e+01] [ 5.35501301e-02 7.72204059e-04 9.98564864e-01 9.95797887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.930385723 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:34.20, Z:9.96 [[ 8.93823572e-01 -4.45880735e-01 -4.76423371e-02 1.83993965e+02] [ 4.45209656e-01 8.95092142e-01 -2.44626314e-02 3.41989917e+01] [ 5.35516976e-02 6.54448046e-04 9.98564864e-01 9.96302944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.990385723 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:34.22, Z:9.97 [[ 8.93943232e-01 -4.45641015e-01 -4.76401476e-02 1.84046475e+02] [ 4.44969369e-01 8.95211501e-01 -2.44668946e-02 3.42238329e+01] [ 5.35514598e-02 6.73608416e-04 9.98564864e-01 9.96544350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.050385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:184.10, Y:34.25, Z:9.97 [[ 8.93973931e-01 -4.45579658e-01 -4.76379951e-02 1.84099151e+02] [ 4.44907702e-01 8.95242036e-01 -2.44710850e-02 3.42482004e+01] [ 5.35513534e-02 6.82001164e-04 9.98564864e-01 9.97237953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:184.15, Y:34.27, Z:9.97 [[ 8.96150358e-01 -4.41186863e-01 -4.76307414e-02 1.84150521e+02] [ 4.40507941e-01 8.97414748e-01 -2.44851955e-02 3.42732569e+01] [ 5.35470764e-02 9.60696902e-04 9.98564864e-01 9.97101973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.170385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:184.20, Y:34.30, Z:9.98 [[ 8.98872581e-01 -4.35614348e-01 -4.76258679e-02 1.84202844e+02] [ 4.34927088e-01 9.00132457e-01 -2.44946713e-02 3.42990137e+01] [ 5.35398197e-02 1.30380837e-03 9.98564864e-01 9.97675760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.230385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:184.25, Y:34.32, Z:9.98 [[ 9.00032787e-01 -4.33212825e-01 -4.76196509e-02 1.84254098e+02] [ 4.32521564e-01 9.01290473e-01 -2.45067517e-02 3.43248352e+01] [ 5.35357768e-02 1.46035421e-03 9.98564864e-01 9.97789135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.290385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:34.35, Z:9.98 [[ 8.99536904e-01 -4.34241889e-01 -4.76165948e-02 1.84307709e+02] [ 4.33551753e-01 9.00795207e-01 -2.45126882e-02 3.43483120e+01] [ 5.35372364e-02 1.40580951e-03 9.98564864e-01 9.98272216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.36, Y:34.37, Z:9.98 [[ 8.98578999e-01 -4.36221412e-01 -4.76094680e-02 1.84359722e+02] [ 4.35533316e-01 8.99838419e-01 -2.45265224e-02 3.43735387e+01] [ 5.35398226e-02 1.30350850e-03 9.98564864e-01 9.98454364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.41, Y:34.40, Z:9.99 [[ 8.97524841e-01 -4.38386481e-01 -4.76072867e-02 1.84411980e+02] [ 4.37701198e-01 8.98785794e-01 -2.45307556e-02 3.43963829e+01] [ 5.35427046e-02 1.17919602e-03 9.98564864e-01 9.98796255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.47, Y:34.42, Z:9.99 [[ 8.96906263e-01 -4.39651160e-01 -4.76026486e-02 1.84465761e+02] [ 4.38967178e-01 8.98167922e-01 -2.45397527e-02 3.44204848e+01] [ 5.35441027e-02 1.11385753e-03 9.98564864e-01 9.99191619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.530385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:184.52, Y:34.44, Z:10.00 [[ 8.95959795e-01 -4.41577405e-01 -4.75966484e-02 1.84518182e+02] [ 4.40895518e-01 8.97222587e-01 -2.45513851e-02 3.44439377e+01] [ 5.35461249e-02 1.01190502e-03 9.98564864e-01 9.99508929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.57, Y:34.47, Z:10.00 [[ 8.94359059e-01 -4.44810876e-01 -4.75936874e-02 1.84570700e+02] [ 4.44133250e-01 8.95624142e-01 -2.45571238e-02 3.44710738e+01] [ 5.35493312e-02 8.24947095e-04 9.98564864e-01 9.99908278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.62, Y:34.50, Z:10.00 [[ 8.95161078e-01 -4.43195290e-01 -4.75875990e-02 1.84622235e+02] [ 4.42514754e-01 8.96424598e-01 -2.45689163e-02 3.44983133e+01] [ 5.35475223e-02 9.34922877e-04 9.98564865e-01 1.00004244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:34.53, Z:10.01 [[ 8.96040927e-01 -4.41413954e-01 -4.75854763e-02 1.84674460e+02] [ 4.40730688e-01 8.97302974e-01 -2.45730269e-02 3.45256456e+01] [ 5.35454664e-02 1.04605814e-03 9.98564865e-01 1.00052850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:34.55, Z:10.01 [[ 8.97255133e-01 -4.38941278e-01 -4.75791974e-02 1.84726064e+02] [ 4.38253890e-01 8.98514940e-01 -2.45851783e-02 3.45516353e+01] [ 5.35420693e-02 1.20740911e-03 9.98564865e-01 1.00080568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.830385723 meters Centerline goodness : 0.997419 with order 1 Centerline is valid? [True, True] Translation: X:184.78, Y:34.58, Z:10.01 [[ 8.98920524e-01 -4.35520749e-01 -4.75769837e-02 1.84777484e+02] [ 4.34828342e-01 9.00177578e-01 -2.45894615e-02 3.45800897e+01] [ 5.35369547e-02 1.41615071e-03 9.98564865e-01 1.00071522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.83, Y:34.61, Z:10.02 [[ 8.99376697e-01 -4.34578859e-01 -4.75686056e-02 1.84828690e+02] [ 4.33884279e-01 9.00632552e-01 -2.46056585e-02 3.46090317e+01] [ 5.35349336e-02 1.49048573e-03 9.98564865e-01 1.00180941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:34.64, Z:10.02 [[ 8.99485506e-01 -4.34354492e-01 -4.75604773e-02 1.84880274e+02] [ 4.33658770e-01 9.00740729e-01 -2.46213597e-02 3.46372057e+01] [ 5.35340572e-02 1.52153807e-03 9.98564865e-01 1.00201183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.93, Y:34.66, Z:10.02 [[ 8.99788231e-01 -4.33727723e-01 -4.75541963e-02 1.84932571e+02] [ 4.33030486e-01 9.01042612e-01 -2.46334850e-02 3.46613841e+01] [ 5.35325826e-02 1.57250314e-03 9.98564865e-01 1.00221580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:34.69, Z:10.03 [[ 8.99076681e-01 -4.35201023e-01 -4.75519773e-02 1.84984066e+02] [ 4.34505615e-01 9.00332078e-01 -2.46377678e-02 3.46891673e+01] [ 5.35349523e-02 1.48964132e-03 9.98564865e-01 1.00264829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:34.72, Z:10.03 [[ 8.99191688e-01 -4.34964008e-01 -4.75459691e-02 1.85036506e+02] [ 4.34267658e-01 9.00446562e-01 -2.46493570e-02 3.47164371e+01] [ 5.35341875e-02 1.51682026e-03 9.98564865e-01 1.00316700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19038572300002 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:34.74, Z:10.03 [[ 9.00236446e-01 -4.32798257e-01 -4.75395728e-02 1.85090810e+02] [ 4.32098237e-01 9.01489276e-01 -2.46616870e-02 3.47409253e+01] [ 5.35299502e-02 1.65958387e-03 9.98564865e-01 1.00291657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.14, Y:34.77, Z:10.04 [[ 8.98611184e-01 -4.36163507e-01 -4.75324659e-02 1.85141963e+02] [ 4.35467456e-01 8.99866224e-01 -2.46753771e-02 3.47678118e+01] [ 5.35353596e-02 1.47472784e-03 9.98564865e-01 1.00351517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.20, Y:34.79, Z:10.04 [[ 8.98440083e-01 -4.36516142e-01 -4.75297338e-02 1.85195006e+02] [ 4.35820306e-01 8.99695241e-01 -2.46806384e-02 3.47945427e+01] [ 5.35357724e-02 1.45965164e-03 9.98564865e-01 1.00379599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:34.82, Z:10.04 [[ 8.98828728e-01 -4.35715920e-01 -4.75242551e-02 1.85247192e+02] [ 4.35018409e-01 9.00082957e-01 -2.46911837e-02 3.48217950e+01] [ 5.35341138e-02 1.51921937e-03 9.98564866e-01 1.00410542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.30, Y:34.85, Z:10.04 [[ 8.97087044e-01 -4.39291307e-01 -4.75182405e-02 1.85297198e+02] [ 4.38598183e-01 8.98343702e-01 -2.47027533e-02 3.48536382e+01] [ 5.35394169e-02 1.31910594e-03 9.98564866e-01 1.00427392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:34.88, Z:10.04 [[ 8.95439027e-01 -4.42641585e-01 -4.75118499e-02 1.85348484e+02] [ 4.41952513e-01 8.96697911e-01 -2.47150385e-02 3.48813863e+01] [ 5.35436804e-02 1.13282861e-03 9.98564866e-01 1.00440733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.40, Y:34.90, Z:10.05 [[ 8.96454333e-01 -4.40581967e-01 -4.75095713e-02 1.85403009e+02] [ 4.39889770e-01 8.97711502e-01 -2.47194179e-02 3.49025291e+01] [ 5.35408184e-02 1.26085489e-03 9.98564866e-01 1.00514715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.45, Y:34.93, Z:10.06 [[ 8.95967602e-01 -4.41571135e-01 -4.75077743e-02 1.85454687e+02] [ 4.40880143e-01 8.97225434e-01 -2.47228710e-02 3.49287209e+01] [ 5.35420896e-02 1.20565709e-03 9.98564866e-01 1.00558208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:185.51, Y:34.96, Z:10.06 [[ 8.93153646e-01 -4.47236213e-01 -4.75008934e-02 1.85505511e+02] [ 4.46552498e-01 8.94415447e-01 -2.47360844e-02 3.49598141e+01] [ 5.35484056e-02 8.81481351e-04 9.98564866e-01 1.00559166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:34.98, Z:10.07 [[ 8.94420634e-01 -4.44697113e-01 -4.74995468e-02 1.85559515e+02] [ 4.44009678e-01 8.95680414e-01 -2.47386700e-02 3.49809168e+01] [ 5.35456289e-02 1.03651844e-03 9.98564866e-01 1.00664339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.61, Y:35.01, Z:10.07 [[ 8.94261822e-01 -4.45016623e-01 -4.74973586e-02 1.85609751e+02] [ 4.44329416e-01 8.95521725e-01 -2.47428706e-02 3.50071753e+01] [ 5.35459052e-02 1.02213098e-03 9.98564866e-01 1.00695520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:35.03, Z:10.07 [[ 8.94139021e-01 -4.45263810e-01 -4.74926353e-02 1.85660647e+02] [ 4.44576470e-01 8.95398852e-01 -2.47519333e-02 3.50346988e+01] [ 5.35459913e-02 1.01756131e-03 9.98564866e-01 1.00727111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:35.06, Z:10.08 [[ 8.93256166e-01 -4.47033023e-01 -4.74857720e-02 1.85712798e+02] [ 4.46347479e-01 8.94516975e-01 -2.47650934e-02 3.50628278e+01] [ 5.35476437e-02 9.26417787e-04 9.98564866e-01 1.00764012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.76, Y:35.09, Z:10.08 [[ 8.92040931e-01 -4.49453728e-01 -4.74797207e-02 1.85764187e+02] [ 4.48770989e-01 8.93303260e-01 -2.47766895e-02 3.50899221e+01] [ 5.35497648e-02 7.94299976e-04 9.98564866e-01 1.00801509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.030385723 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:185.82, Y:35.12, Z:10.08 [[ 8.90366582e-01 -4.52762285e-01 -4.74727636e-02 1.85815422e+02] [ 4.52083527e-01 8.91631056e-01 -2.47900124e-02 3.51172437e+01] [ 5.35521730e-02 6.10544205e-04 9.98564866e-01 1.00785697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:185.87, Y:35.14, Z:10.08 [[ 8.89866173e-01 -4.53745229e-01 -4.74706394e-02 1.85866983e+02] [ 4.53067650e-01 8.91131280e-01 -2.47940793e-02 3.51446408e+01] [ 5.35527669e-02 5.56001419e-04 9.98564866e-01 1.00824793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.92, Y:35.17, Z:10.09 [[ 8.89725643e-01 -4.54021345e-01 -4.74647190e-02 1.85918734e+02] [ 4.53343554e-01 8.90990636e-01 -2.48054080e-02 3.51727084e+01] [ 5.35528049e-02 5.52183127e-04 9.98564866e-01 1.00874612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.97, Y:35.20, Z:10.09 [[ 8.89212859e-01 -4.55025451e-01 -4.74587349e-02 1.85970171e+02] [ 4.54348478e-01 8.90478290e-01 -2.48168518e-02 3.52011786e+01] [ 5.35532722e-02 5.04659749e-04 9.98564866e-01 1.00914713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.270385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:35.23, Z:10.09 [[ 8.88542465e-01 -4.56333781e-01 -4.74527987e-02 1.86020623e+02] [ 4.55658066e-01 8.89808568e-01 -2.48281972e-02 3.52295222e+01] [ 5.35538520e-02 4.38657047e-04 9.98564866e-01 1.00929657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:35.26, Z:10.10 [[ 8.88379370e-01 -4.56651424e-01 -4.74507231e-02 1.86071858e+02] [ 4.55975949e-01 8.89645602e-01 -2.48321635e-02 3.52590721e+01] [ 5.35539699e-02 4.23993300e-04 9.98564866e-01 1.00988743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:35.29, Z:10.10 [[ 8.87839970e-01 -4.57699894e-01 -4.74446554e-02 1.86122187e+02] [ 4.57025296e-01 8.89106668e-01 -2.48437511e-02 3.52886626e+01] [ 5.35543417e-02 3.73867523e-04 9.98564867e-01 1.00982576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:35.32, Z:10.10 [[ 8.87492952e-01 -4.58372631e-01 -4.74425119e-02 1.86173058e+02] [ 4.57698774e-01 8.88760045e-01 -2.48478437e-02 3.53177685e+01] [ 5.35545805e-02 3.37906600e-04 9.98564867e-01 1.01036998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.22, Y:35.35, Z:10.11 [[ 8.87801792e-01 -4.57774772e-01 -4.74366561e-02 1.86223024e+02] [ 4.57099465e-01 8.89068112e-01 -2.48590179e-02 3.53473506e+01] [ 5.35542496e-02 3.86610483e-04 9.98564867e-01 1.01068828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:35.38, Z:10.11 [[ 8.88895578e-01 -4.55647464e-01 -4.74345927e-02 1.86273080e+02] [ 4.54968916e-01 8.90160165e-01 -2.48629546e-02 3.53762772e+01] [ 5.35531271e-02 5.19305248e-04 9.98564867e-01 1.01104981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63038572300002 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:186.32, Y:35.41, Z:10.11 [[ 8.90936757e-01 -4.51643996e-01 -4.74277901e-02 1.86323657e+02] [ 4.50959076e-01 8.92197904e-01 -2.48759242e-02 3.54055996e+01] [ 5.35500368e-02 7.74882764e-04 9.98564867e-01 1.01131976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69038572300002 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:186.37, Y:35.44, Z:10.11 [[ 8.92930739e-01 -4.47689566e-01 -4.74209663e-02 1.86373887e+02] [ 4.46998371e-01 8.94188458e-01 -2.48889257e-02 3.54352662e+01] [ 5.35457930e-02 1.02699215e-03 9.98564867e-01 1.01126773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:35.46, Z:10.12 [[ 8.95548693e-01 -4.42429644e-01 -4.74188595e-02 1.86424788e+02] [ 4.41730850e-01 8.96802206e-01 -2.48929390e-02 3.54629401e+01] [ 5.35387119e-02 1.34646583e-03 9.98564867e-01 1.01189764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.48, Y:35.49, Z:10.12 [[ 8.97033792e-01 -4.39411536e-01 -4.74117958e-02 1.86475197e+02] [ 4.38707816e-01 8.98284545e-01 -2.49063854e-02 3.54921643e+01] [ 5.35334365e-02 1.54194389e-03 9.98564867e-01 1.01215563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:35.52, Z:10.13 [[ 8.96727530e-01 -4.40036952e-01 -4.74048286e-02 1.86527610e+02] [ 4.39333404e-01 8.97978381e-01 -2.49196392e-02 3.55194197e+01] [ 5.35340733e-02 1.51960181e-03 9.98564867e-01 1.01250411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.930385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:35.55, Z:10.13 [[ 8.95459069e-01 -4.42613169e-01 -4.73987110e-02 1.86578801e+02] [ 4.41912605e-01 8.96711593e-01 -2.49312697e-02 3.55457702e+01] [ 5.35378820e-02 1.37884371e-03 9.98564867e-01 1.01254942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.63, Y:35.58, Z:10.13 [[ 8.92294126e-01 -4.48959732e-01 -4.73957030e-02 1.86628485e+02] [ 4.48267775e-01 8.93551425e-01 -2.49369869e-02 3.55774184e+01] [ 5.35462009e-02 1.00516057e-03 9.98564867e-01 1.01265720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.68, Y:35.60, Z:10.13 [[ 8.93484679e-01 -4.46586388e-01 -4.73890934e-02 1.86680616e+02] [ 4.45890426e-01 8.94739766e-01 -2.49495411e-02 3.56006660e+01] [ 5.35430318e-02 1.16168967e-03 9.98564867e-01 1.01339934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.73, Y:35.63, Z:10.14 [[ 8.92151549e-01 -4.49244023e-01 -4.73858682e-02 1.86731395e+02] [ 4.48551475e-01 8.93408523e-01 -2.49556651e-02 3.56276532e+01] [ 5.35461219e-02 1.00923423e-03 9.98564867e-01 1.01377713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.78, Y:35.66, Z:10.14 [[ 8.91358093e-01 -4.50817024e-01 -4.73789092e-02 1.86781389e+02] [ 4.50125992e-01 8.92615901e-01 -2.49688701e-02 3.56566226e+01] [ 5.35475594e-02 9.29725901e-04 9.98564867e-01 1.01387658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.83, Y:35.69, Z:10.13 [[ 8.88996182e-01 -4.55457678e-01 -4.73718457e-02 1.86829464e+02] [ 4.54772499e-01 8.90257188e-01 -2.49822641e-02 3.56898736e+01] [ 5.35514901e-02 6.65724730e-04 9.98564868e-01 1.01348802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.88, Y:35.72, Z:10.14 [[ 8.87783767e-01 -4.57817209e-01 -4.73644071e-02 1.86879942e+02] [ 4.57134630e-01 8.89046181e-01 -2.49963591e-02 3.57176463e+01] [ 5.35529086e-02 5.39451102e-04 9.98564868e-01 1.01387531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:35.75, Z:10.14 [[ 8.86408849e-01 -4.60474387e-01 -4.73570658e-02 1.86929837e+02] [ 4.59794850e-01 8.87672903e-01 -2.50102599e-02 3.57470629e+01] [ 5.35541682e-02 3.94780732e-04 9.98564868e-01 1.01435930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.98, Y:35.78, Z:10.15 [[ 8.85386691e-01 -4.62437460e-01 -4.73497899e-02 1.86978759e+02] [ 4.61759989e-01 8.86651854e-01 -2.50240272e-02 3.57772706e+01] [ 5.35548266e-02 2.91702215e-04 9.98564868e-01 1.01467095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.03, Y:35.81, Z:10.15 [[ 8.85235999e-01 -4.62726182e-01 -4.73466539e-02 1.87026721e+02] [ 4.62048807e-01 8.86501213e-01 -2.50299592e-02 3.58076142e+01] [ 5.35548836e-02 2.80955975e-04 9.98564868e-01 1.01490162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.530385723 meters Centerline goodness : 0.996937 with order 1 Centerline is valid? [True, True] Translation: X:187.08, Y:35.84, Z:10.15 [[ 8.86272904e-01 -4.60737371e-01 -4.73435871e-02 1.87077397e+02] [ 4.60056847e-01 8.87536427e-01 -2.50357586e-02 3.58373122e+01] [ 5.35540677e-02 4.07773061e-04 9.98564868e-01 1.01540403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:35.87, Z:10.16 [[ 8.86743973e-01 -4.59830840e-01 -4.73362833e-02 1.87126447e+02] [ 4.59148288e-01 8.88006402e-01 -2.50495607e-02 3.58676755e+01] [ 5.35534831e-02 4.78173565e-04 9.98564868e-01 1.01575670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.650385723 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:187.17, Y:35.90, Z:10.16 [[ 8.87210002e-01 -4.58931892e-01 -4.73279093e-02 1.87174190e+02] [ 4.58247217e-01 8.88471280e-01 -2.50653723e-02 3.58985373e+01] [ 5.35527869e-02 5.50366329e-04 9.98564868e-01 1.01587158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:187.22, Y:35.93, Z:10.16 [[ 8.87306071e-01 -4.58746912e-01 -4.73202635e-02 1.87222968e+02] [ 4.58061205e-01 8.88566788e-01 -2.50797984e-02 3.59299123e+01] [ 5.35524946e-02 5.77880494e-04 9.98564868e-01 1.01600477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.770385723 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:187.27, Y:35.96, Z:10.16 [[ 8.88361874e-01 -4.56699826e-01 -4.73122687e-02 1.87273850e+02] [ 4.56010410e-01 8.89620567e-01 -2.50948713e-02 3.59589002e+01] [ 5.35507906e-02 7.18439856e-04 9.98564869e-01 1.01621322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:35.99, Z:10.16 [[ 8.90705796e-01 -4.52112334e-01 -4.73035129e-02 1.87322205e+02] [ 4.51415561e-01 8.91960431e-01 -2.51113649e-02 3.59918833e+01] [ 5.35460196e-02 1.01329646e-03 9.98564869e-01 1.01640681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:36.02, Z:10.17 [[ 8.93226111e-01 -4.47113340e-01 -4.72945770e-02 1.87370302e+02] [ 4.46408656e-01 8.94476319e-01 -2.51281835e-02 3.60217069e+01] [ 5.35390252e-02 1.33244105e-03 9.98564869e-01 1.01676389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.950385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:187.42, Y:36.05, Z:10.17 [[ 8.94644912e-01 -4.44267956e-01 -4.72912666e-02 1.87420074e+02] [ 4.43558968e-01 8.95892685e-01 -2.51344121e-02 3.60493892e+01] [ 5.35343137e-02 1.50990846e-03 9.98564869e-01 1.01697126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.47, Y:36.08, Z:10.17 [[ 8.96342819e-01 -4.40832589e-01 -4.72882512e-02 1.87468377e+02] [ 4.40118520e-01 8.97587692e-01 -2.51400841e-02 3.60798226e+01] [ 5.35279206e-02 1.72169873e-03 9.98564869e-01 1.01735128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07038572300002 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:187.52, Y:36.11, Z:10.17 [[ 8.96549159e-01 -4.40413111e-01 -4.72852869e-02 1.87519565e+02] [ 4.39698166e-01 8.97793528e-01 -2.51456583e-02 3.61094993e+01] [ 5.35269022e-02 1.75306483e-03 9.98564869e-01 1.01695434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13038572300002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:187.57, Y:36.14, Z:10.17 [[ 8.95587314e-01 -4.42366387e-01 -4.72794130e-02 1.87569462e+02] [ 4.41653574e-01 8.96832906e-01 -2.51566977e-02 3.61410194e+01] [ 5.35302108e-02 1.64889755e-03 9.98564869e-01 1.01712814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19038572300002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:187.62, Y:36.17, Z:10.18 [[ 8.97669823e-01 -4.38125806e-01 -4.72722671e-02 1.87621607e+02] [ 4.37406405e-01 8.98911621e-01 -2.51701186e-02 3.61653240e+01] [ 5.35212687e-02 1.91726354e-03 9.98564869e-01 1.01801694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.250385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:36.19, Z:10.18 [[ 8.96864122e-01 -4.39773005e-01 -4.72699726e-02 1.87672775e+02] [ 4.39055658e-01 8.98107108e-01 -2.51744270e-02 3.61919032e+01] [ 5.35245318e-02 1.82389148e-03 9.98564869e-01 1.01816952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.310385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:187.72, Y:36.22, Z:10.18 [[ 8.93958462e-01 -4.45650586e-01 -4.72633511e-02 1.87721731e+02] [ 4.44940757e-01 8.95205756e-01 -2.51868523e-02 3.62243404e+01] [ 5.35349594e-02 1.48660852e-03 9.98564869e-01 1.01816647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.370385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:36.25, Z:10.19 [[ 8.93717990e-01 -4.46133440e-01 -4.72557784e-02 1.87774449e+02] [ 4.45423534e-01 8.94965241e-01 -2.52010523e-02 3.62488939e+01] [ 5.35353112e-02 1.47379796e-03 9.98564869e-01 1.01874139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.83, Y:36.27, Z:10.19 [[ 8.92997091e-01 -4.47575462e-01 -4.72482960e-02 1.87825691e+02] [ 4.46866830e-01 8.94245065e-01 -2.52150729e-02 3.62746190e+01] [ 5.35372034e-02 1.40329054e-03 9.98564870e-01 1.01905057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.490385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:187.88, Y:36.30, Z:10.20 [[ 8.90398379e-01 -4.52723568e-01 -4.72450879e-02 1.87876820e+02] [ 4.52021833e-01 8.91650245e-01 -2.52210824e-02 3.63008504e+01] [ 5.35442726e-02 1.10099965e-03 9.98564870e-01 1.01953043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:36.33, Z:10.20 [[ 8.88004275e-01 -4.57402457e-01 -4.72376891e-02 1.87928556e+02] [ 4.56706583e-01 8.89259408e-01 -2.52349324e-02 3.63268598e+01] [ 5.35490795e-02 8.34964236e-04 9.98564870e-01 1.01989214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.98, Y:36.35, Z:10.20 [[ 8.84397929e-01 -4.64337818e-01 -4.72302283e-02 1.87980817e+02] [ 4.63651043e-01 8.85658063e-01 -2.52488884e-02 3.63513538e+01] [ 5.35538463e-02 4.31720008e-04 9.98564870e-01 1.02024192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.03, Y:36.37, Z:10.21 [[ 8.81474696e-01 -4.69864194e-01 -4.72228747e-02 1.88034498e+02] [ 4.69184583e-01 8.82738708e-01 -2.52626344e-02 3.63736630e+01] [ 5.35554667e-02 1.12128228e-04 9.98564870e-01 1.02087132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.730385723 meters Centerline goodness : 0.995325 with order 1 Centerline is valid? [True, True] Translation: X:188.09, Y:36.40, Z:10.21 [[ 8.78137363e-01 -4.76072567e-01 -4.72195085e-02 1.88088391e+02] [ 4.75401554e-01 8.79405961e-01 -2.52689247e-02 3.63979463e+01] [ 5.35549591e-02 -2.58640772e-04 9.98564870e-01 1.02104639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.790385723 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:188.14, Y:36.42, Z:10.21 [[ 8.75813045e-01 -4.80335913e-01 -4.72114467e-02 1.88140794e+02] [ 4.79670263e-01 8.77084465e-01 -2.52839780e-02 3.64239911e+01] [ 5.35532292e-02 -5.01889292e-04 9.98564870e-01 1.02124855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85038572300002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.19, Y:36.45, Z:10.22 [[ 8.75245824e-01 -4.81369511e-01 -4.72032009e-02 1.88191381e+02] [ 4.80704533e-01 8.76517595e-01 -2.52993629e-02 3.64513305e+01] [ 5.35527781e-02 -5.47630915e-04 9.98564870e-01 1.02212752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91038572300002 meters Centerline goodness : 0.996959 with order 1 Centerline is valid? [True, True] Translation: X:188.24, Y:36.48, Z:10.22 [[ 8.77159339e-01 -4.77874056e-01 -4.72004262e-02 1.88244626e+02] [ 4.77203731e-01 8.78428301e-01 -2.53045387e-02 3.64764458e+01] [ 5.35545727e-02 -3.28107081e-04 9.98564870e-01 1.02163494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:36.51, Z:10.22 [[ 8.77129652e-01 -4.77929319e-01 -4.71925848e-02 1.88295281e+02] [ 4.77258288e-01 8.78398239e-01 -2.53191542e-02 3.65059760e+01] [ 5.35546496e-02 -3.14871294e-04 9.98564870e-01 1.02207509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.030385723 meters Centerline goodness : 0.996406 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:36.53, Z:10.22 [[ 8.79147216e-01 -4.74208627e-01 -4.71842286e-02 1.88346413e+02] [ 4.73531392e-01 8.80412502e-01 -2.53347171e-02 3.65318256e+01] [ 5.35555262e-02 -7.02674587e-05 9.98564871e-01 1.02235052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.090385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:188.39, Y:36.56, Z:10.23 [[ 8.79782202e-01 -4.73030439e-01 -4.71750064e-02 1.88394909e+02] [ 4.72350589e-01 8.81046085e-01 -2.53518780e-02 3.65630535e+01] [ 5.35555646e-02 2.09889692e-05 9.98564871e-01 1.02330210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:36.59, Z:10.24 [[ 8.81094217e-01 -4.70582370e-01 -4.71721834e-02 1.88446885e+02] [ 4.69898727e-01 8.82356052e-01 -2.53571297e-02 3.65902044e+01] [ 5.35552797e-02 1.75871407e-04 9.98564871e-01 1.02377915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:36.62, Z:10.24 [[ 8.82641761e-01 -4.67673908e-01 -4.71660542e-02 1.88497574e+02] [ 4.66985499e-01 8.83901002e-01 -2.53685253e-02 3.66177231e+01] [ 5.35543199e-02 3.65456569e-04 9.98564871e-01 1.02416689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.270385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:36.65, Z:10.24 [[ 8.85083088e-01 -4.63037736e-01 -4.71591093e-02 1.88547492e+02] [ 4.62342044e-01 8.86338320e-01 -2.53814289e-02 3.66465028e+01] [ 5.35514852e-02 6.61034530e-04 9.98564871e-01 1.02432111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:36.67, Z:10.25 [[ 8.88193184e-01 -4.57044359e-01 -4.71521178e-02 1.88598924e+02] [ 4.56339508e-01 8.89443296e-01 -2.53944108e-02 3.66724526e+01] [ 5.35455073e-02 1.03776833e-03 9.98564871e-01 1.02471321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.390385723 meters Centerline goodness : 0.997472 with order 1 Centerline is valid? [True, True] Translation: X:188.65, Y:36.70, Z:10.25 [[ 8.90617641e-01 -4.52302495e-01 -4.71452093e-02 1.88652312e+02] [ 4.51590311e-01 8.91863590e-01 -2.54072300e-02 3.66980537e+01] [ 5.35388492e-02 1.33780755e-03 9.98564871e-01 1.02473092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.70, Y:36.73, Z:10.26 [[ 8.91910032e-01 -4.49749452e-01 -4.71372983e-02 1.88702505e+02] [ 4.49032928e-01 8.93153490e-01 -2.54218987e-02 3.67262300e+01] [ 5.35343275e-02 1.50784738e-03 9.98564871e-01 1.02559396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.510385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:188.76, Y:36.75, Z:10.26 [[ 8.92544700e-01 -4.48488908e-01 -4.71344771e-02 1.88755449e+02] [ 4.47770351e-01 8.93786984e-01 -2.54271284e-02 3.67520772e+01] [ 5.35319672e-02 1.58942735e-03 9.98564871e-01 1.02564305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.81, Y:36.78, Z:10.26 [[ 8.93785700e-01 -4.46011265e-01 -4.71282806e-02 1.88807251e+02] [ 4.45288661e-01 8.95025634e-01 -2.54386081e-02 3.67773366e+01] [ 5.35269250e-02 1.75097521e-03 9.98564871e-01 1.02600810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.86, Y:36.81, Z:10.25 [[ 8.90947782e-01 -4.51653828e-01 -4.71261057e-02 1.88858973e+02] [ 4.50938865e-01 8.92192138e-01 -2.54426366e-02 3.68072578e+01] [ 5.35368052e-02 1.41706805e-03 9.98564871e-01 1.02541443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.92, Y:36.82, Z:10.27 [[ 8.93029197e-01 -4.47524984e-01 -4.71194456e-02 1.88916290e+02] [ 4.46803620e-01 8.94269853e-01 -2.54549652e-02 3.68228566e+01] [ 5.35292325e-02 1.67888824e-03 9.98564872e-01 1.02670783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:36.84, Z:10.27 [[ 8.91441043e-01 -4.50680866e-01 -4.71128821e-02 1.88970121e+02] [ 4.49963253e-01 8.92683873e-01 -2.54671074e-02 3.68434398e+01] [ 5.35344480e-02 1.50335908e-03 9.98564872e-01 1.02707886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.02, Y:36.87, Z:10.27 [[ 8.87128361e-01 -4.59112116e-01 -4.71098310e-02 1.89022584e+02] [ 4.58406019e-01 8.88377769e-01 -2.54727501e-02 3.68702016e+01] [ 5.35461747e-02 1.00216893e-03 9.98564872e-01 1.02709324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:36.89, Z:10.28 [[ 8.88236351e-01 -4.56965496e-01 -4.71032966e-02 1.89079195e+02] [ 4.56255740e-01 8.89483684e-01 -2.54848276e-02 3.68861513e+01] [ 5.35433006e-02 1.14540081e-03 9.98564872e-01 1.02787256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:36.91, Z:10.28 [[ 8.86770729e-01 -4.59803402e-01 -4.71010156e-02 1.89133522e+02] [ 4.59097414e-01 8.88020199e-01 -2.54890425e-02 3.69081007e+01] [ 5.35466017e-02 9.78982360e-04 9.98564872e-01 1.02817371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.990385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:36.93, Z:10.28 [[ 8.85055150e-01 -4.63097769e-01 -4.70939293e-02 1.89188640e+02] [ 4.62395736e-01 8.86306846e-01 -2.55021286e-02 3.69305203e+01] [ 5.35496508e-02 7.94758195e-04 9.98564872e-01 1.02824332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.24, Y:36.95, Z:10.29 [[ 8.83603410e-01 -4.65862397e-01 -4.70875854e-02 1.89242359e+02] [ 4.65163656e-01 8.84856947e-01 -2.55138368e-02 3.69528283e+01] [ 5.35517142e-02 6.40679811e-04 9.98564872e-01 1.02859769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:189.30, Y:36.98, Z:10.29 [[ 8.82196287e-01 -4.68522305e-01 -4.70803696e-02 1.89295564e+02] [ 4.67826634e-01 8.83451530e-01 -2.55271451e-02 3.69791134e+01] [ 5.35532614e-02 4.94501777e-04 9.98564872e-01 1.02906726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.35, Y:37.01, Z:10.29 [[ 8.81116073e-01 -4.70551242e-01 -4.70743475e-02 1.89348531e+02] [ 4.69857869e-01 8.82372586e-01 -2.55382454e-02 3.70054558e+01] [ 5.35541669e-02 3.83905945e-04 9.98564872e-01 1.02908230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.40, Y:37.03, Z:10.30 [[ 8.80834063e-01 -4.71079572e-01 -4.70679235e-02 1.89402684e+02] [ 4.70386320e-01 8.82090643e-01 -2.55500796e-02 3.70293575e+01] [ 5.35542955e-02 3.65273129e-04 9.98564872e-01 1.02998416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.290385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:189.46, Y:37.05, Z:10.30 [[ 8.80983682e-01 -4.70800294e-01 -4.70620439e-02 1.89455338e+02] [ 4.70106065e-01 8.82239722e-01 -2.55609051e-02 3.70541173e+01] [ 5.35540861e-02 3.94588052e-04 9.98564872e-01 1.03017549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.50, Y:37.09, Z:10.30 [[ 8.79958167e-01 -4.72714500e-01 -4.70598187e-02 1.89502881e+02] [ 4.72022784e-01 8.81215593e-01 -2.55650011e-02 3.70870955e+01] [ 5.35547928e-02 2.82824845e-04 9.98564872e-01 1.03009051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.56, Y:37.11, Z:10.31 [[ 8.82515282e-01 -4.67923497e-01 -4.70571901e-02 1.89556116e+02] [ 4.67224697e-01 8.83768785e-01 -2.55698387e-02 3.71131245e+01] [ 5.35524041e-02 5.79491973e-04 9.98564872e-01 1.03055525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.470385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:189.61, Y:37.14, Z:10.31 [[ 8.83141717e-01 -4.66740431e-01 -4.70539866e-02 1.89606498e+02] [ 4.66039638e-01 8.84394108e-01 -2.55757325e-02 3.71423748e+01] [ 5.35514969e-02 6.57973410e-04 9.98564872e-01 1.03053951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:37.17, Z:10.31 [[ 8.83630475e-01 -4.65814669e-01 -4.70518620e-02 1.89658130e+02] [ 4.65112357e-01 8.84882013e-01 -2.55796405e-02 3.71710741e+01] [ 5.35507182e-02 7.18547502e-04 9.98564872e-01 1.03076024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:37.20, Z:10.32 [[ 8.83132215e-01 -4.66758976e-01 -4.70483759e-02 1.89708695e+02] [ 4.66057660e-01 8.84384312e-01 -2.55860508e-02 3.71990864e+01] [ 5.35513644e-02 6.68609708e-04 9.98564872e-01 1.03166374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.76, Y:37.23, Z:10.31 [[ 8.81119530e-01 -4.70547710e-01 -4.70449324e-02 1.89757710e+02] [ 4.69851441e-01 8.82374441e-01 -2.55923808e-02 3.72306566e+01] [ 5.35536821e-02 4.45817228e-04 9.98564872e-01 1.03141991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:37.26, Z:10.32 [[ 8.83786336e-01 -4.65519898e-01 -4.70418609e-02 1.89811053e+02] [ 4.64816190e-01 8.85037090e-01 -2.55980254e-02 3.72555366e+01] [ 5.35501819e-02 7.57366497e-04 9.98564872e-01 1.03213726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.86, Y:37.28, Z:10.32 [[ 8.86889297e-01 -4.59581304e-01 -4.70361603e-02 1.89862875e+02] [ 4.58868667e-01 8.88134985e-01 -2.56084959e-02 3.72844953e+01] [ 5.35436455e-02 1.12848068e-03 9.98564872e-01 1.03210493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:37.31, Z:10.33 [[ 8.88256188e-01 -4.56934397e-01 -4.70308632e-02 1.89913074e+02] [ 4.56217533e-01 8.89499449e-01 -2.56182205e-02 3.73120402e+01] [ 5.35397730e-02 1.29923852e-03 9.98564873e-01 1.03273663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:37.34, Z:10.33 [[ 8.89140817e-01 -4.55210826e-01 -4.70288277e-02 1.89963705e+02] [ 4.54491356e-01 8.90382571e-01 -2.56219566e-02 3.73395059e+01] [ 5.35370406e-02 1.40733175e-03 9.98564873e-01 1.03295576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.02, Y:37.37, Z:10.33 [[ 8.89440483e-01 -4.54625678e-01 -4.70225469e-02 1.90015499e+02] [ 4.53904782e-01 8.90681410e-01 -2.56334783e-02 3.73680150e+01] [ 5.35357458e-02 1.45569435e-03 9.98564873e-01 1.03306014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.07, Y:37.40, Z:10.34 [[ 8.89393556e-01 -4.54718041e-01 -4.70170858e-02 1.90066121e+02] [ 4.53996744e-01 8.90634250e-01 -2.56434911e-02 3.73970269e+01] [ 5.35355850e-02 1.46155181e-03 9.98564873e-01 1.03362736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:37.42, Z:10.34 [[ 8.89236427e-01 -4.55025884e-01 -4.70108752e-02 1.90116642e+02] [ 4.54304416e-01 8.90477021e-01 -2.56548718e-02 3.74245947e+01] [ 5.35357348e-02 1.45599829e-03 9.98564873e-01 1.03402087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.17, Y:37.45, Z:10.34 [[ 8.88977291e-01 -4.55532671e-01 -4.70038428e-02 1.90167319e+02] [ 4.54811231e-01 8.90217901e-01 -2.56677497e-02 3.74529070e+01] [ 5.35361609e-02 1.44017099e-03 9.98564873e-01 1.03431107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.22, Y:37.48, Z:10.34 [[ 8.88248560e-01 -4.56952735e-01 -4.69967386e-02 1.90217116e+02] [ 4.56232591e-01 8.89489923e-01 -2.56807508e-02 3.74803308e+01] [ 5.35380147e-02 1.36944611e-03 9.98564873e-01 1.03449905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:37.51, Z:10.35 [[ 8.87010247e-01 -4.59352634e-01 -4.69891432e-02 1.90268390e+02] [ 4.58635113e-01 8.88253127e-01 -2.56946408e-02 3.75086883e+01] [ 5.35411544e-02 1.24053866e-03 9.98564873e-01 1.03516070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.32, Y:37.54, Z:10.35 [[ 8.86878704e-01 -4.59607263e-01 -4.69822095e-02 1.90318126e+02] [ 4.58889428e-01 8.88121403e-01 -2.57073128e-02 3.75375214e+01] [ 5.35411735e-02 1.23962907e-03 9.98564873e-01 1.03521423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:37.57, Z:10.35 [[ 8.86887136e-01 -4.59591217e-01 -4.69800087e-02 1.90368320e+02] [ 4.58873147e-01 8.88129699e-01 -2.57113341e-02 3.75676448e+01] [ 5.35410443e-02 1.24518702e-03 9.98564873e-01 1.03522430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.42, Y:37.60, Z:10.35 [[ 8.86114717e-01 -4.61079342e-01 -4.69739156e-02 1.90419131e+02] [ 4.60362769e-01 8.87358144e-01 -2.57224611e-02 3.75962988e+01] [ 5.35427821e-02 1.16800949e-03 9.98564873e-01 1.03546896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.47, Y:37.62, Z:10.36 [[ 8.84103490e-01 -4.64924852e-01 -4.69670252e-02 1.90471296e+02] [ 4.64213020e-01 8.85349637e-01 -2.57350363e-02 3.76240527e+01] [ 5.35470967e-02 9.49730788e-04 9.98564873e-01 1.03604237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.52, Y:37.65, Z:10.36 [[ 8.82882078e-01 -4.67240750e-01 -4.69608047e-02 1.90522135e+02] [ 4.66531584e-01 8.84129745e-01 -2.57463823e-02 3.76514574e+01] [ 5.35492033e-02 8.22320960e-04 9.98564874e-01 1.03635874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.57, Y:37.68, Z:10.37 [[ 8.83021350e-01 -4.66978198e-01 -4.69537807e-02 1.90572418e+02] [ 4.66267980e-01 8.84268418e-01 -2.57591858e-02 3.76803289e+01] [ 5.35487235e-02 8.52866536e-04 9.98564874e-01 1.03650426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.62, Y:37.71, Z:10.37 [[ 8.83818342e-01 -4.65468751e-01 -4.69465654e-02 1.90623491e+02] [ 4.64755705e-01 8.85063795e-01 -2.57723290e-02 3.77077971e+01] [ 5.35469192e-02 9.59372972e-04 9.98564874e-01 1.03660705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.67, Y:37.74, Z:10.37 [[ 8.84887472e-01 -4.63433764e-01 -4.69394073e-02 1.90672656e+02] [ 4.62717163e-01 8.86130883e-01 -2.57853595e-02 3.77360871e+01] [ 5.35442647e-02 1.09747219e-03 9.98564874e-01 1.03683665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:37.77, Z:10.36 [[ 8.84699772e-01 -4.63792477e-01 -4.69345553e-02 1.90722390e+02] [ 4.63075912e-01 8.85943203e-01 -2.57941883e-02 3.77692125e+01] [ 5.35445007e-02 1.08585048e-03 9.98564874e-01 1.03649191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:37.80, Z:10.37 [[ 8.85623280e-01 -4.62027202e-01 -4.69283614e-02 1.90773276e+02] [ 4.61307562e-01 8.86864934e-01 -2.58054520e-02 3.77954127e+01] [ 5.35419390e-02 1.20550103e-03 9.98564874e-01 1.03731044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.82, Y:37.82, Z:10.38 [[ 8.84169236e-01 -4.64803952e-01 -4.69259813e-02 1.90824993e+02] [ 4.64087983e-01 8.85413011e-01 -2.58097795e-02 3.78241429e+01] [ 5.35453619e-02 1.04242904e-03 9.98564874e-01 1.03770383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:37.85, Z:10.38 [[ 8.82433404e-01 -4.68091643e-01 -4.69201630e-02 1.90875469e+02] [ 4.67379746e-01 8.83679513e-01 -2.58203524e-02 3.78531811e+01] [ 5.35486780e-02 8.55207608e-04 9.98564874e-01 1.03798870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:37.88, Z:10.38 [[ 8.79883819e-01 -4.72867425e-01 -4.69133663e-02 1.90925168e+02] [ 4.72161634e-01 8.81133397e-01 -2.58326955e-02 3.78823377e+01] [ 5.35523740e-02 5.79079057e-04 9.98564874e-01 1.03832148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.97, Y:37.91, Z:10.39 [[ 8.77699315e-01 -4.76910593e-01 -4.69062743e-02 1.90973873e+02] [ 4.76209871e-01 8.78951743e-01 -2.58455666e-02 3.79112626e+01] [ 5.35543760e-02 3.47405284e-04 9.98564874e-01 1.03857097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.02, Y:37.94, Z:10.39 [[ 8.75850778e-01 -4.80297306e-01 -4.69032257e-02 1.91023073e+02] [ 4.79601130e-01 8.77105739e-01 -2.58510979e-02 3.79421529e+01] [ 5.35553010e-02 1.46864165e-04 9.98564874e-01 1.03878878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:37.97, Z:10.39 [[ 8.74795180e-01 -4.82217966e-01 -4.68959101e-02 1.91071557e+02] [ 4.81523835e-01 8.76051272e-01 -2.58643621e-02 3.79714186e+01] [ 5.35554818e-02 4.45208375e-05 9.98564874e-01 1.03905823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:38.00, Z:10.40 [[ 8.75389180e-01 -4.81139292e-01 -4.68910024e-02 1.91120225e+02] [ 4.80443136e-01 8.76644151e-01 -2.58732565e-02 3.80030080e+01] [ 5.35553633e-02 1.20708565e-04 9.98564874e-01 1.03953371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:38.04, Z:10.40 [[ 8.77422781e-01 -4.77421376e-01 -4.68838241e-02 1.91168892e+02] [ 4.76719208e-01 8.78674398e-01 -2.58862575e-02 3.80352056e+01] [ 5.35542686e-02 3.62772596e-04 9.98564875e-01 1.03995755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.22, Y:38.07, Z:10.40 [[ 8.80214948e-01 -4.72254398e-01 -4.68767468e-02 1.91218731e+02] [ 4.71544202e-01 8.81462026e-01 -2.58990672e-02 3.80662833e+01] [ 5.35510206e-02 6.92287884e-04 9.98564875e-01 1.03981562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.27, Y:38.10, Z:10.40 [[ 8.82882726e-01 -4.67248474e-01 -4.68716906e-02 1.91267906e+02] [ 4.66530722e-01 8.84125472e-01 -2.59082146e-02 3.80979047e+01] [ 5.35460293e-02 1.00683144e-03 9.98564875e-01 1.04010347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.510385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:191.31, Y:38.13, Z:10.41 [[ 8.84374777e-01 -4.64419138e-01 -4.68627701e-02 1.91314897e+02] [ 4.63696556e-01 8.85614720e-01 -2.59243401e-02 3.81294116e+01] [ 5.35421186e-02 1.19672736e-03 9.98564875e-01 1.04089465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57038572300002 meters Centerline goodness : 0.997951 with order 1 Centerline is valid? [True, True] Translation: X:191.37, Y:38.16, Z:10.41 [[ 8.85780156e-01 -4.61733427e-01 -4.68589097e-02 1.91365347e+02] [ 4.61006718e-01 8.87017685e-01 -2.59313158e-02 3.81576979e+01] [ 5.35380370e-02 1.36717283e-03 9.98564875e-01 1.04068621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63038572300002 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:191.41, Y:38.19, Z:10.41 [[ 8.86676403e-01 -4.60010827e-01 -4.68507757e-02 1.91414919e+02] [ 4.59280938e-01 8.87912059e-01 -2.59460035e-02 3.81886551e+01] [ 5.35348113e-02 1.48804085e-03 9.98564875e-01 1.04073799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.690385723 meters Centerline goodness : 0.997777 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:38.22, Z:10.41 [[ 8.86182094e-01 -4.60963376e-01 -4.68408264e-02 1.91464643e+02] [ 4.60233867e-01 8.87417974e-01 -2.59639527e-02 3.82178188e+01] [ 5.35358226e-02 1.45105525e-03 9.98564875e-01 1.04070690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.750385723 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:38.25, Z:10.41 [[ 8.85487822e-01 -4.62296098e-01 -4.68362508e-02 1.91514590e+02] [ 4.61568014e-01 8.86724542e-01 -2.59722040e-02 3.82463906e+01] [ 5.35377016e-02 1.37995508e-03 9.98564875e-01 1.04107525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.810385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:191.56, Y:38.28, Z:10.42 [[ 8.83477689e-01 -4.66127046e-01 -4.68268064e-02 1.91562732e+02] [ 4.65403424e-01 8.84717025e-01 -2.59892207e-02 3.82788447e+01] [ 5.35427516e-02 1.16754064e-03 9.98564876e-01 1.04157004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.61, Y:38.31, Z:10.42 [[ 8.83472667e-01 -4.66136860e-01 -4.68238624e-02 1.91612696e+02] [ 4.65412970e-01 8.84711847e-01 -2.59945238e-02 3.83072893e+01] [ 5.35426315e-02 1.17301834e-03 9.98564876e-01 1.04228675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.66, Y:38.34, Z:10.42 [[ 8.82252839e-01 -4.68442253e-01 -4.68164990e-02 1.91662199e+02] [ 4.67720898e-01 8.83493496e-01 -2.60077786e-02 3.83374117e+01] [ 5.35452148e-02 1.04838155e-03 9.98564876e-01 1.04208854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:38.37, Z:10.43 [[ 8.82124065e-01 -4.68685434e-01 -4.68091616e-02 1.91712860e+02] [ 4.67963721e-01 8.83364514e-01 -2.60209779e-02 3.83663475e+01] [ 5.35452056e-02 1.04874140e-03 9.98564876e-01 1.04260461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.76, Y:38.39, Z:10.43 [[ 8.83127346e-01 -4.66792997e-01 -4.68015918e-02 1.91764029e+02] [ 4.66067906e-01 8.84365822e-01 -2.60345859e-02 3.83937979e+01] [ 5.35424906e-02 1.17913483e-03 9.98564876e-01 1.04309082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.82, Y:38.42, Z:10.44 [[ 8.85857610e-01 -4.61591409e-01 -4.67938621e-02 1.91815930e+02] [ 4.60858315e-01 8.87091366e-01 -2.60484717e-02 3.84199650e+01] [ 5.35341818e-02 1.50989644e-03 9.98564876e-01 1.04351659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:38.45, Z:10.44 [[ 8.86350487e-01 -4.60644634e-01 -4.67903343e-02 1.91865710e+02] [ 4.59909888e-01 8.87583259e-01 -2.60548071e-02 3.84469252e+01] [ 5.35323245e-02 1.57435353e-03 9.98564876e-01 1.04375148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.92, Y:38.48, Z:10.44 [[ 8.85723461e-01 -4.61849436e-01 -4.67872689e-02 1.91917131e+02] [ 4.61116076e-01 8.86957059e-01 -2.60603106e-02 3.84763675e+01] [ 5.35342382e-02 1.50786661e-03 9.98564876e-01 1.04403649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:38.50, Z:10.45 [[ 8.88668330e-01 -4.56158067e-01 -4.67805178e-02 1.91970474e+02] [ 4.55416172e-01 8.89896814e-01 -2.60724238e-02 3.85001197e+01] [ 5.35229801e-02 1.86513295e-03 9.98564876e-01 1.04463303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35038572300002 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:38.53, Z:10.45 [[ 8.88555136e-01 -4.56379201e-01 -4.67738730e-02 1.92020855e+02] [ 4.55636985e-01 8.89783426e-01 -2.60843391e-02 3.85304892e+01] [ 5.35229668e-02 1.86546700e-03 9.98564876e-01 1.04458146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41038572300002 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:38.56, Z:10.45 [[ 8.88688767e-01 -4.56119635e-01 -4.67670271e-02 1.92071892e+02] [ 4.55376415e-01 8.89916450e-01 -2.60966075e-02 3.85586589e+01] [ 5.35219217e-02 1.89516076e-03 9.98564876e-01 1.04474408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.12, Y:38.59, Z:10.45 [[ 8.88031948e-01 -4.57397894e-01 -4.67592429e-02 1.92122929e+02] [ 4.56655709e-01 8.89260256e-01 -2.61105474e-02 3.85862340e+01] [ 5.35240457e-02 1.83412503e-03 9.98564876e-01 1.04466526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.530385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:192.18, Y:38.61, Z:10.45 [[ 8.87670488e-01 -4.58099768e-01 -4.67515452e-02 1.92175709e+02] [ 4.57357830e-01 8.88898946e-01 -2.61243232e-02 3.86106645e+01] [ 5.35249456e-02 1.80760550e-03 9.98564877e-01 1.04478855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.23, Y:38.64, Z:10.45 [[ 8.86085017e-01 -4.61159252e-01 -4.67491854e-02 1.92227831e+02] [ 4.60421334e-01 8.87315893e-01 -2.61285453e-02 3.86356181e+01] [ 5.35307156e-02 1.62779018e-03 9.98564877e-01 1.04501151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:192.28, Y:38.66, Z:10.46 [[ 8.84612008e-01 -4.63979346e-01 -4.67414359e-02 1.92282485e+02] [ 4.63244621e-01 8.85844792e-01 -2.61424011e-02 3.86571921e+01] [ 5.35351917e-02 1.47316320e-03 9.98564877e-01 1.04571141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:38.68, Z:10.46 [[ 8.83361587e-01 -4.66356381e-01 -4.67336250e-02 1.92337727e+02] [ 4.65624236e-01 8.84595906e-01 -2.61563569e-02 3.86777946e+01] [ 5.35385573e-02 1.34521255e-03 9.98564877e-01 1.04630264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.770385723 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:38.71, Z:10.47 [[ 8.80458200e-01 -4.71815770e-01 -4.67251216e-02 1.92389953e+02] [ 4.71090474e-01 8.81696555e-01 -2.61715383e-02 3.87050215e+01] [ 5.35455233e-02 1.03118583e-03 9.98564877e-01 1.04686828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.830385723 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:192.44, Y:38.73, Z:10.47 [[ 8.78964781e-01 -4.74592850e-01 -4.67176702e-02 1.92442369e+02] [ 4.73870761e-01 8.80205008e-01 -2.61848327e-02 3.87299141e+01] [ 5.35482617e-02 8.77407805e-04 9.98564877e-01 1.04703943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.890385723 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:192.50, Y:38.76, Z:10.47 [[ 8.78271454e-01 -4.75874908e-01 -4.67153508e-02 1.92495569e+02] [ 4.75154409e-01 8.79512607e-01 -2.61889701e-02 3.87564317e+01] [ 5.35494137e-02 8.04020009e-04 9.98564877e-01 1.04725428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.950385723 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:38.78, Z:10.47 [[ 8.78609577e-01 -4.75250682e-01 -4.67118894e-02 1.92546058e+02] [ 4.74528973e-01 8.79850026e-01 -2.61951425e-02 3.87842831e+01] [ 5.35487165e-02 8.49158203e-04 9.98564877e-01 1.04749400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.010385723 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:192.60, Y:38.81, Z:10.48 [[ 8.79504137e-01 -4.73593866e-01 -4.67046471e-02 1.92598259e+02] [ 4.72869135e-01 8.80742823e-01 -2.62080489e-02 3.88108536e+01] [ 5.35467539e-02 9.64901400e-04 9.98564877e-01 1.04803950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07038572300002 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:192.65, Y:38.84, Z:10.48 [[ 8.79867061e-01 -4.72919890e-01 -4.66983289e-02 1.92649737e+02] [ 4.72193613e-01 8.81104841e-01 -2.62193019e-02 3.88376733e+01] [ 5.35457530e-02 1.01884747e-03 9.98564877e-01 1.04838246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13038572300002 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:38.87, Z:10.49 [[ 8.80922288e-01 -4.70952076e-01 -4.66911590e-02 1.92701752e+02] [ 4.70222359e-01 8.82158043e-01 -2.62320639e-02 3.88658311e+01] [ 5.35430264e-02 1.15318284e-03 9.98564877e-01 1.04875651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.190385723 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:38.89, Z:10.49 [[ 8.82590375e-01 -4.67819157e-01 -4.66847594e-02 1.92752290e+02] [ 4.67084452e-01 8.83823170e-01 -2.62434482e-02 3.88930846e+01] [ 5.35382599e-02 1.35648950e-03 9.98564878e-01 1.04899855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.250385723 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:38.92, Z:10.49 [[ 8.84060604e-01 -4.65035044e-01 -4.66825137e-02 1.92804165e+02] [ 4.64296246e-01 8.85290951e-01 -2.62474424e-02 3.89209104e+01] [ 5.35335874e-02 1.52981391e-03 9.98564878e-01 1.04922763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.310385723 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:192.85, Y:38.95, Z:10.50 [[ 8.84701517e-01 -4.63815223e-01 -4.66761624e-02 1.92854514e+02] [ 4.63074134e-01 8.85930486e-01 -2.62587321e-02 3.89482776e+01] [ 5.35310349e-02 1.61661661e-03 9.98564878e-01 1.04956628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.370385723 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:192.91, Y:38.98, Z:10.50 [[ 8.84923273e-01 -4.63392348e-01 -4.66726075e-02 1.92905043e+02] [ 4.62650339e-01 8.86151686e-01 -2.62650491e-02 3.89781898e+01] [ 5.35300326e-02 1.64945549e-03 9.98564878e-01 1.05008602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.430385723 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:192.96, Y:39.01, Z:10.50 [[ 8.84483522e-01 -4.64231777e-01 -4.66664496e-02 1.92955536e+02] [ 4.63490357e-01 8.85712290e-01 -2.62759857e-02 3.90064834e+01] [ 5.35311954e-02 1.61122697e-03 9.98564878e-01 1.05043147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.490385723 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:39.04, Z:10.51 [[ 8.83599491e-01 -4.65912421e-01 -4.66642768e-02 1.93006394e+02] [ 4.65173135e-01 8.84829545e-01 -2.62798439e-02 3.90350052e+01] [ 5.35340365e-02 1.51388875e-03 9.98564878e-01 1.05077539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.550385723 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:39.06, Z:10.51 [[ 8.83159629e-01 -4.66746384e-01 -4.66570698e-02 1.93056647e+02] [ 4.66007585e-01 8.84389975e-01 -2.62926329e-02 3.90647926e+01] [ 5.35350361e-02 1.47804351e-03 9.98564878e-01 1.05096045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.610385723 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:39.09, Z:10.51 [[ 8.82863482e-01 -4.67307020e-01 -4.66499906e-02 1.93107529e+02] [ 4.66568340e-01 8.84093899e-01 -2.63051873e-02 3.90929299e+01] [ 5.35355707e-02 1.45848058e-03 9.98564878e-01 1.05132294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.670385723 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:193.16, Y:39.12, Z:10.52 [[ 8.82686594e-01 -4.67641766e-01 -4.66428530e-02 1.93158828e+02] [ 4.66902884e-01 8.83916890e-01 -2.63178371e-02 3.91220794e+01] [ 5.35357254e-02 1.45271944e-03 9.98564878e-01 1.05169655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.730385723 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:193.21, Y:39.15, Z:10.52 [[ 8.82864224e-01 -4.67306953e-01 -4.66366176e-02 1.93209403e+02] [ 4.66567022e-01 8.84093889e-01 -2.63288819e-02 3.91517407e+01] [ 5.35348182e-02 1.48572010e-03 9.98564878e-01 1.05201667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.790385723 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:193.26, Y:39.18, Z:10.52 [[ 8.83059177e-01 -4.66939065e-01 -4.66304565e-02 1.93260079e+02] [ 4.66198046e-01 8.84288187e-01 -2.63397892e-02 3.91810832e+01] [ 5.35338384e-02 1.52056482e-03 9.98564878e-01 1.05239748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85038572300002 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:193.31, Y:39.21, Z:10.53 [[ 8.83156295e-01 -4.66755995e-01 -4.66240293e-02 1.93309861e+02] [ 4.66014121e-01 8.84384789e-01 -2.63511611e-02 3.92087678e+01] [ 5.35331447e-02 1.54473782e-03 9.98564878e-01 1.05251046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91038572300002 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:39.24, Z:10.53 [[ 8.84258200e-01 -4.64665396e-01 -4.66208736e-02 1.93361743e+02] [ 4.63920325e-01 8.85484757e-01 -2.63567430e-02 3.92365294e+01] [ 5.35291394e-02 1.67779533e-03 9.98564878e-01 1.05302270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.970385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:193.41, Y:39.27, Z:10.53 [[ 8.84789920e-01 -4.63652810e-01 -4.66140554e-02 1.93411509e+02] [ 4.62905700e-01 8.86015236e-01 -2.63687961e-02 3.92666426e+01] [ 5.35267297e-02 1.75293307e-03 9.98564878e-01 1.05310712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.030385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:193.46, Y:39.30, Z:10.53 [[ 8.83748103e-01 -4.65635742e-01 -4.66116493e-02 1.93461749e+02] [ 4.64891158e-01 8.84974957e-01 -2.63730486e-02 3.92971570e+01] [ 5.35303764e-02 1.63778809e-03 9.98564878e-01 1.05296270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.090385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:193.51, Y:39.32, Z:10.54 [[ 8.84849747e-01 -4.63539560e-01 -4.66047458e-02 1.93514324e+02] [ 4.62791428e-01 8.86074440e-01 -2.63852424e-02 3.93223189e+01] [ 5.35258777e-02 1.77869825e-03 9.98564879e-01 1.05367172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.56, Y:39.35, Z:10.54 [[ 8.84295840e-01 -4.64596055e-01 -4.65979978e-02 1.93564675e+02] [ 4.63848760e-01 8.85521043e-01 -2.63971543e-02 3.93499345e+01] [ 5.35275214e-02 1.72847027e-03 9.98564879e-01 1.05397815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.210385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:39.38, Z:10.55 [[ 8.82299927e-01 -4.68375646e-01 -4.65949849e-02 1.93615663e+02] [ 4.67633320e-01 8.83528148e-01 -2.64024716e-02 3.93781856e+01] [ 5.35342554e-02 1.50553131e-03 9.98564879e-01 1.05458473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:39.41, Z:10.54 [[ 8.79257576e-01 -4.74062933e-01 -4.65880998e-02 1.93665748e+02] [ 4.73327910e-01 8.80490181e-01 -2.64146150e-02 3.94108560e+01] [ 5.35425543e-02 1.17380246e-03 9.98564879e-01 1.05425857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.72, Y:39.44, Z:10.55 [[ 8.80048398e-01 -4.72593885e-01 -4.65815077e-02 1.93716748e+02] [ 4.71856189e-01 8.81279406e-01 -2.64262349e-02 3.94388890e+01] [ 5.35402004e-02 1.27659295e-03 9.98564879e-01 1.05470173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.77, Y:39.46, Z:10.56 [[ 8.82797713e-01 -4.67438327e-01 -4.65790474e-02 1.93768716e+02] [ 4.66693216e-01 8.84024246e-01 -2.64305707e-02 3.94640209e+01] [ 5.35316690e-02 1.59472199e-03 9.98564879e-01 1.05563374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:39.49, Z:10.56 [[ 8.82343548e-01 -4.68295296e-01 -4.65765993e-02 1.93819847e+02] [ 4.67551149e-01 8.83570665e-01 -2.64348842e-02 3.94933518e+01] [ 5.35330487e-02 1.54770700e-03 9.98564879e-01 1.05599374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.510385723 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:39.52, Z:10.56 [[ 8.82155030e-01 -4.68650929e-01 -4.65704694e-02 1.93871248e+02] [ 4.67906707e-01 8.83382103e-01 -2.64456788e-02 3.95218629e+01] [ 5.35333111e-02 1.53855360e-03 9.98564879e-01 1.05620478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:193.92, Y:39.55, Z:10.56 [[ 8.82804768e-01 -4.67426465e-01 -4.65643781e-02 1.93922258e+02] [ 4.66679976e-01 8.84030462e-01 -2.64563998e-02 3.95520544e+01] [ 5.35307501e-02 1.62517305e-03 9.98564879e-01 1.05635445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63038572300002 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:39.58, Z:10.57 [[ 8.83511312e-01 -4.66090240e-01 -4.65580154e-02 1.93972750e+02] [ 4.65341309e-01 8.84735516e-01 -2.64675921e-02 3.95810894e+01] [ 5.35278161e-02 1.71904916e-03 9.98564879e-01 1.05659837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.690385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:194.02, Y:39.61, Z:10.57 [[ 8.83463399e-01 -4.66181775e-01 -4.65507776e-02 1.94023078e+02] [ 4.65432301e-01 8.84687270e-01 -2.64803157e-02 3.96108388e+01] [ 5.35275210e-02 1.72815415e-03 9.98564879e-01 1.05715286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.07, Y:39.64, Z:10.58 [[ 8.83462093e-01 -4.66184875e-01 -4.65445200e-02 1.94073001e+02] [ 4.65434827e-01 8.84685612e-01 -2.64913103e-02 3.96403046e+01] [ 5.35271153e-02 1.74062785e-03 9.98564879e-01 1.05771229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.810385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:39.68, Z:10.58 [[ 8.81002330e-01 -4.70817171e-01 -4.65412280e-02 1.94118995e+02] [ 4.70073252e-01 8.82229586e-01 -2.64970924e-02 3.96791803e+01] [ 5.35353344e-02 1.46621374e-03 9.98564879e-01 1.05752717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.870385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:194.17, Y:39.70, Z:10.58 [[ 8.85094057e-01 -4.63079985e-01 -4.65342689e-02 1.94172319e+02] [ 4.62324701e-01 8.86314350e-01 -2.65093085e-02 3.97032374e+01] [ 5.35199205e-02 1.94928948e-03 9.98564879e-01 1.05795520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.930385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:39.74, Z:10.58 [[ 8.82620913e-01 -4.67777205e-01 -4.65275284e-02 1.94218227e+02] [ 4.67027794e-01 8.83844822e-01 -2.65211338e-02 3.97422711e+01] [ 5.35290968e-02 1.67845837e-03 9.98564880e-01 1.05760889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:39.77, Z:10.59 [[ 8.84371115e-01 -4.64460496e-01 -4.65207378e-02 1.94270325e+02] [ 4.63705870e-01 8.85591816e-01 -2.65330398e-02 3.97680928e+01] [ 5.35219335e-02 1.89311476e-03 9.98564880e-01 1.05889078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.050385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:194.32, Y:39.80, Z:10.59 [[ 8.83623585e-01 -4.65881272e-01 -4.65188225e-02 1.94320500e+02] [ 4.65128433e-01 8.84845388e-01 -2.65363973e-02 3.97960134e+01] [ 5.35247761e-02 1.81095949e-03 9.98564880e-01 1.05881755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.110385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:39.83, Z:10.59 [[ 8.80069495e-01 -4.72561052e-01 -4.65159838e-02 1.94366573e+02] [ 4.71817226e-01 8.81296806e-01 -2.65413723e-02 3.98333826e+01] [ 5.35368068e-02 1.41120965e-03 9.98564880e-01 1.05899360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.170385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:39.87, Z:10.59 [[ 8.78945153e-01 -4.74649687e-01 -4.65090626e-02 1.94415924e+02] [ 4.73908137e-01 8.80173841e-01 -2.65534951e-02 3.98653671e+01] [ 5.35396684e-02 1.29804264e-03 9.98564880e-01 1.05938454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.230385723 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:194.47, Y:39.89, Z:10.60 [[ 8.79735848e-01 -4.73183240e-01 -4.65022447e-02 1.94467573e+02] [ 4.72439012e-01 8.80962915e-01 -2.65654296e-02 3.98921500e+01] [ 5.35370691e-02 1.40108625e-03 9.98564880e-01 1.05994569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.290385723 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:194.51, Y:39.93, Z:10.60 [[ 8.77188850e-01 -4.77888950e-01 -4.64959457e-02 1.94513867e+02] [ 4.77150722e-01 8.78419536e-01 -2.65764499e-02 3.99295379e+01] [ 5.35435388e-02 1.12699147e-03 9.98564880e-01 1.05992553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35038572300002 meters Centerline goodness : 0.998244 with order 1 Centerline is valid? [True, True] Translation: X:194.56, Y:39.96, Z:10.60 [[ 8.77677266e-01 -4.76992024e-01 -4.64889906e-02 1.94564191e+02] [ 4.76251894e-01 8.78906809e-01 -2.65886106e-02 3.99601411e+01] [ 5.35420455e-02 1.19574921e-03 9.98564880e-01 1.06033118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41038572300002 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:194.61, Y:39.99, Z:10.61 [[ 8.76443814e-01 -4.79255298e-01 -4.64822564e-02 1.94613458e+02] [ 4.78517720e-01 8.77674890e-01 -2.66003781e-02 3.99928051e+01] [ 5.35446814e-02 1.07115354e-03 9.98564880e-01 1.06054810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.470385723 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:40.02, Z:10.61 [[ 8.75955575e-01 -4.80147737e-01 -4.64755988e-02 1.94663326e+02] [ 4.79410796e-01 8.77187032e-01 -2.66120050e-02 4.00215163e+01] [ 5.35454866e-02 1.03003029e-03 9.98564880e-01 1.06107811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.530385723 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:40.05, Z:10.62 [[ 8.74260408e-01 -4.83227778e-01 -4.64720722e-02 1.94713212e+02] [ 4.82494849e-01 8.75494257e-01 -2.66181621e-02 4.00515357e+01] [ 5.35486676e-02 8.48669744e-04 9.98564880e-01 1.06156456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.590385723 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:40.08, Z:10.61 [[ 8.73823798e-01 -4.84017607e-01 -4.64642419e-02 1.94762456e+02] [ 4.83285067e-01 8.75057878e-01 -2.66318234e-02 4.00815290e+01] [ 5.35491724e-02 8.16046808e-04 9.98564880e-01 1.06134132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.650385723 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:40.11, Z:10.62 [[ 8.71866382e-01 -4.87535023e-01 -4.64608848e-02 1.94812554e+02] [ 4.86807150e-01 8.73103220e-01 -2.66376789e-02 4.01116939e+01] [ 5.35519495e-02 6.07005785e-04 9.98564880e-01 1.06163227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.710385723 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:194.86, Y:40.14, Z:10.62 [[ 8.71270891e-01 -4.88599146e-01 -4.64532922e-02 1.94863338e+02] [ 4.87872078e-01 8.72508203e-01 -2.66509130e-02 4.01404970e+01] [ 5.35524918e-02 5.56900552e-04 9.98564880e-01 1.06175858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.770385723 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:40.17, Z:10.62 [[ 8.67914842e-01 -4.94536678e-01 -4.64467484e-02 1.94913623e+02] [ 4.93817465e-01 8.69156736e-01 -2.66623125e-02 4.01684099e+01] [ 5.35549957e-02 2.04401171e-04 9.98564881e-01 1.06194137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.830385723 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:40.19, Z:10.63 [[ 8.67942807e-01 -4.94487810e-01 -4.64444846e-02 1.94966641e+02] [ 4.93768316e-01 8.69184538e-01 -2.66662554e-02 4.01921379e+01] [ 5.35549661e-02 2.11969636e-04 9.98564881e-01 1.06321544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.890385723 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:195.02, Y:40.22, Z:10.63 [[ 8.65919278e-01 -4.98023114e-01 -4.64411599e-02 1.95017352e+02] [ 4.97308380e-01 8.67163755e-01 -2.66720444e-02 4.02228539e+01] [ 5.35553852e-02 2.59488819e-07 9.98564881e-01 1.06318991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.950385723 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:40.25, Z:10.64 [[ 8.66382277e-01 -4.97217754e-01 -4.64354899e-02 1.95068310e+02] [ 4.96501334e-01 8.67625784e-01 -2.66819122e-02 4.02526342e+01] [ 5.35553487e-02 6.14531540e-05 9.98564881e-01 1.06365120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.010385723 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:195.12, Y:40.28, Z:10.64 [[ 8.68154797e-01 -4.94116984e-01 -4.64290307e-02 1.95118137e+02] [ 4.93395521e-01 8.69395385e-01 -2.66931470e-02 4.02819399e+01] [ 5.35547223e-02 2.65907791e-04 9.98564881e-01 1.06394716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07038572300002 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:195.17, Y:40.31, Z:10.64 [[ 8.71292294e-01 -4.88564007e-01 -4.64214238e-02 1.95167957e+02] [ 4.87833934e-01 8.72527835e-01 -2.67063694e-02 4.03099417e+01] [ 5.35517553e-02 6.23108086e-04 9.98564881e-01 1.06406737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13038572300002 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:195.22, Y:40.33, Z:10.65 [[ 8.74941329e-01 -4.81998990e-01 -4.64181473e-02 1.95220902e+02] [ 4.81259346e-01 8.76171163e-01 -2.67120631e-02 4.03340413e+01] [ 5.35454295e-02 1.03232074e-03 9.98564881e-01 1.06538505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.190385723 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:195.27, Y:40.36, Z:10.66 [[ 8.76165634e-01 -4.79770509e-01 -4.64116436e-02 1.95272727e+02] [ 4.79027138e-01 8.77393220e-01 -2.67233583e-02 4.03611325e+01] [ 5.35423406e-02 1.18165131e-03 9.98564881e-01 1.06568015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.250385723 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:195.33, Y:40.39, Z:10.66 [[ 8.76782351e-01 -4.78643146e-01 -4.64052461e-02 1.95325090e+02] [ 4.77897610e-01 8.78008623e-01 -2.67344629e-02 4.03869943e+01] [ 5.35404737e-02 1.26334902e-03 9.98564881e-01 1.06598899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.310385723 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:195.38, Y:40.41, Z:10.66 [[ 8.76876464e-01 -4.78471045e-01 -4.64017991e-02 1.95378467e+02] [ 4.77724952e-01 8.78102397e-01 -2.67404444e-02 4.04114295e+01] [ 5.35400594e-02 1.28076905e-03 9.98564881e-01 1.06629315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.370385723 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:195.43, Y:40.44, Z:10.67 [[ 8.76876451e-01 -4.78471796e-01 -4.63942864e-02 1.95430452e+02] [ 4.77725016e-01 8.78101965e-01 -2.67534726e-02 4.04359881e+01] [ 5.35396961e-02 1.29577887e-03 9.98564881e-01 1.06669654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.430385723 meters Centerline goodness : 0.999599 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:40.46, Z:10.67 [[ 8.77111327e-01 -4.78041340e-01 -4.63917861e-02 1.95483331e+02] [ 4.77293729e-01 8.78336334e-01 -2.67578076e-02 4.04626526e+01] [ 5.35389295e-02 1.32706750e-03 9.98564881e-01 1.06727035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.490385723 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:40.49, Z:10.67 [[ 8.76230974e-01 -4.79653773e-01 -4.63846719e-02 1.95536285e+02] [ 4.78907764e-01 8.77456958e-01 -2.67701342e-02 4.04866933e+01] [ 5.35409490e-02 1.24284125e-03 9.98564881e-01 1.06746450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.550385723 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:40.51, Z:10.68 [[ 8.73363764e-01 -4.84855538e-01 -4.63771760e-02 1.95589216e+02] [ 4.84116143e-01 8.74593748e-01 -2.67831140e-02 4.05099194e+01] [ 5.35471294e-02 9.39461668e-04 9.98564881e-01 1.06805701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.610385723 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:40.53, Z:10.68 [[ 8.71505327e-01 -4.88188338e-01 -4.63746823e-02 1.95641988e+02] [ 4.87453418e-01 8.72737990e-01 -2.67874313e-02 4.05348676e+01] [ 5.35502585e-02 7.39891707e-04 9.98564881e-01 1.06835656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.670385723 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:195.69, Y:40.56, Z:10.68 [[ 8.70467567e-01 -4.90037028e-01 -4.63672940e-02 1.95693721e+02] [ 4.89304044e-01 8.71701383e-01 -2.68002139e-02 4.05604552e+01] [ 5.35515314e-02 6.41012490e-04 9.98564882e-01 1.06829519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.730385723 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:195.75, Y:40.59, Z:10.68 [[ 8.70288465e-01 -4.90355252e-01 -4.63650077e-02 1.95746745e+02] [ 4.89622509e-01 8.71522424e-01 -2.68041686e-02 4.05870632e+01] [ 5.35517087e-02 6.26007313e-04 9.98564882e-01 1.06793650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.790385723 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:195.80, Y:40.61, Z:10.68 [[ 8.69588706e-01 -4.91595812e-01 -4.63577462e-02 1.95799151e+02] [ 4.90864161e-01 8.70823311e-01 -2.68167214e-02 4.06141987e+01] [ 5.35523940e-02 5.64161863e-04 9.98564882e-01 1.06835536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85038572300002 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:40.64, Z:10.69 [[ 8.69104314e-01 -4.92452357e-01 -4.63504778e-02 1.95849595e+02] [ 4.91721253e-01 8.70339244e-01 -2.68292784e-02 4.06419324e+01] [ 5.35527812e-02 5.25926574e-04 9.98564882e-01 1.06862306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91038572300002 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:195.90, Y:40.67, Z:10.69 [[ 8.69826848e-01 -4.91175236e-01 -4.63480500e-02 1.95901594e+02] [ 4.90442095e-01 8.71060570e-01 -2.68334718e-02 4.06694837e+01] [ 5.35518957e-02 6.09439464e-04 9.98564882e-01 1.06890305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.970385723 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:40.70, Z:10.69 [[ 8.70925234e-01 -4.89225596e-01 -4.63416967e-02 1.95953054e+02] [ 4.88489109e-01 8.72156962e-01 -2.68444396e-02 4.06979494e+01] [ 5.35502203e-02 7.42085735e-04 9.98564882e-01 1.06871054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.030385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:40.73, Z:10.69 [[ 8.70494359e-01 -4.89992190e-01 -4.63381539e-02 1.96003341e+02] [ 4.89256463e-01 8.71726540e-01 -2.68505536e-02 4.07267892e+01] [ 5.35507602e-02 7.02014188e-04 9.98564882e-01 1.06903446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.090385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:196.05, Y:40.76, Z:10.70 [[ 8.68758716e-01 -4.93063654e-01 -4.63306213e-02 1.96053376e+02] [ 4.92331591e-01 8.69993077e-01 -2.68635449e-02 4.07564509e+01] [ 5.35527574e-02 5.27910313e-04 9.98564882e-01 1.06962648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.150385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:40.79, Z:10.70 [[ 8.66797874e-01 -4.96502914e-01 -4.63282037e-02 1.96103569e+02] [ 4.95775526e-01 8.68034995e-01 -2.68677135e-02 4.07857930e+01] [ 5.35544002e-02 3.20487348e-04 9.98564882e-01 1.07005653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.210385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:196.15, Y:40.82, Z:10.70 [[ 8.63890299e-01 -5.01545546e-01 -4.63207969e-02 1.96150861e+02] [ 5.00824696e-01 8.65131241e-01 -2.68804771e-02 4.08209837e+01] [ 5.35553521e-02 2.31844041e-05 9.98564882e-01 1.07014597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.270385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:40.85, Z:10.71 [[ 8.65104679e-01 -4.99448592e-01 -4.63141314e-02 1.96200514e+02] [ 4.98724118e-01 8.66343510e-01 -2.68919566e-02 4.08477694e+01] [ 5.35550970e-02 1.66383125e-04 9.98564882e-01 1.07070533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.330385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:40.88, Z:10.71 [[ 8.65209111e-01 -4.99267960e-01 -4.63108783e-02 1.96250325e+02] [ 4.98542929e-01 8.66447615e-01 -2.68975576e-02 4.08790213e+01] [ 5.35550388e-02 1.84050978e-04 9.98564882e-01 1.07056555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.390385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:40.92, Z:10.71 [[ 8.64708004e-01 -5.00135685e-01 -4.63072890e-02 1.96297353e+02] [ 4.99411565e-01 8.65947041e-01 -2.69037357e-02 4.09152496e+01] [ 5.35551781e-02 1.37479916e-04 9.98564882e-01 1.07064514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.450385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:40.94, Z:10.71 [[ 8.67679392e-01 -4.94963415e-01 -4.63000113e-02 1.96348125e+02] [ 4.94231241e-01 8.68913687e-01 -2.69162544e-02 4.09423963e+01] [ 5.35532747e-02 4.71767204e-04 9.98564882e-01 1.07083578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.40, Y:40.97, Z:10.71 [[ 8.68527531e-01 -4.93473883e-01 -4.62974471e-02 1.96397525e+02] [ 4.92739358e-01 8.69760428e-01 -2.69206643e-02 4.09727172e+01] [ 5.35523321e-02 5.68763714e-04 9.98564882e-01 1.07122996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.45, Y:41.00, Z:10.72 [[ 8.68876271e-01 -4.92859797e-01 -4.62952020e-02 1.96446945e+02] [ 4.92124195e-01 8.70108526e-01 -2.69245245e-02 4.10035900e+01] [ 5.35518657e-02 6.11091450e-04 9.98564882e-01 1.07161647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:41.03, Z:10.72 [[ 8.68966990e-01 -4.92700147e-01 -4.62918563e-02 1.96497781e+02] [ 4.91964012e-01 8.70198926e-01 -2.69302757e-02 4.10332211e+01] [ 5.35516744e-02 6.27593257e-04 9.98564882e-01 1.07223922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:41.06, Z:10.73 [[ 8.70362620e-01 -4.90231140e-01 -4.62854079e-02 1.96547562e+02] [ 4.89490922e-01 8.71592107e-01 -2.69413540e-02 4.10633785e+01] [ 5.35494869e-02 7.92460510e-04 9.98564882e-01 1.07290577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:41.09, Z:10.73 [[ 8.72425909e-01 -4.86550411e-01 -4.62788295e-02 1.96596247e+02] [ 4.85804407e-01 8.73651894e-01 -2.69526494e-02 4.10944857e+01] [ 5.35454097e-02 1.03173029e-03 9.98564883e-01 1.07327167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:41.13, Z:10.73 [[ 8.71296235e-01 -4.88571218e-01 -4.62713402e-02 1.96642109e+02] [ 4.87827375e-01 8.72523532e-01 -2.69655006e-02 4.11322171e+01] [ 5.35474007e-02 9.22512755e-04 9.98564883e-01 1.07263482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.70, Y:41.15, Z:10.74 [[ 8.75115998e-01 -4.81696627e-01 -4.62639064e-02 1.96696849e+02] [ 4.80942471e-01 8.76336986e-01 -2.69782486e-02 4.11543671e+01] [ 5.35381037e-02 1.35881942e-03 9.98564883e-01 1.07373679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.930385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:41.18, Z:10.74 [[ 8.74844937e-01 -4.82189364e-01 -4.62574801e-02 1.96747388e+02] [ 4.81435314e-01 8.76065989e-01 -2.69892628e-02 4.11822598e+01] [ 5.35385405e-02 1.34143541e-03 9.98564883e-01 1.07397066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:41.21, Z:10.74 [[ 8.74009393e-01 -4.83702913e-01 -4.62501172e-02 1.96797832e+02] [ 4.82950311e-01 8.75231338e-01 -2.70018743e-02 4.12107237e+01] [ 5.35404373e-02 1.26338328e-03 9.98564883e-01 1.07433001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.85, Y:41.24, Z:10.74 [[ 8.69160021e-01 -4.92363788e-01 -4.62467075e-02 1.96847145e+02] [ 4.91623054e-01 8.70389198e-01 -2.70077130e-02 4.12429943e+01] [ 5.35502545e-02 7.38076844e-04 9.98564883e-01 1.07425338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:41.26, Z:10.75 [[ 8.69428468e-01 -4.91890213e-01 -4.62402080e-02 1.96903309e+02] [ 4.91148219e-01 8.70656884e-01 -2.70188362e-02 4.12626908e+01] [ 5.35496565e-02 7.80149525e-04 9.98564883e-01 1.07525012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:41.29, Z:10.76 [[ 8.68274969e-01 -4.93924090e-01 -4.62338721e-02 1.96955338e+02] [ 4.93184397e-01 8.69504772e-01 -2.70296737e-02 4.12893723e+01] [ 5.35511794e-02 6.67364803e-04 9.98564883e-01 1.07562018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:41.32, Z:10.76 [[ 8.68284787e-01 -4.93907509e-01 -4.62266284e-02 1.97006322e+02] [ 4.93167133e-01 8.69514178e-01 -2.70420564e-02 4.13164584e+01] [ 5.35509835e-02 6.82752425e-04 9.98564883e-01 1.07593407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.06, Y:41.34, Z:10.76 [[ 8.68472728e-01 -4.93577645e-01 -4.62193627e-02 1.97056974e+02] [ 4.92836142e-01 8.69701439e-01 -2.70544689e-02 4.13446418e+01] [ 5.35505273e-02 7.17495995e-04 9.98564883e-01 1.07620384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:41.37, Z:10.76 [[ 8.69181374e-01 -4.92329336e-01 -4.62121659e-02 1.97107669e+02] [ 4.91585415e-01 8.70408623e-01 -2.70667564e-02 4.13720584e+01] [ 5.35492259e-02 8.08693845e-04 9.98564883e-01 1.07630429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:197.16, Y:41.40, Z:10.77 [[ 8.69364444e-01 -4.92006277e-01 -4.62091700e-02 1.97157814e+02] [ 4.91261628e-01 8.70591251e-01 -2.70718701e-02 4.14010036e+01] [ 5.35488291e-02 8.34529251e-04 9.98564883e-01 1.07656284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.21, Y:41.43, Z:10.77 [[ 8.70435272e-01 -4.90109995e-01 -4.62020514e-02 1.97208471e+02] [ 4.89362029e-01 8.71660060e-01 -2.70840136e-02 4.14298526e+01] [ 5.35466287e-02 9.65351129e-04 9.98564884e-01 1.07696078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:41.46, Z:10.77 [[ 8.71198090e-01 -4.88753473e-01 -4.61944855e-02 1.97258416e+02] [ 4.88002916e-01 8.72421292e-01 -2.70969118e-02 4.14592790e+01] [ 5.35447625e-02 1.06373420e-03 9.98564884e-01 1.07712558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:41.49, Z:10.77 [[ 8.72147816e-01 -4.87056948e-01 -4.61921728e-02 1.97309115e+02] [ 4.86303803e-01 8.73369426e-01 -2.71008538e-02 4.14899362e+01] [ 5.35424906e-02 1.17252114e-03 9.98564884e-01 1.07730248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.36, Y:41.52, Z:10.78 [[ 8.73104581e-01 -4.85340377e-01 -4.61855862e-02 1.97359086e+02] [ 4.84584238e-01 8.74324340e-01 -2.71120741e-02 4.15195171e+01] [ 5.35397664e-02 1.29086899e-03 9.98564884e-01 1.07755348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:41.55, Z:10.78 [[ 8.72589166e-01 -4.86266646e-01 -4.61832990e-02 1.97409569e+02] [ 4.85511595e-01 8.73809599e-01 -2.71159696e-02 4.15493459e+01] [ 5.35410015e-02 1.23857413e-03 9.98564884e-01 1.07809177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.770385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:41.59, Z:10.78 [[ 8.68062476e-01 -4.94302761e-01 -4.61770416e-02 1.97455905e+02] [ 4.93558444e-01 8.69289485e-01 -2.71266214e-02 4.15860283e+01] [ 5.35499805e-02 7.56533361e-04 9.98564884e-01 1.07804644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:41.61, Z:10.79 [[ 8.70980538e-01 -4.89143056e-01 -4.61732951e-02 1.97509882e+02] [ 4.88391134e-01 8.72202901e-01 -2.71329970e-02 4.16080098e+01] [ 5.35443990e-02 1.08168438e-03 9.98564884e-01 1.07895981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:41.64, Z:10.79 [[ 8.71219413e-01 -4.88717804e-01 -4.61697195e-02 1.97559993e+02] [ 4.87964963e-01 8.72441210e-01 -2.71390798e-02 4.16384925e+01] [ 5.35437175e-02 1.11488774e-03 9.98564884e-01 1.07877891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.950385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:197.61, Y:41.68, Z:10.79 [[ 8.68016602e-01 -4.94384587e-01 -4.61634012e-02 1.97606853e+02] [ 4.93639152e-01 8.69242932e-01 -2.71498231e-02 4.16750101e+01] [ 5.35496642e-02 7.78434918e-04 9.98564884e-01 1.07889982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:41.70, Z:10.80 [[ 8.70590846e-01 -4.89837892e-01 -4.61564594e-02 1.97661168e+02] [ 4.89085428e-01 8.71812876e-01 -2.71616194e-02 4.16965033e+01] [ 5.35445860e-02 1.07220545e-03 9.98564884e-01 1.07970837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:41.73, Z:10.80 [[ 8.70428302e-01 -4.90126898e-01 -4.61540394e-02 1.97710342e+02] [ 4.89374623e-01 8.71650447e-01 -2.71657310e-02 4.17263137e+01] [ 5.35448445e-02 1.05920551e-03 9.98564884e-01 1.08008467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.76, Y:41.76, Z:10.80 [[ 8.70290818e-01 -4.90371688e-01 -4.61464945e-02 1.97760838e+02] [ 4.89619077e-01 8.71512757e-01 -2.71785414e-02 4.17556343e+01] [ 5.35448459e-02 1.05903096e-03 9.98564884e-01 1.08047090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.190385723 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:41.79, Z:10.81 [[ 8.69810972e-01 -4.91223043e-01 -4.61388699e-02 1.97810129e+02] [ 4.90470942e-01 8.71033225e-01 -2.71914789e-02 4.17858452e+01] [ 5.35455697e-02 1.02167173e-03 9.98564884e-01 1.08054974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:41.82, Z:10.81 [[ 8.70475290e-01 -4.90045583e-01 -4.61312878e-02 1.97859030e+02] [ 4.89291148e-01 8.71696103e-01 -2.72043362e-02 4.18160364e+01] [ 5.35438286e-02 1.10907162e-03 9.98564884e-01 1.08101431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:41.85, Z:10.81 [[ 8.72132097e-01 -4.87091081e-01 -4.61289840e-02 1.97909274e+02] [ 4.86332305e-01 8.73350217e-01 -2.72082422e-02 4.18477290e+01] [ 5.35396502e-02 1.29516625e-03 9.98564884e-01 1.08129600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.370385723 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:197.96, Y:41.88, Z:10.81 [[ 8.72154539e-01 -4.87051473e-01 -4.61229103e-02 1.97959973e+02] [ 4.86292097e-01 8.73372285e-01 -2.72185342e-02 4.18787247e+01] [ 5.35392987e-02 1.30956143e-03 9.98564884e-01 1.08123748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.01, Y:41.92, Z:10.82 [[ 8.70602095e-01 -4.89821677e-01 -4.61163473e-02 1.98006764e+02] [ 4.89065588e-01 8.71821884e-01 -2.72296494e-02 4.19152960e+01] [ 5.35429133e-02 1.15227137e-03 9.98564885e-01 1.08172235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:41.94, Z:10.82 [[ 8.73364412e-01 -4.84879512e-01 -4.61135918e-02 1.98059727e+02] [ 4.84116275e-01 8.74579741e-01 -2.72343150e-02 4.19397503e+01] [ 5.35353746e-02 1.46114121e-03 9.98564885e-01 1.08249625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:41.98, Z:10.83 [[ 8.71635574e-01 -4.87981153e-01 -4.61066171e-02 1.98106635e+02] [ 4.87221618e-01 8.72853220e-01 -2.72461178e-02 4.19754162e+01] [ 5.35399012e-02 1.28454489e-03 9.98564885e-01 1.08250793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:42.00, Z:10.83 [[ 8.74435488e-01 -4.82946160e-01 -4.61040621e-02 1.98158078e+02] [ 4.82179387e-01 8.75648590e-01 -2.72504406e-02 4.20010570e+01] [ 5.35314526e-02 1.59832388e-03 9.98564885e-01 1.08312215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.21, Y:42.03, Z:10.83 [[ 8.74792683e-01 -4.82299086e-01 -4.61015582e-02 1.98207499e+02] [ 4.81531193e-01 8.76005076e-01 -2.72546760e-02 4.20323005e+01] [ 5.35301043e-02 1.64285280e-03 9.98564885e-01 1.08349049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.26, Y:42.06, Z:10.84 [[ 8.75263438e-01 -4.81444995e-01 -4.60937168e-02 1.98256955e+02] [ 4.80675222e-01 8.76474638e-01 -2.72679311e-02 4.20644203e+01] [ 5.35279827e-02 1.71051558e-03 9.98564885e-01 1.08372312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.790385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:42.09, Z:10.84 [[ 8.75330353e-01 -4.81323973e-01 -4.60869339e-02 1.98306902e+02] [ 4.80553430e-01 8.76541063e-01 -2.72793904e-02 4.20945360e+01] [ 5.35273146e-02 1.73124431e-03 9.98564885e-01 1.08385069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:42.13, Z:10.84 [[ 8.75364006e-01 -4.81263104e-01 -4.60834167e-02 1.98356289e+02] [ 4.80492165e-01 8.76574464e-01 -2.72853307e-02 4.21268547e+01] [ 5.35269692e-02 1.74187578e-03 9.98564885e-01 1.08432331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:198.41, Y:42.16, Z:10.85 [[ 8.75006930e-01 -4.81912642e-01 -4.60768720e-02 1.98406456e+02] [ 4.81142020e-01 8.76217590e-01 -2.72963784e-02 4.21573166e+01] [ 5.35278355e-02 1.71500100e-03 9.98564885e-01 1.08455212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.46, Y:42.19, Z:10.85 [[ 8.74373904e-01 -4.83060876e-01 -4.60702291e-02 1.98456889e+02] [ 4.82291254e-01 8.75585200e-01 -2.73075855e-02 4.21868494e+01] [ 5.35296369e-02 1.65777159e-03 9.98564885e-01 1.08484836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.51, Y:42.22, Z:10.85 [[ 8.73219242e-01 -4.85145644e-01 -4.60636503e-02 1.98508335e+02] [ 4.84378330e-01 8.74432000e-01 -2.73186783e-02 4.22162135e+01] [ 5.35330677e-02 1.54296153e-03 9.98564885e-01 1.08529226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.56, Y:42.25, Z:10.86 [[ 8.72292477e-01 -4.86810623e-01 -4.60570516e-02 1.98558924e+02] [ 4.86045038e-01 8.73506327e-01 -2.73297988e-02 4.22453513e+01] [ 5.35355623e-02 1.45377647e-03 9.98564885e-01 1.08598443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.150385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:42.28, Z:10.86 [[ 8.71581374e-01 -4.88083267e-01 -4.60503308e-02 1.98608707e+02] [ 4.87318856e-01 8.72795965e-01 -2.73411186e-02 4.22752886e+01] [ 5.35372853e-02 1.38881521e-03 9.98564885e-01 1.08614581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.210385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:42.30, Z:10.87 [[ 8.70925858e-01 -4.89252709e-01 -4.60427718e-02 1.98658591e+02] [ 4.88489257e-01 8.72141051e-01 -2.73538421e-02 4.23039643e+01] [ 5.35387327e-02 1.33176899e-03 9.98564885e-01 1.08669771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.270385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:198.71, Y:42.33, Z:10.87 [[ 8.69826705e-01 -4.91204919e-01 -4.60351102e-02 1.98707769e+02] [ 4.90443513e-01 8.71043181e-01 -2.73667301e-02 4.23340494e+01] [ 5.35412412e-02 1.22669154e-03 9.98564886e-01 1.08682249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.76, Y:42.36, Z:10.87 [[ 8.69118803e-01 -4.92457093e-01 -4.60273536e-02 1.98758174e+02] [ 4.91696749e-01 8.70335944e-01 -2.73797695e-02 4.23632662e+01] [ 5.35426219e-02 1.16477236e-03 9.98564886e-01 1.08697499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.81, Y:42.39, Z:10.88 [[ 8.66744453e-01 -4.96624851e-01 -4.60196723e-02 1.98809072e+02] [ 4.95869676e-01 8.67964807e-01 -2.73926740e-02 4.23911679e+01] [ 5.35473387e-02 9.22688274e-04 9.98564886e-01 1.08760271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.86, Y:42.42, Z:10.88 [[ 8.65155991e-01 -4.99387161e-01 -4.60171159e-02 1.98859677e+02] [ 4.98635654e-01 8.66378607e-01 -2.73969679e-02 4.24216515e+01] [ 5.35499388e-02 7.56876184e-04 9.98564886e-01 1.08793977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:42.45, Z:10.88 [[ 8.63663751e-01 -5.01964110e-01 -4.60104010e-02 1.98909695e+02] [ 5.01215651e-01 8.64888235e-01 -2.74082402e-02 4.24529765e+01] [ 5.35518075e-02 6.10370432e-04 9.98564886e-01 1.08825889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.96, Y:42.48, Z:10.89 [[ 8.62677234e-01 -5.03658261e-01 -4.60037603e-02 1.98959729e+02] [ 5.02911613e-01 8.63902823e-01 -2.74193819e-02 4.24831905e+01] [ 5.35527766e-02 5.18251293e-04 9.98564886e-01 1.08873315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:42.51, Z:10.89 [[ 8.62548779e-01 -5.03878835e-01 -4.59969902e-02 1.99008241e+02] [ 5.03131894e-01 8.63774190e-01 -2.74307343e-02 4.25148906e+01] [ 5.35527794e-02 5.17793547e-04 9.98564886e-01 1.08915341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.06, Y:42.55, Z:10.89 [[ 8.63218552e-01 -5.02731254e-01 -4.59893340e-02 1.99057201e+02] [ 5.01982001e-01 8.64442550e-01 -2.74435644e-02 4.25477394e+01] [ 5.35518747e-02 6.03976051e-04 9.98564886e-01 1.08915303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.750385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:199.11, Y:42.58, Z:10.89 [[ 8.62872662e-01 -5.03325303e-01 -4.59827008e-02 1.99106019e+02] [ 5.02576301e-01 8.64096813e-01 -2.74546742e-02 4.25806033e+01] [ 5.35521374e-02 5.80072120e-04 9.98564886e-01 1.08907085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.810385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:42.61, Z:10.90 [[ 8.63300290e-01 -5.02592086e-01 -4.59761255e-02 1.99155612e+02] [ 5.01841458e-01 8.64523445e-01 -2.74656809e-02 4.26123487e+01] [ 5.35514722e-02 6.38404438e-04 9.98564886e-01 1.08972257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:42.64, Z:10.90 [[ 8.64048041e-01 -5.01306079e-01 -4.59695404e-02 1.99204872e+02] [ 5.00553044e-01 8.65269716e-01 -2.74766980e-02 4.26442628e+01] [ 5.35502869e-02 7.30993737e-04 9.98564886e-01 1.09023661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.930385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:42.68, Z:10.90 [[ 8.65316301e-01 -4.99114320e-01 -4.59629641e-02 1.99252782e+02] [ 4.98357607e-01 8.66535701e-01 -2.74876945e-02 4.26770279e+01] [ 5.35480512e-02 8.79557309e-04 9.98564887e-01 1.09035486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:42.71, Z:10.91 [[ 8.66193626e-01 -4.97590899e-01 -4.59554044e-02 1.99301468e+02] [ 4.96831372e-01 8.67411275e-01 -2.75003272e-02 4.27088422e+01] [ 5.35461485e-02 9.88521505e-04 9.98564887e-01 1.09062147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.35, Y:42.74, Z:10.91 [[ 8.65727422e-01 -4.98401792e-01 -4.59530766e-02 1.99351050e+02] [ 4.97643199e-01 8.66945653e-01 -2.75042164e-02 4.27405864e+01] [ 5.35469708e-02 9.42918330e-04 9.98564887e-01 1.09115479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:42.77, Z:10.92 [[ 8.64030944e-01 -5.01337664e-01 -4.59464288e-02 1.99400978e+02] [ 5.00582621e-01 8.65251378e-01 -2.75153174e-02 4.27723714e+01] [ 5.35496758e-02 7.74101966e-04 9.98564887e-01 1.09160594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.170385723 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:199.45, Y:42.81, Z:10.91 [[ 8.61797433e-01 -5.05168009e-01 -4.59398159e-02 1.99450322e+02] [ 5.04417802e-01 8.63020846e-01 -2.75263539e-02 4.28058061e+01] [ 5.35524522e-02 5.49280116e-04 9.98564887e-01 1.09110450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.230385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:199.50, Y:42.84, Z:10.92 [[ 8.60298364e-01 -5.07717423e-01 -4.59319404e-02 1.99498211e+02] [ 5.06970140e-01 8.61523565e-01 -2.75394891e-02 4.28373650e+01] [ 5.35537275e-02 4.06055204e-04 9.98564887e-01 1.09221531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:42.87, Z:10.93 [[ 8.59775441e-01 -5.08603270e-01 -4.59228154e-02 1.99547893e+02] [ 5.07856437e-01 8.61000916e-01 -2.75546969e-02 4.28681667e+01] [ 5.35539951e-02 3.68654290e-04 9.98564887e-01 1.09259032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:42.90, Z:10.93 [[ 8.58800904e-01 -5.10247788e-01 -4.59151690e-02 1.99595941e+02] [ 5.09502621e-01 8.60027393e-01 -2.75674324e-02 4.29005198e+01] [ 5.35545245e-02 2.81036920e-04 9.98564887e-01 1.09266885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41038572300002 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:199.64, Y:42.93, Z:10.93 [[ 8.58673884e-01 -5.10462200e-01 -4.59075512e-02 1.99643984e+02] [ 5.09716662e-01 8.59900147e-01 -2.75801124e-02 4.29346575e+01] [ 5.35545149e-02 2.82478477e-04 9.98564887e-01 1.09253839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.470385723 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:199.69, Y:42.97, Z:10.93 [[ 8.57134730e-01 -5.13043042e-01 -4.59008938e-02 1.99692611e+02] [ 5.12300603e-01 8.58362871e-01 -2.75911878e-02 4.29677031e+01] [ 5.35550899e-02 1.34309741e-04 9.98564887e-01 1.09253145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.530385723 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:199.74, Y:43.00, Z:10.93 [[ 8.57853420e-01 -5.11841071e-01 -4.58936543e-02 1.99741954e+02] [ 5.11096267e-01 8.59080129e-01 -2.76032242e-02 4.29980645e+01] [ 5.35547903e-02 2.23444894e-04 9.98564887e-01 1.09317965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.590385723 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:199.79, Y:43.03, Z:10.93 [[ 8.56703518e-01 -5.13763649e-01 -4.58911215e-02 1.99788598e+02] [ 5.13021372e-01 8.57931758e-01 -2.76074344e-02 4.30345982e+01] [ 5.35551468e-02 1.08260027e-04 9.98564887e-01 1.09298601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.650385723 meters Centerline goodness : 0.995758 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:43.06, Z:10.94 [[ 8.57039399e-01 -5.13203749e-01 -4.58844222e-02 1.99839393e+02] [ 5.12460073e-01 8.58266793e-01 -2.76185643e-02 4.30638930e+01] [ 5.35550267e-02 1.56263411e-04 9.98564888e-01 1.09355726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.710385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:43.10, Z:10.94 [[ 8.55905686e-01 -5.15092966e-01 -4.58769362e-02 1.99887873e+02] [ 5.14351334e-01 8.57134315e-01 -2.76309938e-02 4.30979007e+01] [ 5.35552268e-02 5.26614227e-05 9.98564888e-01 1.09391918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.770385723 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:199.93, Y:43.13, Z:10.95 [[ 8.56011709e-01 -5.14917541e-01 -4.58680752e-02 1.99934846e+02] [ 5.14174869e-01 8.57239709e-01 -2.76456954e-02 4.31312486e+01] [ 5.35551890e-02 8.08274136e-05 9.98564888e-01 1.09453486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.830385723 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:199.98, Y:43.16, Z:10.94 [[ 8.56283876e-01 -5.14465555e-01 -4.58597464e-02 1.99983352e+02] [ 5.13721496e-01 8.57511036e-01 -2.76595046e-02 4.31640336e+01] [ 5.35551011e-02 1.25250302e-04 9.98564888e-01 1.09406806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.890385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:200.03, Y:43.20, Z:10.95 [[ 8.57709419e-01 -5.12086084e-01 -4.58518839e-02 2.00032448e+02] [ 5.11337923e-01 8.58934083e-01 -2.76725324e-02 4.31960240e+01] [ 5.35544646e-02 2.89184657e-04 9.98564888e-01 1.09499686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.950385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:43.23, Z:10.95 [[ 8.56887983e-01 -5.13460099e-01 -4.58444349e-02 2.00081651e+02] [ 5.12713242e-01 8.58113442e-01 -2.76848674e-02 4.32273377e+01] [ 5.35548006e-02 2.17781347e-04 9.98564888e-01 1.09531628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.010385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:200.13, Y:43.26, Z:10.96 [[ 8.55660532e-01 -5.15503678e-01 -4.58367966e-02 2.00129804e+02] [ 5.14759071e-01 8.56887360e-01 -2.76975082e-02 4.32598253e+01] [ 5.35551390e-02 1.04757764e-04 9.98564888e-01 1.09565430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07038572300002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:200.18, Y:43.30, Z:10.95 [[ 8.54726963e-01 -5.17050411e-01 -4.58332928e-02 2.00176488e+02] [ 5.16307713e-01 8.55954948e-01 -2.77033049e-02 4.32976875e+01] [ 5.35552390e-02 1.46790988e-05 9.98564888e-01 1.09523496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13038572300002 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:200.23, Y:43.33, Z:10.95 [[ 8.57369249e-01 -5.12657716e-01 -4.58261567e-02 2.00226156e+02] [ 5.11908096e-01 8.58593020e-01 -2.77151044e-02 4.33273011e+01] [ 5.35543804e-02 3.03297670e-04 9.98564888e-01 1.09549190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.190385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:200.27, Y:43.36, Z:10.96 [[ 8.62073619e-01 -5.04707620e-01 -4.58180500e-02 2.00274960e+02] [ 5.03946004e-01 8.63289960e-01 -2.77284998e-02 4.33574758e+01] [ 5.35490477e-02 8.14184951e-04 9.98564889e-01 1.09587625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:200.33, Y:43.38, Z:10.97 [[ 8.65741997e-01 -4.98389252e-01 -4.58142742e-02 2.00325871e+02] [ 4.97618431e-01 8.66952526e-01 -2.77347370e-02 4.33845047e+01] [ 5.35414955e-02 1.21309936e-03 9.98564889e-01 1.09708945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.310385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:200.38, Y:43.41, Z:10.98 [[ 8.66668894e-01 -4.96775927e-01 -4.58116508e-02 2.00376846e+02] [ 4.96002624e-01 8.67877838e-01 -2.77390695e-02 4.34133511e+01] [ 5.35390184e-02 1.31788972e-03 9.98564889e-01 1.09756464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.370385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:43.44, Z:10.98 [[ 8.66410977e-01 -4.97226233e-01 -4.58049314e-02 2.00428737e+02] [ 4.96452972e-01 8.67619948e-01 -2.77501607e-02 4.34397333e+01] [ 5.35393801e-02 1.30304951e-03 9.98564889e-01 1.09777468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.430385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:200.48, Y:43.47, Z:10.97 [[ 8.64809760e-01 -5.00006203e-01 -4.58025693e-02 2.00476708e+02] [ 4.99236623e-01 8.66021078e-01 -2.77540588e-02 4.34741044e+01] [ 5.35431920e-02 1.13566098e-03 9.98564889e-01 1.09705555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:43.50, Z:10.98 [[ 8.68440735e-01 -4.93673021e-01 -4.57999817e-02 2.00530077e+02] [ 4.92894384e-01 8.69646251e-01 -2.77583282e-02 4.34965646e+01] [ 5.35333201e-02 1.53190919e-03 9.98564889e-01 1.09830447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.550385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:43.52, Z:10.98 [[ 8.69573120e-01 -4.91676008e-01 -4.57961941e-02 2.00582200e+02] [ 4.90894274e-01 8.70776630e-01 -2.77645757e-02 4.35236020e+01] [ 5.35294313e-02 1.66223922e-03 9.98564889e-01 1.09844427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.610385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:200.63, Y:43.55, Z:10.98 [[ 8.68628371e-01 -4.93343771e-01 -4.57894966e-02 2.00634077e+02] [ 4.92563766e-01 8.69833002e-01 -2.77756170e-02 4.35528358e+01] [ 5.35321428e-02 1.57244204e-03 9.98564889e-01 1.09794901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.670385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:200.69, Y:43.58, Z:10.99 [[ 8.70889843e-01 -4.89341212e-01 -4.57827482e-02 2.00685407e+02] [ 4.88555089e-01 8.72090490e-01 -2.77867359e-02 4.35782169e+01] [ 5.35238943e-02 1.83179140e-03 9.98564889e-01 1.09894099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.730385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:200.74, Y:43.60, Z:10.99 [[ 8.71567572e-01 -4.88133328e-01 -4.57801539e-02 2.00736870e+02] [ 4.87345316e-01 8.72766981e-01 -2.77910095e-02 4.36039842e+01] [ 5.35211246e-02 1.91099908e-03 9.98564889e-01 1.09918674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.790385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:200.79, Y:43.63, Z:10.99 [[ 8.71680929e-01 -4.87931170e-01 -4.57769662e-02 2.00787898e+02] [ 4.87142605e-01 8.72879975e-01 -2.77962593e-02 4.36319112e+01] [ 5.35204584e-02 1.92955858e-03 9.98564889e-01 1.09947621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85038572300002 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:200.84, Y:43.66, Z:11.00 [[ 8.72282009e-01 -4.86856487e-01 -4.57696237e-02 2.00840408e+02] [ 4.86065812e-01 8.73479663e-01 -2.78083441e-02 4.36591944e+01] [ 5.35175083e-02 2.00966894e-03 9.98564889e-01 1.09990718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91038572300002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:43.69, Z:11.00 [[ 8.73112107e-01 -4.85366841e-01 -4.57632745e-02 2.00893111e+02] [ 4.84573577e-01 8.74308048e-01 -2.78187890e-02 4.36852229e+01] [ 5.35135169e-02 2.11324784e-03 9.98564889e-01 1.10032209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.970385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:43.71, Z:11.01 [[ 8.72942885e-01 -4.85671754e-01 -4.57566077e-02 2.00944138e+02] [ 4.84878334e-01 8.74138723e-01 -2.78297503e-02 4.37137814e+01] [ 5.35137462e-02 2.10739483e-03 9.98564889e-01 1.10056721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:43.74, Z:11.01 [[ 8.72441284e-01 -4.86572955e-01 -4.57489422e-02 2.00995805e+02] [ 4.85780111e-01 8.73637504e-01 -2.78423459e-02 4.37399919e+01] [ 5.35153241e-02 2.06688579e-03 9.98564889e-01 1.10085871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.05, Y:43.77, Z:11.01 [[ 8.70699459e-01 -4.89683757e-01 -4.57413430e-02 2.01047391e+02] [ 4.88894533e-01 8.71898070e-01 -2.78548246e-02 4.37654374e+01] [ 5.35218439e-02 1.89048817e-03 9.98564889e-01 1.10106681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:43.79, Z:11.01 [[ 8.70039162e-01 -4.90856455e-01 -4.57361753e-02 2.01097697e+02] [ 4.90068401e-01 8.71238543e-01 -2.78633072e-02 4.37945545e+01] [ 5.35240029e-02 1.82831417e-03 9.98564889e-01 1.10137406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.15, Y:43.82, Z:11.02 [[ 8.67864114e-01 -4.94692578e-01 -4.57289108e-02 2.01149482e+02] [ 4.93909200e-01 8.69066553e-01 -2.78752246e-02 4.38212534e+01] [ 5.35311336e-02 1.60597730e-03 9.98564890e-01 1.10185413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:43.85, Z:11.02 [[ 8.66321749e-01 -4.97388881e-01 -4.57266727e-02 2.01200344e+02] [ 4.96609052e-01 8.67526493e-01 -2.78788955e-02 4.38488060e+01] [ 5.35357526e-02 1.44381395e-03 9.98564890e-01 1.10228171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.25, Y:43.88, Z:11.03 [[ 8.65898975e-01 -4.98125179e-01 -4.57194950e-02 2.01250005e+02] [ 4.97345754e-01 8.67103980e-01 -2.78906615e-02 4.38783469e+01] [ 5.35365968e-02 1.41209848e-03 9.98564890e-01 1.10250020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.390385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:201.30, Y:43.91, Z:11.03 [[ 8.64213972e-01 -5.01043535e-01 -4.57119901e-02 2.01299164e+02] [ 5.00267530e-01 8.65421183e-01 -2.79029563e-02 4.39063230e+01] [ 5.35407204e-02 1.24590033e-03 9.98564890e-01 1.10273648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.35, Y:43.93, Z:11.03 [[ 8.61295630e-01 -5.06044248e-01 -4.57061954e-02 2.01350702e+02] [ 5.05274750e-01 8.62506999e-01 -2.79124451e-02 4.39338650e+01] [ 5.35468457e-02 9.46680587e-04 9.98564890e-01 1.10320182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:43.96, Z:11.04 [[ 8.59068320e-01 -5.09816867e-01 -4.56988316e-02 2.01401355e+02] [ 5.09052048e-01 8.60282648e-01 -2.79244961e-02 4.39624907e+01] [ 5.35502910e-02 7.25966149e-04 9.98564890e-01 1.10359691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.45, Y:43.99, Z:11.04 [[ 8.57725007e-01 -5.12074317e-01 -4.56914290e-02 2.01452270e+02] [ 5.11312049e-01 8.58940938e-01 -2.79366032e-02 4.39905397e+01] [ 5.35518559e-02 5.99344988e-04 9.98564890e-01 1.10386169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.50, Y:44.02, Z:11.04 [[ 8.57737786e-01 -5.12053596e-01 -4.56837643e-02 2.01502889e+02] [ 5.11290631e-01 8.58953280e-01 -2.79491315e-02 4.40189492e+01] [ 5.35516725e-02 6.15345442e-04 9.98564890e-01 1.10416020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.55, Y:44.05, Z:11.04 [[ 8.58296603e-01 -5.11117059e-01 -4.56759531e-02 2.01553263e+02] [ 5.10352089e-01 8.59510836e-01 -2.79618912e-02 4.40475664e+01] [ 5.35507762e-02 6.88778109e-04 9.98564890e-01 1.10433799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.60, Y:44.08, Z:11.04 [[ 8.58828887e-01 -5.10222857e-01 -4.56681421e-02 2.01603271e+02] [ 5.09455945e-01 8.60041894e-01 -2.79746425e-02 4.40760124e+01] [ 5.35498175e-02 7.59524526e-04 9.98564890e-01 1.10434336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.65, Y:44.10, Z:11.05 [[ 8.58871493e-01 -5.10151434e-01 -4.56647847e-02 2.01654172e+02] [ 5.09384130e-01 8.60084252e-01 -2.79801220e-02 4.41045877e+01] [ 5.35496615e-02 7.70412506e-04 9.98564890e-01 1.10458612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.70, Y:44.14, Z:11.05 [[ 8.55936387e-01 -5.15061478e-01 -4.56571380e-02 2.01701062e+02] [ 5.14300467e-01 8.57153105e-01 -2.79925940e-02 4.41385943e+01] [ 5.35530645e-02 4.78392376e-04 9.98564890e-01 1.10517278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:44.17, Z:11.05 [[ 8.54988031e-01 -5.16634904e-01 -4.56491195e-02 2.01747757e+02] [ 5.15875434e-01 8.56205711e-01 -2.80056642e-02 4.41720176e+01] [ 5.35537405e-02 3.95248392e-04 9.98564891e-01 1.10514694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:44.20, Z:11.05 [[ 8.54697529e-01 -5.17115829e-01 -4.56437608e-02 2.01797461e+02] [ 5.16356578e-01 8.55915345e-01 -2.80143951e-02 4.42047350e+01] [ 5.35538824e-02 3.75378156e-04 9.98564891e-01 1.10517737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.050385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:201.85, Y:44.23, Z:11.06 [[ 8.55292487e-01 -5.16131773e-01 -4.56372083e-02 2.01846199e+02] [ 5.15370551e-01 8.56509072e-01 -2.80250655e-02 4.42345560e+01] [ 5.35533097e-02 4.49554822e-04 9.98564891e-01 1.10552003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.89, Y:44.27, Z:11.06 [[ 8.55606421e-01 -5.15611474e-01 -4.56339888e-02 2.01893997e+02] [ 5.14849233e-01 8.56822367e-01 -2.80303069e-02 4.42670272e+01] [ 5.35529702e-02 4.88286429e-04 9.98564891e-01 1.10588890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.94, Y:44.30, Z:11.07 [[ 8.57014752e-01 -5.13267891e-01 -4.56266015e-02 2.01943106e+02] [ 5.12501685e-01 8.58228204e-01 -2.80423265e-02 4.42976780e+01] [ 5.35512621e-02 6.48977315e-04 9.98564891e-01 1.10673022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:44.33, Z:11.07 [[ 8.57606443e-01 -5.12279372e-01 -4.56183578e-02 2.01991797e+02] [ 5.11511054e-01 8.58818559e-01 -2.80557307e-02 4.43281891e+01] [ 5.35502644e-02 7.26481102e-04 9.98564891e-01 1.10684138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:44.35, Z:11.08 [[ 8.58447729e-01 -5.10868676e-01 -4.56145959e-02 2.02045863e+02] [ 5.10098042e-01 8.59658374e-01 -2.80618457e-02 4.43528771e+01] [ 5.35488873e-02 8.21711678e-04 9.98564891e-01 1.10820331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:44.39, Z:11.08 [[ 8.55254081e-01 -5.16197648e-01 -4.56118963e-02 2.02095368e+02] [ 5.15434323e-01 8.56469348e-01 -2.80662330e-02 4.43866511e+01] [ 5.35529145e-02 4.93823408e-04 9.98564891e-01 1.10822455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41038572300002 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:202.15, Y:44.41, Z:11.08 [[ 8.56742077e-01 -5.13724729e-01 -4.56061066e-02 2.02147995e+02] [ 5.12957396e-01 8.57954817e-01 -2.80756378e-02 4.44117735e+01] [ 5.35511282e-02 6.59590571e-04 9.98564891e-01 1.10769877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.20, Y:44.45, Z:11.09 [[ 8.53005374e-01 -5.19906363e-01 -4.55983090e-02 2.02195140e+02] [ 5.19147143e-01 8.54223209e-01 -2.80882963e-02 4.44464890e+01] [ 5.35544178e-02 2.87235889e-04 9.98564891e-01 1.10910459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.25, Y:44.48, Z:11.10 [[ 8.53541114e-01 -5.19027138e-01 -4.55894257e-02 2.02245071e+02] [ 5.18265894e-01 8.54757685e-01 -2.81027073e-02 4.44755024e+01] [ 5.35539797e-02 3.59371611e-04 9.98564891e-01 1.10960266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:44.51, Z:11.09 [[ 8.52477363e-01 -5.20772681e-01 -4.55868543e-02 2.02295124e+02] [ 5.20013705e-01 8.53695350e-01 -2.81068779e-02 4.45052786e+01] [ 5.35545796e-02 2.54688139e-04 9.98564891e-01 1.10897582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.35, Y:44.53, Z:11.11 [[ 8.52598785e-01 -5.20574087e-01 -4.55843455e-02 2.02347304e+02] [ 5.19814610e-01 8.53816459e-01 -2.81109460e-02 4.45327836e+01] [ 5.35544945e-02 2.71949611e-04 9.98564891e-01 1.11054010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:44.56, Z:11.11 [[ 8.49746132e-01 -5.25218236e-01 -4.55775832e-02 2.02396516e+02] [ 5.24464826e-01 8.50967570e-01 -2.81219057e-02 4.45630542e+01] [ 5.35551830e-02 -7.35864720e-06 9.98564891e-01 1.11087327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.45, Y:44.59, Z:11.11 [[ 8.49623110e-01 -5.25417507e-01 -4.55742665e-02 2.02446184e+02] [ 5.24664095e-01 8.50844547e-01 -2.81272799e-02 4.45948964e+01] [ 5.35551814e-02 -1.35942677e-05 9.98564891e-01 1.11089772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.49, Y:44.63, Z:11.11 [[ 8.49422134e-01 -5.25742494e-01 -4.55726693e-02 2.02494315e+02] [ 5.24989410e-01 8.50643774e-01 -2.81298674e-02 4.46278758e+01] [ 5.35551740e-02 -3.10368174e-05 9.98564891e-01 1.11136099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:44.66, Z:11.11 [[ 8.48733716e-01 -5.26853345e-01 -4.55700726e-02 2.02542860e+02] [ 5.26101635e-01 8.49956201e-01 -2.81340735e-02 4.46608988e+01] [ 5.35550965e-02 -9.61529746e-05 9.98564891e-01 1.11128215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:44.70, Z:11.12 [[ 8.48483408e-01 -5.27256999e-01 -4.55627518e-02 2.02589186e+02] [ 5.26505234e-01 8.49705858e-01 -2.81459243e-02 4.46956211e+01] [ 5.35550727e-02 -1.07677562e-04 9.98564892e-01 1.11156574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.010385723 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:44.73, Z:11.11 [[ 8.47165857e-01 -5.29371589e-01 -4.55601965e-02 2.02637750e+02] [ 5.28622653e-01 8.48390043e-01 -2.81500600e-02 4.47306398e+01] [ 5.35546591e-02 -2.36382235e-04 9.98564892e-01 1.11056335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.68, Y:44.77, Z:11.10 [[ 8.43371886e-01 -5.35396013e-01 -4.55518566e-02 2.02683193e+02] [ 5.34655093e-01 8.44600939e-01 -2.81635490e-02 4.47676070e+01] [ 5.35517927e-02 -6.02186658e-04 9.98564892e-01 1.10984206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13038572300002 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:44.79, Z:11.11 [[ 8.43800456e-01 -5.34720572e-01 -4.55488823e-02 2.02736086e+02] [ 5.33978408e-01 8.45028759e-01 -2.81683586e-02 4.47941110e+01] [ 5.35523163e-02 -5.53645811e-04 9.98564892e-01 1.11068945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.78, Y:44.83, Z:11.13 [[ 8.41880730e-01 -5.37738313e-01 -4.55449434e-02 2.02783866e+02] [ 5.37000208e-01 8.43111476e-01 -2.81747259e-02 4.48259745e+01] [ 5.35500940e-02 -7.37885257e-04 9.98564892e-01 1.11294590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.250385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:202.83, Y:44.86, Z:11.13 [[ 8.39429741e-01 -5.41557128e-01 -4.55366453e-02 2.02831531e+02] [ 5.40823894e-01 8.40663396e-01 -2.81881310e-02 4.48601966e+01] [ 5.35464742e-02 -9.65350288e-04 9.98564892e-01 1.11319788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:202.88, Y:44.89, Z:11.14 [[ 8.39796779e-01 -5.40988363e-01 -4.55297855e-02 2.02878844e+02] [ 5.40253693e-01 8.41029579e-01 -2.81992067e-02 4.48948268e+01] [ 5.35473390e-02 -9.16031818e-04 9.98564892e-01 1.11361626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.370385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:202.93, Y:44.93, Z:11.12 [[ 8.37838498e-01 -5.44016825e-01 -4.55230144e-02 2.02925993e+02] [ 5.43286017e-01 8.39073591e-01 -2.82101334e-02 4.49324958e+01] [ 5.35439464e-02 -1.09648132e-03 9.98564892e-01 1.11244367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.430385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:202.97, Y:44.97, Z:11.14 [[ 8.39580425e-01 -5.41325174e-01 -4.55166602e-02 2.02972839e+02] [ 5.40589851e-01 8.40812835e-01 -2.82203821e-02 4.49670225e+01] [ 5.35473953e-02 -9.12564165e-04 9.98564892e-01 1.11382423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:203.02, Y:45.00, Z:11.14 [[ 8.39312853e-01 -5.41740530e-01 -4.55097065e-02 2.03019252e+02] [ 5.41005209e-01 8.40545264e-01 -2.82315916e-02 4.50027873e+01] [ 5.35471656e-02 -9.25850542e-04 9.98564892e-01 1.11442484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.06, Y:45.05, Z:11.13 [[ 8.34705841e-01 -5.48812945e-01 -4.55028512e-02 2.03063716e+02] [ 5.48087462e-01 8.35944069e-01 -2.82426364e-02 4.50453379e+01] [ 5.35377631e-02 -1.36524871e-03 9.98564892e-01 1.11324761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.610385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:203.11, Y:45.08, Z:11.14 [[ 8.34070096e-01 -5.49779226e-01 -4.54959103e-02 2.03107992e+02] [ 5.49054568e-01 8.35308807e-01 -2.82538130e-02 4.50835737e+01] [ 5.35364940e-02 -1.41407684e-03 9.98564892e-01 1.11351228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.670385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:203.15, Y:45.12, Z:11.14 [[ 8.34483895e-01 -5.49151608e-01 -4.54877973e-02 2.03153817e+02] [ 5.48425308e-01 8.35721644e-01 -2.82668687e-02 4.51213703e+01] [ 5.35379331e-02 -1.35841250e-03 9.98564892e-01 1.11370064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.730385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:203.20, Y:45.16, Z:11.14 [[ 8.35070318e-01 -5.48260126e-01 -4.54796423e-02 2.03199722e+02] [ 5.47531790e-01 8.36306870e-01 -2.82799836e-02 4.51587837e+01] [ 5.35397246e-02 -1.28577502e-03 9.98564893e-01 1.11387847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.790385723 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:203.25, Y:45.19, Z:11.16 [[ 8.38939312e-01 -5.42322029e-01 -4.54714079e-02 2.03248042e+02] [ 5.41584222e-01 8.40170236e-01 -2.82932175e-02 4.51910045e+01] [ 5.35477586e-02 -8.90304682e-04 9.98564893e-01 1.11568140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85038572300002 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:203.29, Y:45.23, Z:11.14 [[ 8.37144641e-01 -5.45088379e-01 -4.54698668e-02 2.03291799e+02] [ 5.44354505e-01 8.38377914e-01 -2.82956939e-02 4.52345018e+01] [ 5.35445860e-02 -1.06413836e-03 9.98564893e-01 1.11436347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.34, Y:45.27, Z:11.15 [[ 8.42454862e-01 -5.36845337e-01 -4.54630520e-02 2.03337267e+02] [ 5.36098803e-01 8.43680513e-01 -2.83066391e-02 4.52720052e+01] [ 5.35525783e-02 -5.25621961e-04 9.98564893e-01 1.11488864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.970385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:203.38, Y:45.30, Z:11.15 [[ 8.45977917e-01 -5.31276893e-01 -4.54557588e-02 2.03384114e+02] [ 5.30521662e-01 8.47198228e-01 -2.83183460e-02 4.53049243e+01] [ 5.35549212e-02 -1.58569336e-04 9.98564893e-01 1.11531526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.030385723 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:203.43, Y:45.34, Z:11.16 [[ 8.48055283e-01 -5.27954820e-01 -4.54526780e-02 2.03433295e+02] [ 5.27194543e-01 8.49272456e-01 -2.83232900e-02 4.53367043e+01] [ 5.35551249e-02 5.73119189e-05 9.98564893e-01 1.11621318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.090385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:45.37, Z:11.17 [[ 8.48583728e-01 -5.27105662e-01 -4.54453168e-02 2.03481319e+02] [ 5.26343535e-01 8.49799744e-01 -2.83350963e-02 4.53689190e+01] [ 5.35550083e-02 1.24853026e-04 9.98564893e-01 1.11661359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.150385723 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:203.53, Y:45.40, Z:11.17 [[ 8.47553627e-01 -5.28761130e-01 -4.54369444e-02 2.03528067e+02] [ 5.28000659e-01 8.48770679e-01 -2.83485156e-02 4.54017386e+01] [ 5.35551393e-02 3.61505960e-05 9.98564893e-01 1.11694052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.210385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:45.43, Z:11.18 [[ 8.44775441e-01 -5.33188771e-01 -4.54333527e-02 2.03576260e+02] [ 5.32434368e-01 8.45996264e-01 -2.83542707e-02 4.54333057e+01] [ 5.35546254e-02 -2.37286949e-04 9.98564893e-01 1.11750564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.270385723 meters Centerline goodness : 0.995827 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:45.46, Z:11.18 [[ 8.42842281e-01 -5.36240075e-01 -4.54254494e-02 2.03627421e+02] [ 5.35489411e-01 8.44065405e-01 -2.83669267e-02 4.54607368e+01] [ 5.35535333e-02 -4.16001967e-04 9.98564893e-01 1.11768350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.330385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:203.67, Y:45.50, Z:11.18 [[ 8.42951175e-01 -5.36069740e-01 -4.54153044e-02 2.03671207e+02] [ 5.35317953e-01 8.44173611e-01 -2.83831595e-02 4.54980691e+01] [ 5.35537544e-02 -3.86010119e-04 9.98564893e-01 1.11799479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.390385723 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:203.72, Y:45.53, Z:11.18 [[ 8.45136280e-01 -5.32618528e-01 -4.54111350e-02 2.03718565e+02] [ 5.31861391e-01 8.46355409e-01 -2.83898287e-02 4.55316934e+01] [ 5.35549085e-02 -1.59155202e-04 9.98564893e-01 1.11769289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:45.56, Z:11.18 [[ 8.52456243e-01 -5.20823519e-01 -4.54006115e-02 2.03766505e+02] [ 5.20048619e-01 8.53664159e-01 -2.84066477e-02 4.55638372e+01] [ 5.35517251e-02 6.04898877e-04 9.98564894e-01 1.11848435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.510385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:203.82, Y:45.59, Z:11.19 [[ 8.55468064e-01 -5.15862552e-01 -4.53896319e-02 2.03815933e+02] [ 5.15079718e-01 8.56670853e-01 -2.84241807e-02 4.55949667e+01] [ 5.35469451e-02 9.36700008e-04 9.98564894e-01 1.11863787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57038572300002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:203.86, Y:45.63, Z:11.18 [[ 8.54602651e-01 -5.17295701e-01 -4.53813397e-02 2.03863053e+02] [ 5.16514182e-01 8.55806294e-01 -2.84374138e-02 4.56303826e+01] [ 5.35481880e-02 8.62583669e-04 9.98564894e-01 1.11811644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63038572300002 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:203.92, Y:45.65, Z:11.19 [[ 8.56670547e-01 -5.13864656e-01 -4.53727803e-02 2.03917046e+02] [ 5.13077594e-01 8.57870573e-01 -2.84510639e-02 4.56533374e+01] [ 5.35439692e-02 1.09343152e-03 9.98564894e-01 1.11934847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.690385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:203.97, Y:45.68, Z:11.20 [[ 8.55385547e-01 -5.16001501e-01 -4.53653667e-02 2.03968400e+02] [ 5.15216811e-01 8.56587125e-01 -2.84628801e-02 4.56806994e+01] [ 5.35462779e-02 9.73736775e-04 9.98564894e-01 1.11979997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.750385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:45.71, Z:11.20 [[ 8.50678338e-01 -5.23725678e-01 -4.53627573e-02 2.04018837e+02] [ 5.22951678e-01 8.51886830e-01 -2.84670383e-02 4.57092517e+01] [ 5.35528544e-02 4.93762747e-04 9.98564894e-01 1.12005761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:45.73, Z:11.20 [[ 8.51192456e-01 -5.22890437e-01 -4.53540998e-02 2.04071319e+02] [ 5.22114516e-01 8.52399715e-01 -2.84808248e-02 4.57332591e+01] [ 5.35521727e-02 5.62629372e-04 9.98564894e-01 1.12033778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.870385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:204.12, Y:45.76, Z:11.20 [[ 8.51053290e-01 -5.23117232e-01 -4.53504098e-02 2.04122694e+02] [ 5.22341320e-01 8.52260555e-01 -2.84866992e-02 4.57629856e+01] [ 5.35522487e-02 5.55306156e-04 9.98564894e-01 1.11987080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.930385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:45.79, Z:11.20 [[ 8.53386765e-01 -5.19302458e-01 -4.53429798e-02 2.04174118e+02] [ 5.18520522e-01 8.54590137e-01 -2.84985208e-02 4.57899480e+01] [ 5.35490153e-02 8.08994941e-04 9.98564894e-01 1.12024738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.990385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:204.23, Y:45.82, Z:11.21 [[ 8.55794432e-01 -5.15325780e-01 -4.53346509e-02 2.04225521e+02] [ 5.14537552e-01 8.56993691e-01 -2.85117641e-02 4.58167512e+01] [ 5.35443569e-02 1.07382861e-03 9.98564895e-01 1.12065313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:45.84, Z:11.21 [[ 8.60152855e-01 -5.08018312e-01 -4.53261688e-02 2.04280137e+02] [ 5.07219188e-01 8.61344882e-01 -2.85252420e-02 4.58364558e+01] [ 5.35328088e-02 1.54576574e-03 9.98564895e-01 1.12134992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.33, Y:45.86, Z:11.21 [[ 8.57440576e-01 -5.12583191e-01 -4.53225262e-02 2.04331332e+02] [ 5.11790109e-01 8.58636631e-01 -2.85310285e-02 4.58647051e+01] [ 5.35401068e-02 1.26804090e-03 9.98564895e-01 1.12098177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:45.88, Z:11.22 [[ 8.58916035e-01 -5.10107674e-01 -4.53145204e-02 2.04389456e+02] [ 5.09310476e-01 8.60109350e-01 -2.85437380e-02 4.58831073e+01] [ 5.35358225e-02 1.43751436e-03 9.98564895e-01 1.12183525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:45.91, Z:11.22 [[ 8.59392252e-01 -5.09305589e-01 -4.53075557e-02 2.04443498e+02] [ 5.08506695e-01 8.60584433e-01 -2.85547889e-02 4.59061995e+01] [ 5.35340907e-02 1.50056898e-03 9.98564895e-01 1.12212016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.50, Y:45.93, Z:11.23 [[ 8.61066499e-01 -5.06470575e-01 -4.52994646e-02 2.04498576e+02] [ 5.05667082e-01 8.62255585e-01 -2.85676189e-02 4.59288613e+01] [ 5.35283747e-02 1.69217149e-03 9.98564895e-01 1.12262752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.55, Y:45.96, Z:11.22 [[ 8.58278611e-01 -5.11181395e-01 -4.52924599e-02 2.04549257e+02] [ 5.10383845e-01 8.59471691e-01 -2.85787202e-02 4.59572041e+01] [ 5.35364971e-02 1.41196448e-03 9.98564895e-01 1.12217059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:45.98, Z:11.22 [[ 8.53968228e-01 -5.18350824e-01 -4.52845314e-02 2.04603217e+02] [ 5.17562627e-01 8.55167508e-01 -2.85912777e-02 4.59798364e+01] [ 5.35461722e-02 9.78461771e-04 9.98564895e-01 1.12231616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:45.99, Z:11.24 [[ 8.53762932e-01 -5.18689624e-01 -4.52761404e-02 2.04662523e+02] [ 5.17901199e-01 8.54962062e-01 -2.86045594e-02 4.59939209e+01] [ 5.35462705e-02 9.72945111e-04 9.98564895e-01 1.12375487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.71, Y:46.03, Z:11.24 [[ 8.49764193e-01 -5.25215717e-01 -4.52688252e-02 2.04712324e+02] [ 5.24435886e-01 8.50968929e-01 -2.86161315e-02 4.60261392e+01] [ 5.35520057e-02 5.76367452e-04 9.98564895e-01 1.12393559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.590385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:204.76, Y:46.07, Z:11.23 [[ 8.44380568e-01 -5.33828464e-01 -4.52617740e-02 2.04756314e+02] [ 5.33060325e-01 8.45592792e-01 -2.86272799e-02 4.60673982e+01] [ 5.35550867e-02 4.50629356e-05 9.98564896e-01 1.12339896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:204.81, Y:46.09, Z:11.25 [[ 8.49129174e-01 -5.26242979e-01 -4.52545321e-02 2.04809322e+02] [ 5.25463402e-01 8.50334074e-01 -2.86387235e-02 4.60901964e+01] [ 5.35523978e-02 5.38375257e-04 9.98564896e-01 1.12489497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.710385723 meters Centerline goodness : 0.999774 with order 1 Centerline is valid? [True, True] Translation: X:204.86, Y:46.12, Z:11.25 [[ 8.49837680e-01 -5.25098265e-01 -4.52518506e-02 2.04859014e+02] [ 5.24316839e-01 8.51041382e-01 -2.86429600e-02 4.61218280e+01] [ 5.35515660e-02 6.15559391e-04 9.98564896e-01 1.12488564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.770385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:46.16, Z:11.24 [[ 8.45957299e-01 -5.31327728e-01 -4.52448180e-02 2.04904154e+02] [ 5.30554573e-01 8.47166330e-01 -2.86540645e-02 4.61617173e+01] [ 5.35545853e-02 2.35269912e-04 9.98564896e-01 1.12429683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.830385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:46.18, Z:11.26 [[ 8.49575191e-01 -5.25524093e-01 -4.52374128e-02 2.04958687e+02] [ 5.24742057e-01 8.50778496e-01 -2.86657506e-02 4.61826405e+01] [ 5.35515606e-02 6.15737492e-04 9.98564896e-01 1.12554830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.890385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:46.22, Z:11.25 [[ 8.43496782e-01 -5.35226111e-01 -4.52348211e-02 2.05003082e+02] [ 5.34457698e-01 8.44708831e-01 -2.86698398e-02 4.62233769e+01] [ 5.35550997e-02 6.81927498e-06 9.98564896e-01 1.12484172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.950385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:205.05, Y:46.25, Z:11.26 [[ 8.45777649e-01 -5.31615128e-01 -4.52274704e-02 2.05054911e+02] [ 5.30840920e-01 8.46986005e-01 -2.86814309e-02 4.62501536e+01] [ 5.35545171e-02 2.49521231e-04 9.98564896e-01 1.12583519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.010385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:205.11, Y:46.27, Z:11.27 [[ 8.50872472e-01 -5.23422563e-01 -4.52200945e-02 2.05108258e+02] [ 5.22636104e-01 8.52072891e-01 -2.86930554e-02 4.62739561e+01] [ 5.35494092e-02 7.80476933e-04 9.98564896e-01 1.12693776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:46.31, Z:11.27 [[ 8.51416960e-01 -5.22536638e-01 -4.52174956e-02 2.05156031e+02] [ 5.21748713e-01 8.52616417e-01 -2.86971504e-02 4.63061335e+01] [ 5.35484916e-02 8.41070426e-04 9.98564896e-01 1.12725114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:46.34, Z:11.28 [[ 8.51054494e-01 -5.23127461e-01 -4.52095989e-02 2.05204348e+02] [ 5.22339708e-01 8.52254064e-01 -2.87095855e-02 4.63380591e+01] [ 5.35488369e-02 8.18653063e-04 9.98564896e-01 1.12767010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:46.37, Z:11.28 [[ 8.50446670e-01 -5.24115708e-01 -4.52016217e-02 2.05253226e+02] [ 5.23328681e-01 8.51646717e-01 -2.87221396e-02 4.63699674e+01] [ 5.35495373e-02 7.71342929e-04 9.98564896e-01 1.12807688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.30, Y:46.40, Z:11.28 [[ 8.50402757e-01 -5.24187643e-01 -4.51936497e-02 2.05302947e+02] [ 5.23400052e-01 8.51602433e-01 -2.87346780e-02 4.64002498e+01] [ 5.35493852e-02 7.81690844e-04 9.98564896e-01 1.12847581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.35, Y:46.43, Z:11.29 [[ 8.48435051e-01 -5.27367245e-01 -4.51857596e-02 2.05350918e+02] [ 5.26583489e-01 8.49637237e-01 -2.87470800e-02 4.64345411e+01] [ 5.35517723e-02 5.95955342e-04 9.98564897e-01 1.12904511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.370385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:205.40, Y:46.46, Z:11.29 [[ 8.49318392e-01 -5.25944099e-01 -4.51782457e-02 2.05402028e+02] [ 5.25157701e-01 8.50518851e-01 -2.87588838e-02 4.64630513e+01] [ 5.35505148e-02 6.99745240e-04 9.98564897e-01 1.12896429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.430385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:46.50, Z:11.30 [[ 8.49384929e-01 -5.25836863e-01 -4.51756129e-02 2.05450459e+02] [ 5.25050094e-01 8.50585144e-01 -2.87630189e-02 4.64950745e+01] [ 5.35503608e-02 7.11415018e-04 9.98564897e-01 1.12950848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.490385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:205.50, Y:46.53, Z:11.30 [[ 8.49252339e-01 -5.26051656e-01 -4.51676773e-02 2.05500294e+02] [ 5.25264529e-01 8.50452319e-01 -2.87754751e-02 4.65259543e+01] [ 5.35503422e-02 7.12660885e-04 9.98564897e-01 1.13017071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:46.56, Z:11.31 [[ 8.48391614e-01 -5.27439265e-01 -4.51607177e-02 2.05549698e+02] [ 5.26653519e-01 8.49592499e-01 -2.87863935e-02 4.65568895e+01] [ 5.35512812e-02 6.38084010e-04 9.98564897e-01 1.13061283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.610385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:46.59, Z:11.30 [[ 8.43540490e-01 -5.35164151e-01 -4.51527756e-02 2.05596910e+02] [ 5.34388737e-01 8.44748071e-01 -2.87988456e-02 4.65938332e+01] [ 5.35548299e-02 1.63857624e-04 9.98564897e-01 1.13016383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.65, Y:46.62, Z:11.31 [[ 8.44091307e-01 -5.34295501e-01 -4.51462384e-02 2.05649823e+02] [ 5.33518296e-01 8.45297737e-01 -2.88090900e-02 4.66188579e+01] [ 5.35545803e-02 2.31158248e-04 9.98564897e-01 1.13138771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.70, Y:46.65, Z:11.32 [[ 8.42144993e-01 -5.37358601e-01 -4.51391713e-02 2.05698389e+02] [ 5.36585191e-01 8.43353859e-01 -2.88201587e-02 4.66514231e+01] [ 5.35550545e-02 4.97414390e-05 9.98564897e-01 1.13189655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:205.75, Y:46.69, Z:11.32 [[ 8.38989073e-01 -5.42273386e-01 -4.51321454e-02 2.05746312e+02] [ 5.41506466e-01 8.40202066e-01 -2.88311571e-02 4.66873215e+01] [ 5.35544910e-02 -2.50322785e-04 9.98564897e-01 1.13155269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:205.80, Y:46.72, Z:11.33 [[ 8.39100560e-01 -5.42101413e-01 -4.51254673e-02 2.05796196e+02] [ 5.41333682e-01 8.40313041e-01 -2.88416055e-02 4.67160950e+01] [ 5.35545938e-02 -2.26928022e-04 9.98564897e-01 1.13287722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:205.85, Y:46.75, Z:11.33 [[ 8.38665461e-01 -5.42774509e-01 -4.51229104e-02 2.05845067e+02] [ 5.42007536e-01 8.39878421e-01 -2.88456053e-02 4.67494641e+01] [ 5.35544180e-02 -2.65144669e-04 9.98564897e-01 1.13273456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:46.78, Z:11.34 [[ 8.38053966e-01 -5.43718682e-01 -4.51170067e-02 2.05894793e+02] [ 5.42952578e-01 8.39267476e-01 -2.88548362e-02 4.67786075e+01] [ 5.35541499e-02 -3.14485203e-04 9.98564897e-01 1.13378204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:46.81, Z:11.34 [[ 8.37651815e-01 -5.44338238e-01 -4.51145183e-02 2.05943644e+02] [ 5.43572822e-01 8.38865759e-01 -2.88587263e-02 4.68114559e+01] [ 5.35539329e-02 -3.49461554e-04 9.98564897e-01 1.13402348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.99, Y:46.84, Z:11.34 [[ 8.37332422e-01 -5.44829978e-01 -4.51077497e-02 2.05993050e+02] [ 5.44064706e-01 8.38546456e-01 -2.88693021e-02 4.68435879e+01] [ 5.35538049e-02 -3.68331925e-04 9.98564897e-01 1.13413347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:46.87, Z:11.34 [[ 8.36718619e-01 -5.45772733e-01 -4.51007475e-02 2.06041467e+02] [ 5.45008239e-01 8.37933143e-01 -2.88802372e-02 4.68745774e+01] [ 5.35534570e-02 -4.15646768e-04 9.98564897e-01 1.13434067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.09, Y:46.91, Z:11.34 [[ 8.36285571e-01 -5.46436261e-01 -4.50982912e-02 2.06090548e+02] [ 5.45672524e-01 8.37500571e-01 -2.88840724e-02 4.69078432e+01] [ 5.35531491e-02 -4.53565417e-04 9.98564897e-01 1.13439864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.14, Y:46.94, Z:11.34 [[ 8.36678153e-01 -5.45835530e-01 -4.50914906e-02 2.06138906e+02] [ 5.45070349e-01 8.37892244e-01 -2.88946850e-02 4.69421532e+01] [ 5.35535559e-02 -4.02482807e-04 9.98564898e-01 1.13440104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:46.98, Z:11.35 [[ 8.37463691e-01 -5.44630118e-01 -4.50843803e-02 2.06185575e+02] [ 5.43862592e-01 8.38676301e-01 -2.89057749e-02 4.69758660e+01] [ 5.35541569e-02 -3.12171037e-04 9.98564898e-01 1.13461983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.23, Y:47.01, Z:11.34 [[ 8.39922943e-01 -5.40830089e-01 -4.50806404e-02 2.06232386e+02] [ 5.40056764e-01 8.41131863e-01 -2.89116064e-02 4.70131912e+01] [ 5.35550297e-02 -6.25832200e-05 9.98564898e-01 1.13436046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.28, Y:47.05, Z:11.34 [[ 8.41127012e-01 -5.38956139e-01 -4.50736015e-02 2.06280464e+02] [ 5.38179533e-01 8.42333826e-01 -2.89225760e-02 4.70475115e+01] [ 5.35550191e-02 6.98701178e-05 9.98564898e-01 1.13435570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.33, Y:47.08, Z:11.34 [[ 8.41300056e-01 -5.38686567e-01 -4.50665879e-02 2.06328354e+02] [ 5.37908989e-01 8.42506245e-01 -2.89335004e-02 4.70821670e+01] [ 5.35549697e-02 1.00032796e-04 9.98564898e-01 1.13428311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57038572300002 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:206.38, Y:47.11, Z:11.34 [[ 8.42086851e-01 -5.37456393e-01 -4.50595202e-02 2.06377466e+02] [ 5.36676464e-01 8.43291521e-01 -2.89445030e-02 4.71136339e+01] [ 5.35547195e-02 1.91401397e-04 9.98564898e-01 1.13387150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63038572300002 meters Centerline goodness : 0.998318 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:47.15, Z:11.34 [[ 8.41894979e-01 -5.37757681e-01 -4.50502013e-02 2.06424050e+02] [ 5.36977407e-01 8.43099425e-01 -2.89590000e-02 4.71476677e+01] [ 5.35547235e-02 1.89496451e-04 9.98564898e-01 1.13371215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.47, Y:47.19, Z:11.34 [[ 8.40426556e-01 -5.40050067e-01 -4.50458589e-02 2.06468229e+02] [ 5.39272717e-01 8.41632890e-01 -2.89657531e-02 4.71875583e+01] [ 5.35550333e-02 5.15854498e-05 9.98564898e-01 1.13361257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.750385723 meters Centerline goodness : 0.997189 with order 1 Centerline is valid? [True, True] Translation: X:206.52, Y:47.22, Z:11.34 [[ 8.45669621e-01 -5.31803246e-01 -4.50355415e-02 2.06516295e+02] [ 5.31013279e-01 8.46867731e-01 -2.89817856e-02 4.72175622e+01] [ 5.35517545e-02 5.94545064e-04 9.98564898e-01 1.13387968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.56, Y:47.26, Z:11.35 [[ 8.46230529e-01 -5.30911099e-01 -4.50255141e-02 2.06560238e+02] [ 5.30119040e-01 8.47427258e-01 -2.89973555e-02 4.72575069e+01] [ 5.35508658e-02 6.69565146e-04 9.98564898e-01 1.13462172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:47.29, Z:11.35 [[ 8.49186532e-01 -5.26170797e-01 -4.50169556e-02 2.06607714e+02] [ 5.25371355e-01 8.50378341e-01 -2.90106362e-02 4.72923999e+01] [ 5.35459936e-02 9.84822570e-04 9.98564899e-01 1.13470854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:47.33, Z:11.35 [[ 8.49625310e-01 -5.25462601e-01 -4.50098581e-02 2.06654974e+02] [ 5.24661582e-01 8.50816060e-01 -2.90216437e-02 4.73270721e+01] [ 5.35448985e-02 1.04257966e-03 9.98564899e-01 1.13474600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:206.70, Y:47.36, Z:11.35 [[ 8.49499810e-01 -5.25666178e-01 -4.50015881e-02 2.06704206e+02] [ 5.24864766e-01 8.50690295e-01 -2.90344617e-02 4.73590864e+01] [ 5.35448487e-02 1.04502172e-03 9.98564899e-01 1.13504251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.050385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:206.75, Y:47.39, Z:11.35 [[ 8.48490433e-01 -5.27294495e-01 -4.49944578e-02 2.06753554e+02] [ 5.26494782e-01 8.49682060e-01 -2.90455072e-02 4.73907614e+01] [ 5.35465197e-02 9.55487703e-04 9.98564899e-01 1.13524687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:47.42, Z:11.36 [[ 8.49274586e-01 -5.26031245e-01 -4.49867489e-02 2.06802157e+02] [ 5.25229128e-01 8.50464596e-01 -2.90574422e-02 4.74221248e+01] [ 5.35447597e-02 1.04939635e-03 9.98564899e-01 1.13569149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:47.45, Z:11.36 [[ 8.50018846e-01 -5.24828086e-01 -4.49826863e-02 2.06851956e+02] [ 5.24023952e-01 8.51207493e-01 -2.90637300e-02 4.74523849e+01] [ 5.35430614e-02 1.13271319e-03 9.98564899e-01 1.13569624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.90, Y:47.48, Z:11.36 [[ 8.51896116e-01 -5.21776132e-01 -4.49741632e-02 2.06901434e+02] [ 5.20967044e-01 8.53081398e-01 -2.90769129e-02 4.74835720e+01] [ 5.35382612e-02 1.34045232e-03 9.98564899e-01 1.13582002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:206.95, Y:47.51, Z:11.36 [[ 8.52599735e-01 -5.20626245e-01 -4.49667065e-02 2.06952985e+02] [ 5.19814952e-01 8.53783508e-01 -2.90884399e-02 4.75127385e+01] [ 5.35360377e-02 1.42642982e-03 9.98564899e-01 1.13584034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.01, Y:47.54, Z:11.36 [[ 8.54686465e-01 -5.17194097e-01 -4.49590177e-02 2.07005207e+02] [ 5.16377427e-01 8.55866534e-01 -2.91003189e-02 4.75383329e+01] [ 5.35294318e-02 1.65582684e-03 9.98564899e-01 1.13645309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.06, Y:47.56, Z:11.37 [[ 8.55628847e-01 -5.15633791e-01 -4.49563200e-02 2.07058106e+02] [ 5.14814751e-01 8.56807272e-01 -2.91044860e-02 4.75641786e+01] [ 5.35261583e-02 1.75846111e-03 9.98564899e-01 1.13654548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:47.59, Z:11.37 [[ 8.53971211e-01 -5.18375177e-01 -4.49482777e-02 2.07108293e+02] [ 5.17559267e-01 8.55151806e-01 -2.91169010e-02 4.75940503e+01] [ 5.35310795e-02 1.60159754e-03 9.98564899e-01 1.13688143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.16, Y:47.62, Z:11.37 [[ 8.53836609e-01 -5.18597590e-01 -4.49397918e-02 2.07158948e+02] [ 5.17781299e-01 8.55016941e-01 -2.91299924e-02 4.76203353e+01] [ 5.35310272e-02 1.60327014e-03 9.98564900e-01 1.13714190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:47.65, Z:11.38 [[ 8.52277361e-01 -5.21156619e-01 -4.49341500e-02 2.07206591e+02] [ 5.20343415e-01 8.53459822e-01 -2.91386925e-02 4.76523600e+01] [ 5.35353142e-02 1.45305892e-03 9.98564900e-01 1.13762209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.25, Y:47.69, Z:11.38 [[ 8.48317713e-01 -5.27577670e-01 -4.49317231e-02 2.07253517e+02] [ 5.26773220e-01 8.49506147e-01 -2.91424343e-02 4.76887892e+01] [ 5.35446726e-02 1.05321479e-03 9.98564900e-01 1.13784487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:47.71, Z:11.39 [[ 8.49779328e-01 -5.25220837e-01 -4.49239959e-02 2.07304949e+02] [ 5.24412463e-01 8.50965095e-01 -2.91543412e-02 4.77132021e+01] [ 5.35412200e-02 1.21605313e-03 9.98564900e-01 1.13867602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:47.74, Z:11.39 [[ 8.48212062e-01 -5.27748490e-01 -4.49202432e-02 2.07353640e+02] [ 5.26943344e-01 8.49400024e-01 -2.91601222e-02 4.77449928e+01] [ 5.35444661e-02 1.06354422e-03 9.98564900e-01 1.13889506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.830385723 meters Centerline goodness : 0.997341 with order 1 Centerline is valid? [True, True] Translation: X:207.40, Y:47.78, Z:11.39 [[ 8.47833142e-01 -5.28357704e-01 -4.49121282e-02 2.07403585e+02] [ 5.27552750e-01 8.49021233e-01 -2.91726155e-02 4.77753980e+01] [ 5.35449266e-02 1.03999357e-03 9.98564900e-01 1.13908637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.45, Y:47.81, Z:11.40 [[ 8.45814659e-01 -5.31583755e-01 -4.49029393e-02 2.07452877e+02] [ 5.30782582e-01 8.47005303e-01 -2.91867523e-02 4.78067192e+01] [ 5.35482311e-02 8.52884829e-04 9.98564900e-01 1.14016001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:47.84, Z:11.40 [[ 8.45733136e-01 -5.31714234e-01 -4.48935988e-02 2.07501775e+02] [ 5.30912483e-01 8.46923391e-01 -2.92011123e-02 4.78372451e+01] [ 5.35480860e-02 8.61776274e-04 9.98564900e-01 1.14049027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.010385723 meters Centerline goodness : 0.995696 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:47.87, Z:11.41 [[ 8.43562985e-01 -5.35150718e-01 -4.48909696e-02 2.07551324e+02] [ 5.34353601e-01 8.44756348e-01 -2.92051537e-02 4.78691477e+01] [ 5.35510905e-02 6.48735341e-04 9.98564900e-01 1.14061770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.60, Y:47.90, Z:11.42 [[ 8.42275837e-01 -5.37174973e-01 -4.48827760e-02 2.07603816e+02] [ 5.36380053e-01 8.43470665e-01 -2.92177403e-02 4.78952322e+01] [ 5.35523437e-02 5.35170846e-04 9.98564900e-01 1.14228392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.65, Y:47.93, Z:11.43 [[ 8.41281600e-01 -5.38731556e-01 -4.48729246e-02 2.07652509e+02] [ 5.37938041e-01 8.42477361e-01 -2.92328624e-02 4.79260434e+01] [ 5.35530885e-02 4.54216186e-04 9.98564900e-01 1.14262271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.70, Y:47.96, Z:11.43 [[ 8.41106230e-01 -5.39006043e-01 -4.48641932e-02 2.07699941e+02] [ 5.38212203e-01 8.42301775e-01 -2.92462565e-02 4.79583920e+01] [ 5.35530986e-02 4.52752260e-04 9.98564901e-01 1.14281771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.75, Y:47.99, Z:11.42 [[ 8.39550621e-01 -5.41426250e-01 -4.48594598e-02 2.07746675e+02] [ 5.40635469e-01 8.40748192e-01 -2.92535151e-02 4.79945408e+01] [ 5.35541306e-02 3.07191679e-04 9.98564901e-01 1.14233106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:48.03, Z:11.43 [[ 8.39884373e-01 -5.40908970e-01 -4.48522742e-02 2.07796232e+02] [ 5.40116863e-01 8.41081067e-01 -2.92645281e-02 4.80252362e+01] [ 5.35538444e-02 3.53350186e-04 9.98564901e-01 1.14301685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.84, Y:48.06, Z:11.43 [[ 8.39512842e-01 -5.41486052e-01 -4.48446702e-02 2.07843141e+02] [ 5.40694145e-01 8.40709669e-01 -2.92761756e-02 4.80598070e+01] [ 5.35539886e-02 3.30474759e-04 9.98564901e-01 1.14297946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.89, Y:48.09, Z:11.43 [[ 8.39600518e-01 -5.41350316e-01 -4.48420112e-02 2.07892387e+02] [ 5.40557998e-01 8.40797073e-01 -2.92802479e-02 4.80930115e+01] [ 5.35539032e-02 3.44003495e-04 9.98564901e-01 1.14300705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.490385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:207.94, Y:48.13, Z:11.43 [[ 8.37373750e-01 -5.44788746e-01 -4.48377731e-02 2.07939509e+02] [ 5.44000994e-01 8.38573315e-01 -2.92867364e-02 4.81265387e+01] [ 5.35548444e-02 1.32151125e-04 9.98564901e-01 1.14305819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.550385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:207.99, Y:48.16, Z:11.43 [[ 8.36136313e-01 -5.46686379e-01 -4.48337955e-02 2.07988702e+02] [ 5.45901023e-01 8.37337449e-01 -2.92928243e-02 4.81582742e+01] [ 5.35550040e-02 1.79793207e-05 9.98564901e-01 1.14341602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:48.19, Z:11.44 [[ 8.36023021e-01 -5.46860227e-01 -4.48263308e-02 2.08036262e+02] [ 5.46074510e-01 8.37223919e-01 -2.93042430e-02 4.81925552e+01] [ 5.35550013e-02 2.05051330e-05 9.98564901e-01 1.14365871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.09, Y:48.22, Z:11.44 [[ 8.39210345e-01 -5.41956972e-01 -4.48178321e-02 2.08085029e+02] [ 5.41163544e-01 8.40406163e-01 -2.93172352e-02 4.82243128e+01] [ 5.35538622e-02 3.49550175e-04 9.98564901e-01 1.14395145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.13, Y:48.26, Z:11.44 [[ 8.40625773e-01 -5.39759123e-01 -4.48151607e-02 2.08132136e+02] [ 5.38962351e-01 8.41819366e-01 -2.93213180e-02 4.82590483e+01] [ 5.35527191e-02 4.94571274e-04 9.98564901e-01 1.14384964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:48.29, Z:11.44 [[ 8.41029806e-01 -5.39130032e-01 -4.48070740e-02 2.08179900e+02] [ 5.38331709e-01 8.42222362e-01 -2.93336705e-02 4.82930152e+01] [ 5.35521824e-02 5.49422447e-04 9.98564901e-01 1.14377284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:48.33, Z:11.43 [[ 8.38409937e-01 -5.43195929e-01 -4.47991068e-02 2.08226078e+02] [ 5.42402740e-01 8.39605913e-01 -2.93458331e-02 4.83288842e+01] [ 5.35541321e-02 3.04679795e-04 9.98564901e-01 1.14332584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.27, Y:48.36, Z:11.43 [[ 8.37565356e-01 -5.44498014e-01 -4.47904802e-02 2.08274297e+02] [ 5.43705980e-01 8.38762098e-01 -2.93589941e-02 4.83617237e+01] [ 5.35544711e-02 2.37224413e-04 9.98564901e-01 1.14343493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:48.39, Z:11.44 [[ 8.36660014e-01 -5.45888331e-01 -4.47878406e-02 2.08322963e+02] [ 5.45098070e-01 8.37857928e-01 -2.93630202e-02 4.83930473e+01] [ 5.35547774e-02 1.53099452e-04 9.98564901e-01 1.14374751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.37, Y:48.42, Z:11.44 [[ 8.38476990e-01 -5.43094054e-01 -4.47793133e-02 2.08372261e+02] [ 5.42299107e-01 8.39671798e-01 -2.93760189e-02 4.84228305e+01] [ 5.35538677e-02 3.47334256e-04 9.98564902e-01 1.14417452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:208.42, Y:48.46, Z:11.44 [[ 8.38072037e-01 -5.43718961e-01 -4.47766866e-02 2.08419140e+02] [ 5.42924691e-01 8.39267296e-01 -2.93800221e-02 4.84586082e+01] [ 5.35540838e-02 3.12206188e-04 9.98564902e-01 1.14404886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:48.49, Z:11.45 [[ 8.42202468e-01 -5.37299407e-01 -4.47699578e-02 2.08470324e+02] [ 5.36495483e-01 8.43391255e-01 -2.93902720e-02 4.84876584e+01] [ 5.35499666e-02 7.33679483e-04 9.98564902e-01 1.14511282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:208.52, Y:48.52, Z:11.46 [[ 8.43934558e-01 -5.34575290e-01 -4.47629421e-02 2.08519498e+02] [ 5.33766962e-01 8.45120355e-01 -2.94009535e-02 4.85188688e+01] [ 5.35470967e-02 9.19501113e-04 9.98564902e-01 1.14560895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.57, Y:48.55, Z:11.46 [[ 8.44058490e-01 -5.34380221e-01 -4.47553988e-02 2.08567735e+02] [ 5.33571011e-01 8.45243684e-01 -2.94124316e-02 4.85505138e+01] [ 5.35466399e-02 9.45629240e-04 9.98564902e-01 1.14604896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.62, Y:48.58, Z:11.47 [[ 8.43299048e-01 -5.35578627e-01 -4.47465161e-02 2.08617307e+02] [ 5.34770385e-01 8.44484902e-01 -2.94259392e-02 4.85812143e+01] [ 5.35476614e-02 8.85754934e-04 9.98564902e-01 1.14660049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.67, Y:48.61, Z:11.47 [[ 8.42084302e-01 -5.37487124e-01 -4.47394628e-02 2.08667723e+02] [ 5.36681000e-01 8.43271598e-01 -2.94366593e-02 4.86113627e+01] [ 5.35493436e-02 7.77329058e-04 9.98564902e-01 1.14726182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:48.64, Z:11.48 [[ 8.40537839e-01 -5.39902914e-01 -4.47323714e-02 2.08715666e+02] [ 5.39099629e-01 8.41727057e-01 -2.94474315e-02 4.86431930e+01] [ 5.35512014e-02 6.36475636e-04 9.98564902e-01 1.14757417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:48.68, Z:11.48 [[ 8.38747241e-01 -5.42681121e-01 -4.47243421e-02 2.08763634e+02] [ 5.41881126e-01 8.39938674e-01 -2.94596212e-02 4.86756297e+01] [ 5.35528849e-02 4.73899135e-04 9.98564902e-01 1.14789113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.81, Y:48.71, Z:11.48 [[ 8.37469388e-01 -5.44651711e-01 -4.47161871e-02 2.08811099e+02] [ 5.43853859e-01 8.38662258e-01 -2.94719944e-02 4.87089472e+01] [ 5.35537506e-02 3.62822244e-04 9.98564902e-01 1.14824012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63038572300002 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:208.86, Y:48.74, Z:11.48 [[ 8.36822498e-01 -5.45645775e-01 -4.47078902e-02 2.08858020e+02] [ 5.44848667e-01 8.38015865e-01 -2.94845750e-02 4.87425911e+01] [ 5.35540551e-02 3.14321262e-04 9.98564902e-01 1.14832060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:208.91, Y:48.78, Z:11.49 [[ 8.36628712e-01 -5.45943310e-01 -4.47023569e-02 2.08905480e+02] [ 5.45146178e-01 8.37822063e-01 -2.94929619e-02 4.87757876e+01] [ 5.35541061e-02 3.05339695e-04 9.98564902e-01 1.14879625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:48.81, Z:11.49 [[ 8.35664282e-01 -5.47419147e-01 -4.46932471e-02 2.08953488e+02] [ 5.46623385e-01 8.36858546e-01 -2.95067602e-02 4.88072090e+01] [ 5.35544913e-02 2.27371572e-04 9.98564903e-01 1.14919272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:48.84, Z:11.49 [[ 8.34727496e-01 -5.48846828e-01 -4.46896793e-02 2.09002115e+02] [ 5.48052820e-01 8.35922927e-01 -2.95121630e-02 4.88396676e+01] [ 5.35547845e-02 1.42309152e-04 9.98564903e-01 1.14948491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.870385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:209.05, Y:48.87, Z:11.50 [[ 8.34026714e-01 -5.49911838e-01 -4.46812215e-02 2.09050113e+02] [ 5.49118670e-01 8.35222703e-01 -2.95249625e-02 4.88730916e+01] [ 5.35548969e-02 8.93144920e-05 9.98564903e-01 1.14963907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.930385723 meters Centerline goodness : 0.997515 with order 1 Centerline is valid? [True, True] Translation: X:209.10, Y:48.91, Z:11.49 [[ 8.34449466e-01 -5.49270805e-01 -4.46729391e-02 2.09096704e+02] [ 5.48476048e-01 8.35644399e-01 -2.95374889e-02 4.89084076e+01] [ 5.35547716e-02 1.45504822e-04 9.98564903e-01 1.14935561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:48.94, Z:11.50 [[ 8.35709747e-01 -5.47352089e-01 -4.46644199e-02 2.09144537e+02] [ 5.46553900e-01 8.36902390e-01 -2.95503654e-02 4.89415721e+01] [ 5.35542140e-02 2.84015487e-04 9.98564903e-01 1.14985514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:209.19, Y:48.97, Z:11.50 [[ 8.36801022e-01 -5.45683085e-01 -4.46544472e-02 2.09194089e+02] [ 5.44881714e-01 8.37991529e-01 -2.95654278e-02 4.89733605e+01] [ 5.35534023e-02 4.08988520e-04 9.98564903e-01 1.15031944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.24, Y:49.01, Z:11.50 [[ 8.38083733e-01 -5.43711601e-01 -4.46469612e-02 2.09239850e+02] [ 5.42906827e-01 8.39271943e-01 -2.95767282e-02 4.90072747e+01] [ 5.35521521e-02 5.48634758e-04 9.98564903e-01 1.15040592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.29, Y:49.04, Z:11.51 [[ 8.39641112e-01 -5.41303777e-01 -4.46432964e-02 2.09289425e+02] [ 5.40495302e-01 8.40826806e-01 -2.95822587e-02 4.90391903e+01] [ 5.35502687e-02 7.08988603e-04 9.98564903e-01 1.15060491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:49.07, Z:11.51 [[ 8.41464441e-01 -5.38465613e-01 -4.46360736e-02 2.09338997e+02] [ 5.37652561e-01 8.42647001e-01 -2.95931531e-02 4.90706623e+01] [ 5.35473489e-02 9.02886730e-04 9.98564903e-01 1.15072209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.39, Y:49.11, Z:11.50 [[ 8.41391152e-01 -5.38580720e-01 -4.46288974e-02 2.09385722e+02] [ 5.37767256e-01 8.42573429e-01 -2.96039714e-02 4.91072457e+01] [ 5.35472514e-02 9.08559881e-04 9.98564903e-01 1.15041775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35038572300002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:209.43, Y:49.14, Z:11.51 [[ 8.42222894e-01 -5.37279740e-01 -4.46214848e-02 2.09434856e+02] [ 5.36463859e-01 8.43403504e-01 -2.96151401e-02 4.91402781e+01] [ 5.35455314e-02 1.00473506e-03 9.98564904e-01 1.15071590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.49, Y:49.17, Z:11.51 [[ 8.43992680e-01 -5.34496026e-01 -4.46133825e-02 2.09485278e+02] [ 5.33675607e-01 8.45170141e-01 -2.96273406e-02 4.91686288e+01] [ 5.35415947e-02 1.19618462e-03 9.98564904e-01 1.15127891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.53, Y:49.20, Z:11.51 [[ 8.42850089e-01 -5.36296196e-01 -4.46107381e-02 2.09531862e+02] [ 5.35478081e-01 8.44029152e-01 -2.96313219e-02 4.92044102e+01] [ 5.35439287e-02 1.08668986e-03 9.98564904e-01 1.15109819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.58, Y:49.24, Z:11.52 [[ 8.42744756e-01 -5.36461916e-01 -4.46081669e-02 2.09581663e+02] [ 5.35643829e-01 8.43923838e-01 -2.96351922e-02 4.92356660e+01] [ 5.35440474e-02 1.08081356e-03 9.98564904e-01 1.15175631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.590385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:49.26, Z:11.53 [[ 8.45392032e-01 -5.32281034e-01 -4.46005953e-02 2.09633756e+02] [ 5.31456516e-01 8.46566626e-01 -2.96465829e-02 4.92619944e+01] [ 5.35376893e-02 1.35970798e-03 9.98564904e-01 1.15271815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:49.29, Z:11.53 [[ 8.45870523e-01 -5.31520898e-01 -4.45936531e-02 2.09681607e+02] [ 5.30694774e-01 8.47043988e-01 -2.96570216e-02 4.92938764e+01] [ 5.35361125e-02 1.42038171e-03 9.98564904e-01 1.15290218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.73, Y:49.32, Z:11.53 [[ 8.44792671e-01 -5.33232661e-01 -4.45900403e-02 2.09731927e+02] [ 5.32408629e-01 8.45967606e-01 -2.96624525e-02 4.93244083e+01] [ 5.35387182e-02 1.31850022e-03 9.98564904e-01 1.15293482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.78, Y:49.36, Z:11.54 [[ 8.43936222e-01 -5.34587684e-01 -4.45831964e-02 2.09780752e+02] [ 5.33764996e-01 8.45112098e-01 -2.96727355e-02 4.93571445e+01] [ 5.35404776e-02 1.24494668e-03 9.98564904e-01 1.15394536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.83, Y:49.39, Z:11.54 [[ 8.42458833e-01 -5.36913535e-01 -4.45754572e-02 2.09828260e+02] [ 5.36093478e-01 8.43636546e-01 -2.96843571e-02 4.93911097e+01] [ 5.35434178e-02 1.11123689e-03 9.98564904e-01 1.15426245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.88, Y:49.42, Z:11.55 [[ 8.40077686e-01 -5.40631809e-01 -4.45727259e-02 2.09879430e+02] [ 5.39816748e-01 8.41258862e-01 -2.96884578e-02 4.94204123e+01] [ 5.35477253e-02 8.79506968e-04 9.98564904e-01 1.15498241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:49.45, Z:11.56 [[ 8.36441229e-01 -5.46241737e-01 -4.45649513e-02 2.09929733e+02] [ 5.45433978e-01 8.37627410e-01 -2.97001235e-02 4.94500222e+01] [ 5.35522718e-02 5.35169165e-04 9.98564904e-01 1.15551021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:49.48, Z:11.57 [[ 8.33882048e-01 -5.50141327e-01 -4.45561409e-02 2.09979416e+02] [ 5.49338409e-01 8.35071512e-01 -2.97133350e-02 4.94783609e+01] [ 5.35540975e-02 3.01017088e-04 9.98564904e-01 1.15661855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.03, Y:49.51, Z:11.57 [[ 8.31979114e-01 -5.53015141e-01 -4.45534309e-02 2.10028725e+02] [ 5.52216114e-01 8.33171195e-01 -2.97173979e-02 4.95108551e+01] [ 5.35548062e-02 1.21131939e-04 9.98564904e-01 1.15719113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:49.54, Z:11.58 [[ 8.28100283e-01 -5.58807276e-01 -4.45460490e-02 2.10077015e+02] [ 5.58015992e-01 8.29297517e-01 -2.97284592e-02 4.95447018e+01] [ 5.35544071e-02 -2.39262291e-04 9.98564904e-01 1.15751949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:49.58, Z:11.58 [[ 8.24381007e-01 -5.64280302e-01 -4.45387042e-02 2.10124587e+02] [ 5.63496372e-01 8.25583069e-01 -2.97394590e-02 4.95779718e+01] [ 5.35517910e-02 -5.80752995e-04 9.98564904e-01 1.15767372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.17, Y:49.61, Z:11.58 [[ 8.20649763e-01 -5.69693789e-01 -4.45303595e-02 2.10173145e+02] [ 5.68917110e-01 8.21856523e-01 -2.97519486e-02 4.96115330e+01] [ 5.35470668e-02 -9.18153849e-04 9.98564905e-01 1.15786089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.310385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:210.22, Y:49.65, Z:11.58 [[ 8.16551839e-01 -5.75552590e-01 -4.45231417e-02 2.10220429e+02] [ 5.74783979e-01 8.17763753e-01 -2.97627460e-02 4.96477030e+01] [ 5.35394370e-02 -1.28836357e-03 9.98564905e-01 1.15765607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.27, Y:49.68, Z:11.58 [[ 8.12349503e-01 -5.81469363e-01 -4.45158990e-02 2.10266738e+02] [ 5.80708984e-01 8.13566598e-01 -2.97735750e-02 4.96837573e+01] [ 5.35290702e-02 -1.66423360e-03 9.98564905e-01 1.15759013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.430385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:210.31, Y:49.72, Z:11.58 [[ 8.09539566e-01 -5.85375781e-01 -4.45071556e-02 2.10313762e+02] [ 5.84620556e-01 8.10759867e-01 -2.97866393e-02 4.97204738e+01] [ 5.35209928e-02 -1.90633503e-03 9.98564905e-01 1.15751603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:49.76, Z:11.57 [[ 8.09593692e-01 -5.85301492e-01 -4.44996240e-02 2.10358964e+02] [ 5.84545539e-01 8.10813541e-01 -2.97978869e-02 4.97574401e+01] [ 5.35216454e-02 -1.88787548e-03 9.98564905e-01 1.15742362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.550385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:210.40, Y:49.79, Z:11.57 [[ 8.11752206e-01 -5.82304835e-01 -4.44908467e-02 2.10402778e+02] [ 5.81543661e-01 8.12968804e-01 -2.98109864e-02 4.97947537e+01] [ 5.35287520e-02 -1.67423594e-03 9.98564905e-01 1.15711212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.45, Y:49.83, Z:11.58 [[ 8.15873863e-01 -5.76516426e-01 -4.44820239e-02 2.10448599e+02] [ 5.75745901e-01 8.17084560e-01 -2.98241455e-02 4.98295612e+01] [ 5.35396847e-02 -1.27760213e-03 9.98564905e-01 1.15772686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.49, Y:49.87, Z:11.57 [[ 8.19937114e-01 -5.70722983e-01 -4.44792746e-02 2.10493266e+02] [ 5.69943679e-01 8.21142179e-01 -2.98282451e-02 4.98698612e+01] [ 5.35474735e-02 -8.93396175e-04 9.98564905e-01 1.15722982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:49.91, Z:11.58 [[ 8.26847222e-01 -5.60665605e-01 -4.44719150e-02 2.10536828e+02] [ 5.59871051e-01 8.28042286e-01 -2.98392137e-02 4.99084185e+01] [ 5.35544470e-02 -2.26066819e-04 9.98564905e-01 1.15754881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:49.95, Z:11.57 [[ 8.31163516e-01 -5.54246956e-01 -4.44693302e-02 2.10579992e+02] [ 5.53442966e-01 8.32352254e-01 -2.98430654e-02 4.99492585e+01] [ 5.35545754e-02 1.93229106e-04 9.98564905e-01 1.15710609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:210.62, Y:49.99, Z:11.57 [[ 8.31670301e-01 -5.53486900e-01 -4.44607877e-02 2.10620998e+02] [ 5.52681144e-01 8.32857842e-01 -2.98557868e-02 4.99916680e+01] [ 5.35543026e-02 2.57532158e-04 9.98564905e-01 1.15714981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:50.03, Z:11.57 [[ 8.29189861e-01 -5.57196254e-01 -4.44579448e-02 2.10664219e+02] [ 5.56395583e-01 8.30380837e-01 -2.98600195e-02 5.00333582e+01] [ 5.35549164e-02 2.34213071e-05 9.98564905e-01 1.15747300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:50.08, Z:11.57 [[ 8.25374404e-01 -5.62833216e-01 -4.44506896e-02 2.10705046e+02] [ 5.62040098e-01 8.26570422e-01 -2.98708160e-02 5.00772850e+01] [ 5.35539127e-02 -3.28463024e-04 9.98564906e-01 1.15730938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:50.12, Z:11.58 [[ 8.23121420e-01 -5.66123210e-01 -4.44481471e-02 2.10746421e+02] [ 5.65334668e-01 8.24320460e-01 -2.98745989e-02 5.01205973e+01] [ 5.35522209e-02 -5.37656216e-04 9.98564906e-01 1.15772982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.79, Y:50.17, Z:11.58 [[ 8.23552527e-01 -5.65496469e-01 -4.44407329e-02 2.10787659e+02] [ 5.64706419e-01 8.24750574e-01 -2.98856240e-02 5.01656162e+01] [ 5.35527348e-02 -4.83585980e-04 9.98564906e-01 1.15803767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.150385723 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:50.21, Z:11.58 [[ 8.23868683e-01 -5.65036316e-01 -4.44336975e-02 2.10827401e+02] [ 5.64245033e-01 8.25065917e-01 -2.98960804e-02 5.02099805e+01] [ 5.35531005e-02 -4.41048691e-04 9.98564906e-01 1.15784026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.210385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:210.87, Y:50.25, Z:11.58 [[ 8.25770269e-01 -5.62253808e-01 -4.44310471e-02 2.10868897e+02] [ 5.61458279e-01 8.26964685e-01 -2.99000188e-02 5.02522091e+01] [ 5.35543064e-02 -2.55632640e-04 9.98564906e-01 1.15829184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.270385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:210.91, Y:50.29, Z:11.59 [[ 8.27554362e-01 -5.59624777e-01 -4.44284560e-02 2.10914049e+02] [ 5.58825246e-01 8.28746103e-01 -2.99038685e-02 5.02894260e+01] [ 5.35548555e-02 -8.06660491e-05 9.98564906e-01 1.15879889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:50.33, Z:11.60 [[ 8.30754745e-01 -5.54863325e-01 -4.44212189e-02 2.10961124e+02] [ 5.54056390e-01 8.31941484e-01 -2.99146151e-02 5.03262082e+01] [ 5.35543776e-02 2.39848272e-04 9.98564906e-01 1.15965218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:50.36, Z:11.61 [[ 8.32902243e-01 -5.51634982e-01 -4.44150929e-02 2.11009886e+02] [ 5.50822962e-01 8.34085509e-01 -2.99237079e-02 5.03589621e+01] [ 5.35529494e-02 4.58670454e-04 9.98564906e-01 1.16079707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.06, Y:50.39, Z:11.61 [[ 8.35169779e-01 -5.48196488e-01 -4.44077721e-02 2.11059948e+02] [ 5.47379020e-01 8.36349287e-01 -2.99345682e-02 5.03906987e+01] [ 5.35504337e-02 6.92563947e-04 9.98564906e-01 1.16148582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:50.42, Z:11.62 [[ 8.34036533e-01 -5.49919593e-01 -4.44016087e-02 2.11109981e+02] [ 5.49104075e-01 8.35217391e-01 -2.99437075e-02 5.04210813e+01] [ 5.35516272e-02 5.93041683e-04 9.98564906e-01 1.16194987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.16, Y:50.44, Z:11.63 [[ 8.33478617e-01 -5.50765404e-01 -4.43944329e-02 2.11164044e+02] [ 5.49950517e-01 8.34659910e-01 -2.99543425e-02 5.04438169e+01] [ 5.35520690e-02 5.51562600e-04 9.98564906e-01 1.16262010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.22, Y:50.47, Z:11.63 [[ 8.32588685e-01 -5.52110089e-01 -4.43906728e-02 2.11215811e+02] [ 5.51296814e-01 8.33771088e-01 -2.99599138e-02 5.04704686e+01] [ 5.35528302e-02 4.71848721e-04 9.98564906e-01 1.16291539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.27, Y:50.49, Z:11.64 [[ 8.32555981e-01 -5.52160053e-01 -4.43825880e-02 2.11269688e+02] [ 5.51346210e-01 8.33737994e-01 -2.99718859e-02 5.04935978e+01] [ 5.35527280e-02 4.83101180e-04 9.98564906e-01 1.16361242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.750385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:211.32, Y:50.52, Z:11.64 [[ 8.33372604e-01 -5.50927424e-01 -4.43742652e-02 2.11322401e+02] [ 5.50111177e-01 8.34552958e-01 -2.99842030e-02 5.05192287e+01] [ 5.35517940e-02 5.77234046e-04 9.98564906e-01 1.16385045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.38, Y:50.54, Z:11.64 [[ 8.33772779e-01 -5.50321836e-01 -4.43714958e-02 2.11375825e+02] [ 5.49504514e-01 8.34952389e-01 -2.99883006e-02 5.05428564e+01] [ 5.35513031e-02 6.21091545e-04 9.98564906e-01 1.16448379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.870385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:50.57, Z:11.65 [[ 8.33229801e-01 -5.51144276e-01 -4.43631150e-02 2.11429443e+02] [ 5.50327458e-01 8.34409760e-01 -3.00006936e-02 5.05672483e+01] [ 5.35517267e-02 5.83231621e-04 9.98564906e-01 1.16456861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.48, Y:50.59, Z:11.65 [[ 8.32751862e-01 -5.51866741e-01 -4.43557950e-02 2.11481733e+02] [ 5.51050371e-01 8.33932130e-01 -3.00115123e-02 5.05938715e+01] [ 5.35520781e-02 5.49865484e-04 9.98564907e-01 1.16506973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.53, Y:50.62, Z:11.66 [[ 8.31688432e-01 -5.53468722e-01 -4.43477756e-02 2.11533953e+02] [ 5.52653994e-01 8.32869834e-01 -3.00233578e-02 5.06215779e+01] [ 5.35529140e-02 4.61104026e-04 9.98564907e-01 1.16560315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:50.65, Z:11.66 [[ 8.30200305e-01 -5.55699059e-01 -4.43397002e-02 2.11583547e+02] [ 5.54886868e-01 8.31383453e-01 -3.00352791e-02 5.06502353e+01] [ 5.35538694e-02 3.31780509e-04 9.98564907e-01 1.16573228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.110385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:211.64, Y:50.68, Z:11.66 [[ 8.27671405e-01 -5.59459152e-01 -4.43339878e-02 2.11636074e+02] [ 5.58651885e-01 8.28857917e-01 -3.00437087e-02 5.06769668e+01] [ 5.35548046e-02 9.90527127e-05 9.98564907e-01 1.16632126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.69, Y:50.71, Z:11.67 [[ 8.25029444e-01 -5.63348529e-01 -4.43266475e-02 2.11686813e+02] [ 5.62546273e-01 8.26219351e-01 -3.00545347e-02 5.07054243e+01] [ 5.35547118e-02 -1.39914326e-04 9.98564907e-01 1.16667038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.74, Y:50.73, Z:11.67 [[ 8.23394145e-01 -5.65736209e-01 -4.43240690e-02 2.11737542e+02] [ 5.64937199e-01 8.24586234e-01 -3.00583370e-02 5.07335016e+01] [ 5.35541067e-02 -2.90456660e-04 9.98564907e-01 1.16693620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:50.76, Z:11.67 [[ 8.22623218e-01 -5.66857248e-01 -4.43159242e-02 2.11788183e+02] [ 5.66059216e-01 8.23815962e-01 -3.00703403e-02 5.07616199e+01] [ 5.35537561e-02 -3.48877252e-04 9.98564907e-01 1.16728913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:50.79, Z:11.68 [[ 8.23196963e-01 -5.66023923e-01 -4.43134210e-02 2.11837222e+02] [ 5.65224485e-01 8.24388764e-01 -3.00740288e-02 5.07932195e+01] [ 5.35541061e-02 -2.90181367e-04 9.98564907e-01 1.16766658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.89, Y:50.82, Z:11.68 [[ 8.24476558e-01 -5.64159077e-01 -4.43050939e-02 2.11887379e+02] [ 5.63356284e-01 8.25666102e-01 -3.00862912e-02 5.08248941e+01] [ 5.35546685e-02 -1.54111292e-04 9.98564907e-01 1.16804054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.94, Y:50.85, Z:11.68 [[ 8.25357023e-01 -5.62870750e-01 -4.42978872e-02 2.11936661e+02] [ 5.62065531e-01 8.26544926e-01 -3.00968983e-02 5.08547604e+01] [ 5.35548577e-02 -5.76291421e-05 9.98564907e-01 1.16804526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.530385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:50.89, Z:11.68 [[ 8.24444842e-01 -5.64206205e-01 -4.42951586e-02 2.11983948e+02] [ 5.63402695e-01 8.25633901e-01 -3.01009136e-02 5.08860174e+01] [ 5.35547069e-02 -1.39468766e-04 9.98564907e-01 1.16833285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.03, Y:50.92, Z:11.69 [[ 8.22580977e-01 -5.66920448e-01 -4.42915620e-02 2.12033968e+02] [ 5.66120576e-01 8.23772487e-01 -3.01062049e-02 5.09164282e+01] [ 5.35539933e-02 -3.09573089e-04 9.98564907e-01 1.16868053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.650385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:212.08, Y:50.95, Z:11.69 [[ 8.20180036e-01 -5.70389002e-01 -4.42842536e-02 2.12082196e+02] [ 5.69593588e-01 8.21374527e-01 -3.01169512e-02 5.09492550e+01] [ 5.35523356e-02 -5.22704813e-04 9.98564907e-01 1.16912935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:50.98, Z:11.69 [[ 8.17802117e-01 -5.73793754e-01 -4.42766838e-02 2.12131577e+02] [ 5.73002711e-01 8.18999507e-01 -3.01280759e-02 5.09806373e+01] [ 5.35498840e-02 -7.31855588e-04 9.98564907e-01 1.16941419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.770385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:212.18, Y:51.02, Z:11.69 [[ 8.16872084e-01 -5.75117672e-01 -4.42680657e-02 2.12178492e+02] [ 5.74327884e-01 8.18070302e-01 -3.01407334e-02 5.10161807e+01] [ 5.35488583e-02 -8.03260749e-04 9.98564908e-01 1.16901328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:51.05, Z:11.69 [[ 8.18014906e-01 -5.73491569e-01 -4.42609786e-02 2.12224952e+02] [ 5.72698836e-01 8.19211177e-01 -3.01511371e-02 5.10503465e+01] [ 5.35505113e-02 -6.84131289e-04 9.98564908e-01 1.16915883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.27, Y:51.08, Z:11.70 [[ 8.17448505e-01 -5.74298832e-01 -4.42582552e-02 2.12274018e+02] [ 5.73507064e-01 8.18645415e-01 -3.01551342e-02 5.10826547e+01] [ 5.35498761e-02 -7.32152594e-04 9.98564908e-01 1.16968210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:51.12, Z:11.70 [[ 8.16117610e-01 -5.76189127e-01 -4.42508462e-02 2.12319266e+02] [ 5.75399542e-01 8.17315961e-01 -3.01660026e-02 5.11168759e+01] [ 5.35482456e-02 -8.42910664e-04 9.98564908e-01 1.16994991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.010385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:212.37, Y:51.15, Z:11.70 [[ 8.14695363e-01 -5.78198652e-01 -4.42468591e-02 2.12367719e+02] [ 5.77411706e-01 8.15895448e-01 -3.01718496e-02 5.11494072e+01] [ 5.35461337e-02 -9.67788431e-04 9.98564908e-01 1.17034382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:51.18, Z:11.71 [[ 8.15395584e-01 -5.77211420e-01 -4.42381995e-02 2.12416193e+02] [ 5.76422332e-01 8.16594262e-01 -3.01845410e-02 5.11806286e+01] [ 5.35475217e-02 -8.87544673e-04 9.98564908e-01 1.17092440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.46, Y:51.22, Z:11.71 [[ 8.18767959e-01 -5.72418440e-01 -4.42284820e-02 2.12462125e+02] [ 5.71621565e-01 8.19961475e-01 -3.01987731e-02 5.12156793e+01] [ 5.35519859e-02 -5.56166340e-04 9.98564908e-01 1.17138190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:51.25, Z:11.72 [[ 8.20359669e-01 -5.70135177e-01 -4.42254783e-02 2.12509581e+02] [ 5.69334744e-01 8.21550801e-01 -3.02031714e-02 5.12496919e+01] [ 5.35533676e-02 -4.01637594e-04 9.98564908e-01 1.17193579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.250385723 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:51.28, Z:11.72 [[ 8.23770150e-01 -5.65197002e-01 -4.42163902e-02 2.12558081e+02] [ 5.64388714e-01 8.24955965e-01 -3.02164702e-02 5.12838861e+01] [ 5.35548332e-02 -6.38054190e-05 9.98564908e-01 1.17167643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.61, Y:51.32, Z:11.72 [[ 8.25466030e-01 -5.62717661e-01 -4.42116234e-02 2.12605533e+02] [ 5.61905437e-01 8.26649153e-01 -3.02234433e-02 5.13184367e+01] [ 5.35547663e-02 1.05674149e-04 9.98564908e-01 1.17227939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.66, Y:51.35, Z:11.73 [[ 8.26367122e-01 -5.61394218e-01 -4.42030656e-02 2.12655095e+02] [ 5.60579431e-01 8.27548481e-01 -3.02359541e-02 5.13502130e+01] [ 5.35544697e-02 2.06669014e-04 9.98564908e-01 1.17266817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.70, Y:51.38, Z:11.73 [[ 8.27454724e-01 -5.59790505e-01 -4.41958183e-02 2.12703974e+02] [ 5.58972862e-01 8.28634109e-01 -3.02465439e-02 5.13804960e+01] [ 5.35538905e-02 3.23382551e-04 9.98564908e-01 1.17296164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:51.41, Z:11.73 [[ 8.29320721e-01 -5.57022607e-01 -4.41922808e-02 2.12753301e+02] [ 5.56200753e-01 8.30497174e-01 -3.02517115e-02 5.14111144e+01] [ 5.35524515e-02 5.08591350e-04 9.98564908e-01 1.17310212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.550385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:51.44, Z:11.73 [[ 8.31950332e-01 -5.53088048e-01 -4.41843365e-02 2.12803056e+02] [ 5.52260015e-01 8.33122445e-01 -3.02633101e-02 5.14427811e+01] [ 5.35492376e-02 7.76328580e-04 9.98564908e-01 1.17321478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:51.47, Z:11.74 [[ 8.33886070e-01 -5.50165815e-01 -4.41768963e-02 2.12853529e+02] [ 5.49333099e-01 8.35054861e-01 -3.02741670e-02 5.14710141e+01] [ 5.35459438e-02 9.77374811e-04 9.98564909e-01 1.17361837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:212.90, Y:51.50, Z:11.74 [[ 8.35606265e-01 -5.47550283e-01 -4.41685028e-02 2.12902180e+02] [ 5.46713263e-01 8.36771977e-01 -3.02864078e-02 5.15027134e+01] [ 5.35422966e-02 1.16000580e-03 9.98564909e-01 1.17372343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:51.53, Z:11.74 [[ 8.37833643e-01 -5.44136630e-01 -4.41600898e-02 2.12952526e+02] [ 5.43294216e-01 8.38995462e-01 -3.02986697e-02 5.15292617e+01] [ 5.35367310e-02 1.39332347e-03 9.98564909e-01 1.17415856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:51.56, Z:11.75 [[ 8.40878103e-01 -5.39420266e-01 -4.41564597e-02 2.13004287e+02] [ 5.38571059e-01 8.42034967e-01 -3.03039592e-02 5.15569039e+01] [ 5.35278528e-02 1.70054444e-03 9.98564909e-01 1.17459569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:51.59, Z:11.75 [[ 8.42028727e-01 -5.37623011e-01 -4.41488534e-02 2.13052149e+02] [ 5.36770755e-01 8.43183346e-01 -3.03150366e-02 5.15875723e+01] [ 5.35236392e-02 1.82831837e-03 9.98564909e-01 1.17461372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:51.61, Z:11.75 [[ 8.43457347e-01 -5.35379221e-01 -4.41451323e-02 2.13104436e+02] [ 5.34523611e-01 8.44609484e-01 -3.03204542e-02 5.16148276e+01] [ 5.35183386e-02 1.97739437e-03 9.98564909e-01 1.17505510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:51.65, Z:11.75 [[ 8.42068667e-01 -5.37561367e-01 -4.41376964e-02 2.13153960e+02] [ 5.36708177e-01 8.43222596e-01 -3.03312749e-02 5.16453668e+01] [ 5.35228246e-02 1.85195369e-03 9.98564909e-01 1.17521603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.20, Y:51.68, Z:11.76 [[ 8.39107507e-01 -5.42172661e-01 -4.41293153e-02 2.13204354e+02] [ 5.41325173e-01 8.40265631e-01 -3.03434638e-02 5.16756098e+01] [ 5.35317435e-02 1.57311896e-03 9.98564909e-01 1.17567515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:51.70, Z:11.76 [[ 8.36352829e-01 -5.46413023e-01 -4.41220327e-02 2.13254791e+02] [ 5.45570850e-01 8.37514823e-01 -3.03540496e-02 5.17036761e+01] [ 5.35387045e-02 1.31500041e-03 9.98564909e-01 1.17617664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.31, Y:51.74, Z:11.77 [[ 8.34607542e-01 -5.49075540e-01 -4.41169216e-02 2.13305064e+02] [ 5.48236682e-01 8.35771931e-01 -3.03614763e-02 5.17351273e+01] [ 5.35424288e-02 1.15340236e-03 9.98564909e-01 1.17661852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.36, Y:51.77, Z:11.77 [[ 8.32986335e-01 -5.51532533e-01 -4.41093060e-02 2.13355518e+02] [ 5.50696525e-01 8.34152772e-01 -3.03725363e-02 5.17661277e+01] [ 5.35453418e-02 1.00906620e-03 9.98564909e-01 1.17702989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.40, Y:51.80, Z:11.77 [[ 8.32000967e-01 -5.53018312e-01 -4.41037145e-02 2.13404946e+02] [ 5.52183957e-01 8.33168587e-01 -3.03806536e-02 5.17965819e+01] [ 5.35468872e-02 9.23369591e-04 9.98564909e-01 1.17717144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.330385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:51.83, Z:11.78 [[ 8.30555234e-01 -5.55187463e-01 -4.41008425e-02 2.13454227e+02] [ 5.54355936e-01 8.31724869e-01 -3.03848221e-02 5.18285377e+01] [ 5.35490397e-02 7.88709174e-04 9.98564909e-01 1.17764481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:51.86, Z:11.78 [[ 8.30639281e-01 -5.55062276e-01 -4.40936949e-02 2.13501752e+02] [ 5.54230023e-01 8.31808400e-01 -3.03951909e-02 5.18630017e+01] [ 5.35487296e-02 8.09389963e-04 9.98564909e-01 1.17796993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:51.90, Z:11.78 [[ 8.31433933e-01 -5.53871870e-01 -4.40859058e-02 2.13549115e+02] [ 5.53037343e-01 8.32601431e-01 -3.04064841e-02 5.18982347e+01] [ 5.35472845e-02 8.99830455e-04 9.98564910e-01 1.17807983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.60, Y:51.93, Z:11.78 [[ 8.33312815e-01 -5.51041588e-01 -4.40785858e-02 2.13597702e+02] [ 5.50202536e-01 8.34477064e-01 -3.04170919e-02 5.19319467e+01] [ 5.35436515e-02 1.09480284e-03 9.98564910e-01 1.17826559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:51.97, Z:11.79 [[ 8.34878381e-01 -5.48667032e-01 -4.40746893e-02 2.13643254e+02] [ 5.47824371e-01 8.36040020e-01 -3.04227370e-02 5.19686840e+01] [ 5.35401569e-02 1.25409643e-03 9.98564910e-01 1.17853643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:52.00, Z:11.80 [[ 8.37298172e-01 -5.44967846e-01 -4.40660607e-02 2.13692018e+02] [ 5.44119397e-01 8.38455591e-01 -3.04352300e-02 5.20001157e+01] [ 5.35336567e-02 1.50616404e-03 9.98564910e-01 1.18019077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:52.04, Z:11.79 [[ 8.34432569e-01 -5.49345744e-01 -4.40629298e-02 2.13737951e+02] [ 5.48503129e-01 8.35594242e-01 -3.04397622e-02 5.20365729e+01] [ 5.35406842e-02 1.23127408e-03 9.98564910e-01 1.17921983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:52.07, Z:11.80 [[ 8.32479608e-01 -5.52301034e-01 -4.40598589e-02 2.13786165e+02] [ 5.51462309e-01 8.33644092e-01 -3.04442064e-02 5.20697613e+01] [ 5.35446077e-02 1.04682948e-03 9.98564910e-01 1.17987379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.84, Y:52.10, Z:11.80 [[ 8.30407699e-01 -5.55411951e-01 -4.40524422e-02 2.13835760e+02] [ 5.54577020e-01 8.31574907e-01 -3.04549345e-02 5.21025318e+01] [ 5.35479401e-02 8.59540017e-04 9.98564910e-01 1.17996225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:52.14, Z:11.81 [[ 8.27569417e-01 -5.59632546e-01 -4.40485341e-02 2.13884418e+02] [ 5.58803268e-01 8.28740647e-01 -3.04605860e-02 5.21352811e+01] [ 5.35515459e-02 5.93784633e-04 9.98564910e-01 1.18069766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.930385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:52.17, Z:11.81 [[ 8.22765936e-01 -5.66671541e-01 -4.40406567e-02 2.13929098e+02] [ 5.65851674e-01 8.23943773e-01 -3.04719710e-02 5.21733928e+01] [ 5.35546237e-02 1.50820427e-04 9.98564910e-01 1.18102581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:52.20, Z:11.81 [[ 8.26050426e-01 -5.61873470e-01 -4.40329253e-02 2.13980617e+02] [ 5.61046166e-01 8.27223052e-01 -3.04831390e-02 5.21999238e+01] [ 5.35527180e-02 4.76106039e-04 9.98564910e-01 1.18126267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.050385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:52.24, Z:11.82 [[ 8.29421099e-01 -5.56885967e-01 -4.40302204e-02 2.14027188e+02] [ 5.56051406e-01 8.30588571e-01 -3.04870456e-02 5.22362183e+01] [ 5.35488057e-02 8.03532853e-04 9.98564910e-01 1.18154778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.07, Y:52.27, Z:11.82 [[ 8.30713054e-01 -5.54957476e-01 -4.40229744e-02 2.14074055e+02] [ 5.54119650e-01 8.31878185e-01 -3.04975051e-02 5.22711716e+01] [ 5.35465705e-02 9.40680385e-04 9.98564910e-01 1.18190118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.170385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:52.30, Z:11.82 [[ 8.31420169e-01 -5.53898117e-01 -4.40156628e-02 2.14121729e+02] [ 5.53058249e-01 8.32583829e-01 -3.05080540e-02 5.23042070e+01] [ 5.35450827e-02 1.02178594e-03 9.98564910e-01 1.18185822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:52.34, Z:11.82 [[ 8.28086919e-01 -5.58869709e-01 -4.40079860e-02 2.14166608e+02] [ 5.58036240e-01 8.29255171e-01 -3.05191238e-02 5.23432371e+01] [ 5.35500638e-02 7.14436218e-04 9.98564910e-01 1.18228506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.290385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:52.37, Z:11.83 [[ 8.31247641e-01 -5.54158284e-01 -4.39995081e-02 2.14217484e+02] [ 5.53317548e-01 8.32410673e-01 -3.05313416e-02 5.23722530e+01] [ 5.35448560e-02 1.03340575e-03 9.98564911e-01 1.18263678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.27, Y:52.41, Z:11.83 [[ 8.32816269e-01 -5.51798239e-01 -4.39973412e-02 2.14266146e+02] [ 5.50954042e-01 8.33976792e-01 -3.05344638e-02 5.24056847e+01] [ 5.35416248e-02 1.18908521e-03 9.98564911e-01 1.18304151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.410385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:52.44, Z:11.83 [[ 8.35964422e-01 -5.47017691e-01 -4.39901229e-02 2.14313055e+02] [ 5.46166313e-01 8.37119687e-01 -3.05448595e-02 5.24397720e+01] [ 5.35335764e-02 1.50849254e-03 9.98564911e-01 1.18321232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.470385723 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:52.48, Z:11.84 [[ 8.39016305e-01 -5.42325302e-01 -4.39875747e-02 2.14358065e+02] [ 5.41467273e-01 8.40166638e-01 -3.05485287e-02 5.24769597e+01] [ 5.35241328e-02 1.81288160e-03 9.98564911e-01 1.18390938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.530385723 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:214.41, Y:52.51, Z:11.84 [[ 8.39960081e-01 -5.40862630e-01 -4.39849744e-02 2.14406551e+02] [ 5.40002402e-01 8.41108771e-01 -3.05522722e-02 5.25103458e+01] [ 5.35207301e-02 1.91069716e-03 9.98564911e-01 1.18436793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.590385723 meters Centerline goodness : 0.998185 with order 1 Centerline is valid? [True, True] Translation: X:214.45, Y:52.55, Z:11.84 [[ 8.36399746e-01 -5.46352838e-01 -4.39777379e-02 2.14449814e+02] [ 5.45499605e-01 8.37553642e-01 -3.05626851e-02 5.25524875e+01] [ 5.35317243e-02 1.57278335e-03 9.98564911e-01 1.18385432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.650385723 meters Centerline goodness : 0.998314 with order 1 Centerline is valid? [True, True] Translation: X:214.50, Y:52.58, Z:11.85 [[ 8.41676458e-01 -5.38188558e-01 -4.39751726e-02 2.14501233e+02] [ 5.37323945e-01 8.42821852e-01 -3.05663758e-02 5.25800009e+01] [ 5.35137101e-02 2.09808575e-03 9.98564911e-01 1.18520154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.710385723 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:52.61, Z:11.85 [[ 8.42128388e-01 -5.37481306e-01 -4.39729902e-02 2.14548481e+02] [ 5.36615568e-01 8.43272931e-01 -3.05695151e-02 5.26132687e+01] [ 5.35117752e-02 2.14686534e-03 9.98564911e-01 1.18542028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.770385723 meters Centerline goodness : 0.998249 with order 1 Centerline is valid? [True, True] Translation: X:214.60, Y:52.65, Z:11.86 [[ 8.42249203e-01 -5.37292662e-01 -4.39644760e-02 2.14596513e+02] [ 5.36426030e-01 8.43393070e-01 -3.05817551e-02 5.26477666e+01] [ 5.35106870e-02 2.17376951e-03 9.98564911e-01 1.18574033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.830385723 meters Centerline goodness : 0.998366 with order 1 Centerline is valid? [True, True] Translation: X:214.64, Y:52.68, Z:11.86 [[ 8.42594184e-01 -5.36752096e-01 -4.39571266e-02 2.14642282e+02] [ 5.35884181e-01 8.43737077e-01 -3.05923152e-02 5.26840855e+01] [ 5.35087468e-02 2.22097805e-03 9.98564911e-01 1.18600578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.890385723 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:214.69, Y:52.72, Z:11.86 [[ 8.41496883e-01 -5.38470980e-01 -4.39545247e-02 2.14689435e+02] [ 5.37605205e-01 8.42641398e-01 -3.05960531e-02 5.27196687e+01] [ 5.35129889e-02 2.11630203e-03 9.98564911e-01 1.18649827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.950385723 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:214.74, Y:52.75, Z:11.87 [[ 8.39158505e-01 -5.42108533e-01 -4.39470429e-02 2.14737161e+02] [ 5.41247159e-01 8.40306335e-01 -3.06067960e-02 5.27546125e+01] [ 5.35211838e-02 1.89774105e-03 9.98564911e-01 1.18696144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.010385723 meters Centerline goodness : 0.998569 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:52.79, Z:11.87 [[ 8.36504584e-01 -5.46195389e-01 -4.39394897e-02 2.14783455e+02] [ 5.45339055e-01 8.37656180e-01 -3.06176357e-02 5.27889585e+01] [ 5.35293965e-02 1.64987282e-03 9.98564911e-01 1.18720128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07038572300002 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:52.82, Z:11.87 [[ 8.34233935e-01 -5.49657921e-01 -4.39307554e-02 2.14830817e+02] [ 5.48805709e-01 8.35388584e-01 -3.06301626e-02 5.28242715e+01] [ 5.35353631e-02 1.44327167e-03 9.98564911e-01 1.18724664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13038572300002 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:52.86, Z:11.87 [[ 8.32878667e-01 -5.51709965e-01 -4.39231246e-02 2.14877072e+02] [ 5.50860022e-01 8.34034987e-01 -3.06411012e-02 5.28582354e+01] [ 5.35384235e-02 1.32482614e-03 9.98564911e-01 1.18749665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.190385723 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:214.93, Y:52.89, Z:11.88 [[ 8.31323391e-01 -5.54051021e-01 -4.39190715e-02 2.14925025e+02] [ 5.53204028e-01 8.32481874e-01 -3.06469095e-02 5.28926950e+01] [ 5.35417825e-02 1.18128547e-03 9.98564911e-01 1.18789678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.250385723 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:214.97, Y:52.93, Z:11.87 [[ 8.27218578e-01 -5.60161754e-01 -4.39116531e-02 2.14969473e+02] [ 5.59322757e-01 8.28382864e-01 -3.06575352e-02 5.29321320e+01] [ 5.35488396e-02 7.99695802e-04 9.98564911e-01 1.18735140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.310385723 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:52.96, Z:11.89 [[ 8.29887263e-01 -5.56200990e-01 -4.39043223e-02 2.15019657e+02] [ 5.55355882e-01 8.31047121e-01 -3.06680299e-02 5.29622245e+01] [ 5.35441492e-02 1.06848381e-03 9.98564911e-01 1.18851939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.370385723 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:53.00, Z:11.89 [[ 8.30868016e-01 -5.54735444e-01 -4.38967927e-02 2.15064600e+02] [ 5.53887720e-01 8.32025964e-01 -3.06788036e-02 5.29986432e+01] [ 5.35418910e-02 1.17614219e-03 9.98564912e-01 1.18862047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.430385723 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:215.11, Y:53.03, Z:11.89 [[ 8.31441202e-01 -5.53876186e-01 -4.38941678e-02 2.15110614e+02] [ 5.53027068e-01 8.32598128e-01 -3.06825588e-02 5.30347187e+01] [ 5.35405406e-02 1.23608071e-03 9.98564912e-01 1.18885862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.490385723 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:215.16, Y:53.07, Z:11.89 [[ 8.32113045e-01 -5.52866967e-01 -4.38861804e-02 2.15155511e+02] [ 5.52015844e-01 8.33268497e-01 -3.06939791e-02 5.30715280e+01] [ 5.35386587e-02 1.31499350e-03 9.98564912e-01 1.18899197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.550385723 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:215.20, Y:53.11, Z:11.90 [[ 8.31281835e-01 -5.54116169e-01 -4.38837331e-02 2.15201128e+02] [ 5.53266598e-01 8.32438428e-01 -3.06974777e-02 5.31077180e+01] [ 5.35404746e-02 1.23885187e-03 9.98564912e-01 1.18954155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.610385723 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:53.14, Z:11.90 [[ 8.30586974e-01 -5.55157380e-01 -4.38812336e-02 2.15247274e+02] [ 5.54309070e-01 8.31744492e-01 -3.07010503e-02 5.31435610e+01] [ 5.35418890e-02 1.17612672e-03 9.98564912e-01 1.19013242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.670385723 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:215.29, Y:53.18, Z:11.90 [[ 8.30033370e-01 -5.55985347e-01 -4.38736757e-02 2.15292796e+02] [ 5.55137621e-01 8.31191316e-01 -3.07118472e-02 5.31771163e+01] [ 5.35427553e-02 1.13593002e-03 9.98564912e-01 1.19033211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.730385723 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:215.34, Y:53.21, Z:11.90 [[ 8.29334821e-01 -5.57027257e-01 -4.38678695e-02 2.15339903e+02] [ 5.56180548e-01 8.30493510e-01 -3.07201384e-02 5.32133155e+01] [ 5.35439354e-02 1.07882476e-03 9.98564912e-01 1.19045552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.790385723 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:215.38, Y:53.26, Z:11.90 [[ 8.25416664e-01 -5.62817529e-01 -4.38606921e-02 2.15381650e+02] [ 5.61978405e-01 8.26580859e-01 -3.07303825e-02 5.32557885e+01] [ 5.35500065e-02 7.16608067e-04 9.98564912e-01 1.19015227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85038572300002 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:215.43, Y:53.28, Z:11.92 [[ 8.30449359e-01 -5.55365051e-01 -4.38579703e-02 2.15434382e+02] [ 5.54515277e-01 8.31605803e-01 -3.07342665e-02 5.32806093e+01] [ 5.35412801e-02 1.20333738e-03 9.98564912e-01 1.19157534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.910385723 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:53.32, Z:11.92 [[ 8.31460119e-01 -5.53850867e-01 -4.38553128e-02 2.15480333e+02] [ 5.52998787e-01 8.32614865e-01 -3.07380580e-02 5.33167624e+01] [ 5.35388855e-02 1.30553456e-03 9.98564912e-01 1.19169782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.970385723 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:53.35, Z:11.92 [[ 8.32413452e-01 -5.52417686e-01 -4.38468377e-02 2.15528761e+02] [ 5.51562983e-01 8.33566257e-01 -3.07501428e-02 5.33511732e+01] [ 5.35361671e-02 1.41253997e-03 9.98564912e-01 1.19185736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.030385723 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:53.39, Z:11.92 [[ 8.32748858e-01 -5.51912494e-01 -4.38399131e-02 2.15575620e+02] [ 5.51056572e-01 8.33900759e-01 -3.07600119e-02 5.33850746e+01] [ 5.35349717e-02 1.45709259e-03 9.98564912e-01 1.19214121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.090385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:215.62, Y:53.42, Z:11.92 [[ 8.32749970e-01 -5.51911496e-01 -4.38313707e-02 2.15622104e+02] [ 5.51054933e-01 8.33901394e-01 -3.07721796e-02 5.34196011e+01] [ 5.35345608e-02 1.47203864e-03 9.98564912e-01 1.19236199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.150385723 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:215.67, Y:53.46, Z:11.92 [[ 8.29545764e-01 -5.56716145e-01 -4.38287446e-02 2.15665856e+02] [ 5.55866055e-01 8.30701975e-01 -3.07759195e-02 5.34598894e+01] [ 5.35420760e-02 1.16712232e-03 9.98564912e-01 1.19249672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.210385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:215.72, Y:53.49, Z:11.93 [[ 8.33757549e-01 -5.50389017e-01 -4.38209932e-02 2.15718223e+02] [ 5.49529576e-01 8.34906826e-01 -3.07869525e-02 5.34850133e+01] [ 5.35312469e-02 1.58792216e-03 9.98564912e-01 1.19312313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.270385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:215.77, Y:53.52, Z:11.94 [[ 8.34077150e-01 -5.49904778e-01 -4.38182906e-02 2.15766859e+02] [ 5.49044469e-01 8.35225777e-01 -3.07907985e-02 5.35187538e+01] [ 5.35301731e-02 1.62371138e-03 9.98564912e-01 1.19354149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.330385723 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:53.56, Z:11.93 [[ 8.29815299e-01 -5.56315716e-01 -4.38108959e-02 2.15811988e+02] [ 5.55463728e-01 8.30970112e-01 -3.08013166e-02 5.35567963e+01] [ 5.35408015e-02 1.22404020e-03 9.98564912e-01 1.19344409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.390385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:215.86, Y:53.59, Z:11.94 [[ 8.28653779e-01 -5.58044961e-01 -4.38033772e-02 2.15860525e+02] [ 5.57194818e-01 8.29809951e-01 -3.08120054e-02 5.35896612e+01] [ 5.35429627e-02 1.12546989e-03 9.98564913e-01 1.19386784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.450385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:215.92, Y:53.61, Z:11.95 [[ 8.35123617e-01 -5.48316065e-01 -4.37954053e-02 2.15916029e+02] [ 5.47451867e-01 8.36269320e-01 -3.08233323e-02 5.36104575e+01] [ 5.35256821e-02 1.76541638e-03 9.98564913e-01 1.19500714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.510385723 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:215.96, Y:53.65, Z:11.94 [[ 8.35490084e-01 -5.47757726e-01 -4.37926046e-02 2.15960733e+02] [ 5.46892554e-01 8.36635053e-01 -3.08273110e-02 5.36506314e+01] [ 5.35243258e-02 1.80606331e-03 9.98564913e-01 1.19440657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57038572300002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:53.68, Z:11.94 [[ 8.35094308e-01 -5.48361547e-01 -4.37848207e-02 2.16010142e+02] [ 5.47496624e-01 8.36239464e-01 -3.08383627e-02 5.36810674e+01] [ 5.35251673e-02 1.78089958e-03 9.98564913e-01 1.19431251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63038572300002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:53.70, Z:11.96 [[ 8.36743988e-01 -5.45841707e-01 -4.37758978e-02 2.16064415e+02] [ 5.44972674e-01 8.37886030e-01 -3.08510239e-02 5.37034012e+01] [ 5.35189887e-02 1.95774067e-03 9.98564913e-01 1.19554318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.690385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:53.73, Z:11.96 [[ 8.33197633e-01 -5.51240070e-01 -4.37731553e-02 2.16117894e+02] [ 5.50378236e-01 8.34345116e-01 -3.08549145e-02 5.37296486e+01] [ 5.35303836e-02 1.61644970e-03 9.98564913e-01 1.19625116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.750385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:53.76, Z:11.97 [[ 8.33473386e-01 -5.50823628e-01 -4.37657997e-02 2.16169191e+02] [ 5.49960673e-01 8.34620027e-01 -3.08653444e-02 5.37594404e+01] [ 5.35291739e-02 1.65597449e-03 9.98564913e-01 1.19677529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.810385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:53.79, Z:11.97 [[ 8.34495779e-01 -5.49274072e-01 -4.37583020e-02 2.16218095e+02] [ 5.48408431e-01 8.35640393e-01 -3.08759704e-02 5.37897795e+01] [ 5.35255747e-02 1.76844520e-03 9.98564913e-01 1.19714202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:216.27, Y:53.82, Z:11.97 [[ 8.35735754e-01 -5.47385792e-01 -4.37555017e-02 2.16269018e+02] [ 5.46517359e-01 8.36878250e-01 -3.08799384e-02 5.38180559e+01] [ 5.35212672e-02 1.89432736e-03 9.98564913e-01 1.19726767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.32, Y:53.85, Z:11.97 [[ 8.36116803e-01 -5.46804239e-01 -4.37471785e-02 2.16319892e+02] [ 5.45934395e-01 8.37258226e-01 -3.08917252e-02 5.38488122e+01] [ 5.35194114e-02 1.94600103e-03 9.98564913e-01 1.19721506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.37, Y:53.88, Z:11.97 [[ 8.34650530e-01 -5.49040360e-01 -4.37398711e-02 2.16370394e+02] [ 5.48173033e-01 8.35793867e-01 -3.09020684e-02 5.38799331e+01] [ 5.35239987e-02 1.81540992e-03 9.98564913e-01 1.19747679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.42, Y:53.91, Z:11.98 [[ 8.32645511e-01 -5.52076929e-01 -4.37323462e-02 2.16418836e+02] [ 5.51213215e-01 8.33791578e-01 -3.09127139e-02 5.39116128e+01] [ 5.35298581e-02 1.63348529e-03 9.98564913e-01 1.19791191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.47, Y:53.94, Z:11.98 [[ 8.30374214e-01 -5.55487515e-01 -4.37296768e-02 2.16468273e+02] [ 5.54628310e-01 8.31523667e-01 -3.09164895e-02 5.39422192e+01] [ 5.35359852e-02 1.41853896e-03 9.98564913e-01 1.19845196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.52, Y:53.97, Z:11.99 [[ 8.27640169e-01 -5.59553118e-01 -4.37270933e-02 2.16517841e+02] [ 5.58699368e-01 8.28793678e-01 -3.09201432e-02 5.39723017e+01] [ 5.35422010e-02 1.16045315e-03 9.98564913e-01 1.19902416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.230385723 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:216.57, Y:54.01, Z:11.99 [[ 8.27335628e-01 -5.60003964e-01 -4.37186327e-02 2.16565478e+02] [ 5.59150210e-01 8.28489135e-01 -3.09321012e-02 5.40054102e+01] [ 5.35425115e-02 1.14594678e-03 9.98564913e-01 1.19909917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:54.04, Z:11.99 [[ 8.25982466e-01 -5.61998675e-01 -4.37087615e-02 2.16612503e+02] [ 5.61146970e-01 8.27137486e-01 -3.09460434e-02 5.40394588e+01] [ 5.35447905e-02 1.03385019e-03 9.98564914e-01 1.19935140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:216.66, Y:54.07, Z:12.00 [[ 8.25144950e-01 -5.63228419e-01 -4.36985087e-02 2.16660004e+02] [ 5.62377669e-01 8.26300674e-01 -3.09605146e-02 5.40732849e+01] [ 5.35459488e-02 9.71846842e-04 9.98564914e-01 1.19967315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.71, Y:54.10, Z:12.00 [[ 8.24361395e-01 -5.64375405e-01 -4.36885804e-02 2.16709043e+02] [ 5.63525522e-01 8.25517756e-01 -3.09745182e-02 5.41040063e+01] [ 5.35469551e-02 9.14566975e-04 9.98564914e-01 1.20017153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.76, Y:54.14, Z:12.01 [[ 8.22718210e-01 -5.66768742e-01 -4.36799742e-02 2.16756399e+02] [ 5.65921579e-01 8.23876565e-01 -3.09866497e-02 5.41371484e+01] [ 5.35491716e-02 7.73840990e-04 9.98564914e-01 1.20055458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.80, Y:54.17, Z:12.01 [[ 8.21112669e-01 -5.69092867e-01 -4.36725680e-02 2.16804542e+02] [ 5.68248428e-01 8.22273011e-01 -3.09970846e-02 5.41713946e+01] [ 5.35509937e-02 6.35230776e-04 9.98564914e-01 1.20102839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.85, Y:54.20, Z:12.01 [[ 8.19532372e-01 -5.71366831e-01 -4.36650300e-02 2.16853362e+02] [ 5.70525046e-01 8.20694641e-01 -3.10076996e-02 5.42030525e+01] [ 5.35524272e-02 4.99820371e-04 9.98564914e-01 1.20148985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:54.24, Z:12.02 [[ 8.18779870e-01 -5.72445295e-01 -4.36567054e-02 2.16900571e+02] [ 5.71604416e-01 8.19942795e-01 -3.10194156e-02 5.42366534e+01] [ 5.35529196e-02 4.43707477e-04 9.98564914e-01 1.20174213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.710385723 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:54.27, Z:12.02 [[ 8.19096766e-01 -5.71992428e-01 -4.36480135e-02 2.16946094e+02] [ 5.71150255e-01 8.20258754e-01 -3.10316414e-02 5.42716772e+01] [ 5.35525291e-02 4.88343064e-04 9.98564914e-01 1.20175516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:54.31, Z:12.02 [[ 8.20329363e-01 -5.70223727e-01 -4.36421538e-02 2.16992009e+02] [ 5.69378610e-01 8.21489211e-01 -3.10398801e-02 5.43080908e+01] [ 5.35512346e-02 6.14016183e-04 9.98564914e-01 1.20185330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.830385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:217.04, Y:54.34, Z:12.02 [[ 8.20346277e-01 -5.70199959e-01 -4.36347605e-02 2.17039580e+02] [ 5.69354256e-01 8.21505698e-01 -3.10502698e-02 5.43424890e+01] [ 5.35510670e-02 6.28336673e-04 9.98564914e-01 1.20210532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.890385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:217.09, Y:54.38, Z:12.03 [[ 8.18643319e-01 -5.72642808e-01 -4.36271710e-02 2.17087774e+02] [ 5.71799997e-01 8.19804844e-01 -3.10609298e-02 5.43754182e+01] [ 5.35525842e-02 4.81806413e-04 9.98564915e-01 1.20267579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.13, Y:54.41, Z:12.03 [[ 8.16050242e-01 -5.76332656e-01 -4.36196342e-02 2.17134246e+02] [ 5.75494532e-01 8.17215152e-01 -3.10715104e-02 5.44090471e+01] [ 5.35541521e-02 2.53052645e-04 9.98564915e-01 1.20328663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.18, Y:54.44, Z:12.03 [[ 8.13625771e-01 -5.79750618e-01 -4.36156594e-02 2.17180763e+02] [ 5.78917088e-01 8.14793974e-01 -3.10770889e-02 5.44445180e+01] [ 5.35547379e-02 3.52698500e-05 9.98564915e-01 1.20344196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:54.48, Z:12.03 [[ 8.11908631e-01 -5.82153600e-01 -4.36068853e-02 2.17228129e+02] [ 5.81322866e-01 8.13078824e-01 -3.10893957e-02 5.44781914e+01] [ 5.35546386e-02 -1.07930835e-04 9.98564915e-01 1.20338664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:54.51, Z:12.04 [[ 8.10946357e-01 -5.83493894e-01 -4.35990996e-02 2.17274638e+02] [ 5.82664508e-01 8.12117505e-01 -3.11003104e-02 5.45129970e+01] [ 5.35544332e-02 -1.82964464e-04 9.98564915e-01 1.20381884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.32, Y:54.55, Z:12.04 [[ 8.09417131e-01 -5.85614039e-01 -4.35901969e-02 2.17319929e+02] [ 5.84787049e-01 8.10589972e-01 -3.11127834e-02 5.45504510e+01] [ 5.35538592e-02 -3.07762661e-04 9.98564915e-01 1.20437486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.36, Y:54.59, Z:12.05 [[ 8.08778758e-01 -5.86495938e-01 -4.35825137e-02 2.17364567e+02] [ 5.85669647e-01 8.09952091e-01 -3.11235423e-02 5.45865500e+01] [ 5.35535792e-02 -3.52895536e-04 9.98564915e-01 1.20475856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.310385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:217.41, Y:54.63, Z:12.05 [[ 8.07982240e-01 -5.87593047e-01 -4.35787991e-02 2.17407668e+02] [ 5.86768068e-01 8.09156497e-01 -3.11287425e-02 5.46269128e+01] [ 5.35531010e-02 -4.19176617e-04 9.98564915e-01 1.20456297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:54.66, Z:12.06 [[ 8.11777378e-01 -5.82338924e-01 -4.35759796e-02 2.17455013e+02] [ 5.81506133e-01 8.12946107e-01 -3.11326889e-02 5.46598553e+01] [ 5.35546995e-02 -6.68868432e-05 9.98564915e-01 1.20559214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:54.70, Z:12.05 [[ 8.13055819e-01 -5.80552849e-01 -4.35732182e-02 2.17496956e+02] [ 5.79717283e-01 8.14222566e-01 -3.11365533e-02 5.47021674e+01] [ 5.35547122e-02 5.56081165e-05 9.98564915e-01 1.20537145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:54.74, Z:12.06 [[ 8.16410350e-01 -5.75826549e-01 -4.35651963e-02 2.17543252e+02] [ 5.74983630e-01 8.17571796e-01 -3.11477732e-02 5.47357887e+01] [ 5.35533905e-02 3.80089674e-04 9.98564915e-01 1.20639438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:54.78, Z:12.06 [[ 8.18997950e-01 -5.72140539e-01 -4.35610126e-02 2.17586708e+02] [ 5.71292082e-01 8.20155356e-01 -3.11536232e-02 5.47755387e+01] [ 5.35510485e-02 6.28691931e-04 9.98564915e-01 1.20649389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.63, Y:54.81, Z:12.06 [[ 8.18584144e-01 -5.72733006e-01 -4.35534532e-02 2.17631725e+02] [ 5.71884825e-01 8.19741752e-01 -3.11641877e-02 5.48147672e+01] [ 5.35513430e-02 6.02950965e-04 9.98564915e-01 1.20607578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.68, Y:54.85, Z:12.07 [[ 8.20315540e-01 -5.70250976e-01 -4.35458277e-02 2.17677128e+02] [ 5.69398728e-01 8.21470157e-01 -3.11748393e-02 5.48498882e+01] [ 5.35490804e-02 7.78266222e-04 9.98564915e-01 1.20694717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:54.89, Z:12.07 [[ 8.19795242e-01 -5.70998929e-01 -4.35428962e-02 2.17722379e+02] [ 5.70147517e-01 8.20950475e-01 -3.11789332e-02 5.48878636e+01] [ 5.35496989e-02 7.34466927e-04 9.98564915e-01 1.20710324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:54.92, Z:12.08 [[ 8.16593037e-01 -5.75569707e-01 -4.35353341e-02 2.17769482e+02] [ 5.74724198e-01 8.17752598e-01 -3.11894887e-02 5.49230895e+01] [ 5.35528574e-02 4.48309355e-04 9.98564916e-01 1.20765361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85038572300002 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:54.96, Z:12.08 [[ 8.13905466e-01 -5.79364508e-01 -4.35276732e-02 2.17815466e+02] [ 5.78523835e-01 8.15068538e-01 -3.12001765e-02 5.49582365e+01] [ 5.35543119e-02 2.12197817e-04 9.98564916e-01 1.20794010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.910385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:217.86, Y:54.99, Z:12.08 [[ 8.14118452e-01 -5.79065386e-01 -4.35249823e-02 2.17861407e+02] [ 5.78224085e-01 8.15281070e-01 -3.12039299e-02 5.49941577e+01] [ 5.35542099e-02 2.36502112e-04 9.98564916e-01 1.20830861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:55.03, Z:12.09 [[ 8.14234232e-01 -5.78903223e-01 -4.35163581e-02 2.17906730e+02] [ 5.78061047e-01 8.15396217e-01 -3.12159524e-02 5.50293734e+01] [ 5.35540892e-02 2.61985450e-04 9.98564916e-01 1.20852986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:217.95, Y:55.06, Z:12.09 [[ 8.14011818e-01 -5.79216163e-01 -4.35131777e-02 2.17953739e+02] [ 5.78374197e-01 8.15173954e-01 -3.12203850e-02 5.50641968e+01] [ 5.35541608e-02 2.46863147e-04 9.98564916e-01 1.20885353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.090385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:218.00, Y:55.10, Z:12.09 [[ 8.14686862e-01 -5.78266878e-01 -4.35055670e-02 2.18002675e+02] [ 5.77422992e-01 8.15847605e-01 -3.12309871e-02 5.50980312e+01] [ 5.35537580e-02 3.22360224e-04 9.98564916e-01 1.20878441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.150385723 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:218.05, Y:55.13, Z:12.08 [[ 8.12757783e-01 -5.80975389e-01 -4.35015263e-02 2.18049165e+02] [ 5.80135070e-01 8.13921111e-01 -3.12366143e-02 5.51347691e+01] [ 5.35545147e-02 1.51040375e-04 9.98564916e-01 1.20840186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:55.17, Z:12.08 [[ 8.11236810e-01 -5.83097946e-01 -4.34928008e-02 2.18094645e+02] [ 5.82260019e-01 8.12401862e-01 -3.12487586e-02 5.51711426e+01] [ 5.35547193e-02 2.60242105e-05 9.98564916e-01 1.20845706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:55.20, Z:12.10 [[ 8.13174071e-01 -5.80394046e-01 -4.34819799e-02 2.18143544e+02] [ 5.79551440e-01 8.14335743e-01 -3.12638084e-02 5.52005645e+01] [ 5.35542587e-02 2.22874261e-04 9.98564916e-01 1.21018304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.330385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:55.23, Z:12.11 [[ 8.12478268e-01 -5.81367916e-01 -4.34788368e-02 2.18191236e+02] [ 5.80526470e-01 8.13640780e-01 -3.12681789e-02 5.52345040e+01] [ 5.35544708e-02 1.64100218e-04 9.98564916e-01 1.21056380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.24, Y:55.27, Z:12.11 [[ 8.13042701e-01 -5.80578861e-01 -4.34712813e-02 2.18239468e+02] [ 5.79735724e-01 8.14203988e-01 -3.12786796e-02 5.52688418e+01] [ 5.35542308e-02 2.29047399e-04 9.98564916e-01 1.21095771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.29, Y:55.30, Z:12.11 [[ 8.13767263e-01 -5.79563413e-01 -4.34636816e-02 2.18285978e+02] [ 5.78718264e-01 8.14927085e-01 -3.12892363e-02 5.53036432e+01] [ 5.35538280e-02 3.08929841e-04 9.98564916e-01 1.21111900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:55.34, Z:12.11 [[ 8.14776327e-01 -5.78144623e-01 -4.34549460e-02 2.18333028e+02] [ 5.77296807e-01 8.15934201e-01 -3.13013638e-02 5.53383973e+01] [ 5.35530918e-02 4.17208563e-04 9.98564916e-01 1.21127801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:218.38, Y:55.37, Z:12.12 [[ 8.13606012e-01 -5.79791070e-01 -4.34461912e-02 2.18380821e+02] [ 5.78944949e-01 8.14765126e-01 -3.13135108e-02 5.53699340e+01] [ 5.35537353e-02 3.23907738e-04 9.98564917e-01 1.21151864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.43, Y:55.40, Z:12.12 [[ 8.12285036e-01 -5.81640578e-01 -4.34425812e-02 2.18429141e+02] [ 5.80796829e-01 8.13445877e-01 -3.13185182e-02 5.54027965e+01] [ 5.35543096e-02 2.08250307e-04 9.98564917e-01 1.21178742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.48, Y:55.43, Z:12.12 [[ 8.09941413e-01 -5.84900335e-01 -4.34339296e-02 2.18478363e+02] [ 5.84060614e-01 8.11105171e-01 -3.13305121e-02 5.54335801e+01] [ 5.35547119e-02 7.83161147e-06 9.98564917e-01 1.21215492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.750385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:55.47, Z:12.12 [[ 8.07939891e-01 -5.87662196e-01 -4.34312697e-02 2.18526984e+02] [ 5.86826255e-01 8.09106368e-01 -3.13341989e-02 5.54656366e+01] [ 5.35544410e-02 -1.70460158e-04 9.98564917e-01 1.21238859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.810385723 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:218.58, Y:55.49, Z:12.13 [[ 8.09109266e-01 -5.86051317e-01 -4.34286699e-02 2.18578978e+02] [ 5.85212860e-01 8.10273936e-01 -3.13378017e-02 5.54936413e+01] [ 5.35546793e-02 -5.93103373e-05 9.98564917e-01 1.21257025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.870385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:218.63, Y:55.53, Z:12.13 [[ 8.09176849e-01 -5.85958694e-01 -4.34192969e-02 2.18626178e+02] [ 5.85119407e-01 8.10340921e-01 -3.13507829e-02 5.55262231e+01] [ 5.35546968e-02 -3.71455409e-05 9.98564917e-01 1.21284790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.67, Y:55.56, Z:12.13 [[ 8.13219366e-01 -5.80335752e-01 -4.34128804e-02 2.18673653e+02] [ 5.79487943e-01 8.14377244e-01 -3.13596656e-02 5.55586415e+01] [ 5.35535970e-02 3.45046579e-04 9.98564917e-01 1.21305685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.72, Y:55.59, Z:12.13 [[ 8.15806378e-01 -5.76693730e-01 -4.34084669e-02 2.18722063e+02] [ 5.75840427e-01 8.16960214e-01 -3.13657736e-02 5.55915552e+01] [ 5.35514354e-02 5.92048055e-04 9.98564917e-01 1.21323014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.77, Y:55.62, Z:12.13 [[ 8.18592597e-01 -5.72732587e-01 -4.33998230e-02 2.18771656e+02] [ 5.71873067e-01 8.19741809e-01 -3.13777295e-02 5.56213132e+01] [ 5.35476975e-02 8.66387208e-04 9.98564917e-01 1.21327433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:55.66, Z:12.13 [[ 8.17733249e-01 -5.73959076e-01 -4.33971556e-02 2.18819953e+02] [ 5.73101084e-01 8.18883602e-01 -3.13814181e-02 5.56557035e+01] [ 5.35488689e-02 7.90672061e-04 9.98564917e-01 1.21327887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.87, Y:55.69, Z:12.14 [[ 8.17137720e-01 -5.74807228e-01 -4.33889066e-02 2.18869975e+02] [ 5.73949825e-01 8.18288512e-01 -3.13928193e-02 5.56861405e+01] [ 5.35494633e-02 7.49201479e-04 9.98564917e-01 1.21365309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.92, Y:55.71, Z:12.15 [[ 8.18372932e-01 -5.73047993e-01 -4.33790505e-02 2.18922278e+02] [ 5.72187395e-01 8.19521337e-01 -3.14064327e-02 5.57112133e+01] [ 5.35474507e-02 8.81228533e-04 9.98564917e-01 1.21469274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.97, Y:55.74, Z:12.15 [[ 8.17744933e-01 -5.73944104e-01 -4.33749909e-02 2.18970404e+02] [ 5.73084467e-01 8.18894058e-01 -3.14120384e-02 5.57411068e+01] [ 5.35482765e-02 8.29501693e-04 9.98564917e-01 1.21494032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:55.77, Z:12.15 [[ 8.17819796e-01 -5.73837717e-01 -4.33711507e-02 2.19018848e+02] [ 5.72977649e-01 8.18968598e-01 -3.14173397e-02 5.57731028e+01] [ 5.35480650e-02 8.43022401e-04 9.98564917e-01 1.21520554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:55.80, Z:12.15 [[ 8.19120635e-01 -5.71979977e-01 -4.33623238e-02 2.19067605e+02] [ 5.71116660e-01 8.20266997e-01 -3.14295180e-02 5.58045468e+01] [ 5.35457381e-02 9.79621217e-04 9.98564917e-01 1.21523434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:55.84, Z:12.15 [[ 8.16922332e-01 -5.75115509e-01 -4.33596026e-02 2.19117226e+02] [ 5.74256393e-01 8.18071846e-01 -3.14332716e-02 5.58358742e+01] [ 5.35490321e-02 7.79012544e-04 9.98564917e-01 1.21541700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.16, Y:55.87, Z:12.15 [[ 8.13090169e-01 -5.80521306e-01 -4.33519366e-02 2.19161185e+02] [ 5.79669270e-01 8.14244940e-01 -3.14438408e-02 5.58741558e+01] [ 5.35529146e-02 4.36892465e-04 9.98564918e-01 1.21520543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.21, Y:55.90, Z:12.16 [[ 8.14642843e-01 -5.78340627e-01 -4.33492497e-02 2.19212296e+02] [ 5.77485303e-01 8.15795181e-01 -3.14475446e-02 5.59040297e+01] [ 5.35515017e-02 5.84962597e-04 9.98564918e-01 1.21629648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.650385723 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:219.26, Y:55.94, Z:12.16 [[ 8.15422871e-01 -5.77240838e-01 -4.33423072e-02 2.19259060e+02] [ 5.76383451e-01 8.16573675e-01 -3.14571102e-02 5.59387235e+01] [ 5.35505157e-02 6.69058537e-04 9.98564918e-01 1.21634437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.30, Y:55.97, Z:12.17 [[ 8.15314467e-01 -5.77394725e-01 -4.33318760e-02 2.19303739e+02] [ 5.76536792e-01 8.16464864e-01 -3.14714724e-02 5.59734935e+01] [ 5.35504164e-02 6.76725949e-04 9.98564918e-01 1.21673765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.35, Y:56.01, Z:12.17 [[ 8.13202127e-01 -5.80366357e-01 -4.33265651e-02 2.19350701e+02] [ 5.79512239e-01 8.14355359e-01 -3.14787823e-02 5.60072863e+01] [ 5.35524467e-02 4.90337983e-04 9.98564918e-01 1.21706033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.40, Y:56.04, Z:12.17 [[ 8.10628902e-01 -5.83955761e-01 -4.33180406e-02 2.19397692e+02] [ 5.83106123e-01 8.11785438e-01 -3.14905084e-02 5.60420420e+01] [ 5.35540184e-02 2.68101572e-04 9.98564918e-01 1.21742155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.890385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:219.45, Y:56.07, Z:12.18 [[ 8.07487298e-01 -5.88292928e-01 -4.33092870e-02 2.19446718e+02] [ 5.87448856e-01 8.08647903e-01 -3.15025429e-02 5.60729847e+01] [ 5.35546873e-02 -4.08786926e-06 9.98564918e-01 1.21774326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.950385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:219.49, Y:56.11, Z:12.18 [[ 8.05229733e-01 -5.91379518e-01 -4.33052218e-02 2.19491271e+02] [ 5.90539595e-01 8.06393344e-01 -3.15081301e-02 5.61101762e+01] [ 5.35543054e-02 -2.02164945e-04 9.98564918e-01 1.21776067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.010385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:219.54, Y:56.14, Z:12.18 [[ 8.03489143e-01 -5.93742860e-01 -4.32968148e-02 2.19538100e+02] [ 5.92905737e-01 8.04654769e-01 -3.15196783e-02 5.61444032e+01] [ 5.35535725e-02 -3.45210571e-04 9.98564918e-01 1.21830499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07038572300002 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:219.58, Y:56.18, Z:12.19 [[ 8.02775745e-01 -5.94707691e-01 -4.32881677e-02 2.19584857e+02] [ 5.93871329e-01 8.03941917e-01 -3.15315496e-02 5.61781566e+01] [ 5.35532276e-02 -3.94838431e-04 9.98564918e-01 1.21870725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13038572300002 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:219.63, Y:56.21, Z:12.19 [[ 8.01436236e-01 -5.96512227e-01 -4.32795957e-02 2.19632266e+02] [ 5.95677855e-01 8.02603833e-01 -3.15433109e-02 5.62126956e+01] [ 5.35523400e-02 -5.00744415e-04 9.98564918e-01 1.21887246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.190385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:219.68, Y:56.25, Z:12.19 [[ 8.02712241e-01 -5.94794362e-01 -4.32749935e-02 2.19677203e+02] [ 5.93957151e-01 8.03877804e-01 -3.15496235e-02 5.62489061e+01] [ 5.35533450e-02 -3.78222833e-04 9.98564918e-01 1.21921259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.250385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:219.72, Y:56.28, Z:12.20 [[ 8.03749034e-01 -5.93393294e-01 -4.32653227e-02 2.19723457e+02] [ 5.92553338e-01 8.04912620e-01 -3.15628799e-02 5.62827334e+01] [ 5.35540056e-02 -2.68377180e-04 9.98564919e-01 1.21951593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.310385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:56.32, Z:12.20 [[ 8.03783814e-01 -5.93346615e-01 -4.32593910e-02 2.19766042e+02] [ 5.92506154e-01 8.04947035e-01 -3.15710077e-02 5.63231171e+01] [ 5.35540691e-02 -2.55190420e-04 9.98564919e-01 1.21955927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.82, Y:56.35, Z:12.20 [[ 8.09424774e-01 -5.85628645e-01 -4.32507360e-02 2.19816712e+02] [ 5.84776458e-01 8.10579433e-01 -3.15828602e-02 5.63525164e+01] [ 5.35539847e-02 2.71937237e-04 9.98564919e-01 1.22025434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.86, Y:56.39, Z:12.20 [[ 8.11860738e-01 -5.82247606e-01 -4.32419631e-02 2.19862447e+02] [ 5.81389972e-01 8.13011356e-01 -3.15948672e-02 5.63887369e+01] [ 5.35522428e-02 5.10188498e-04 9.98564919e-01 1.22048007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.490385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:219.91, Y:56.42, Z:12.21 [[ 8.13918120e-01 -5.79368777e-01 -4.32332612e-02 2.19909217e+02] [ 5.78506441e-01 8.15065218e-01 -3.16067701e-02 5.64247353e+01] [ 5.35499032e-02 7.14602852e-04 9.98564919e-01 1.22102133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.550385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:219.96, Y:56.46, Z:12.21 [[ 8.14500130e-01 -5.78550846e-01 -4.32256584e-02 2.19956605e+02] [ 5.77686807e-01 8.15645946e-01 -3.16171643e-02 5.64588573e+01] [ 5.35489702e-02 7.81291849e-04 9.98564919e-01 1.22124574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.610385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:220.00, Y:56.50, Z:12.22 [[ 8.14222672e-01 -5.78941872e-01 -4.32174667e-02 2.20001884e+02] [ 5.78077790e-01 8.15368454e-01 -3.16283575e-02 5.64967812e+01] [ 5.35491396e-02 7.69468103e-04 9.98564919e-01 1.22178504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.670385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:56.53, Z:12.22 [[ 8.14443762e-01 -5.78631415e-01 -4.32093105e-02 2.20047860e+02] [ 5.77766304e-01 8.15588769e-01 -3.16394962e-02 5.65316112e+01] [ 5.35486349e-02 8.03706699e-04 9.98564919e-01 1.22168465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.730385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:220.10, Y:56.57, Z:12.22 [[ 8.11723061e-01 -5.82442164e-01 -4.32064488e-02 2.20095485e+02] [ 5.81582221e-01 8.12871955e-01 -3.16434037e-02 5.65668695e+01] [ 5.35517630e-02 5.57578103e-04 9.98564919e-01 1.22209698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.790385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:220.14, Y:56.60, Z:12.22 [[ 8.09008964e-01 -5.86206789e-01 -4.31983456e-02 2.20141480e+02] [ 5.85351602e-01 8.10161402e-01 -3.16544620e-02 5.66028431e+01] [ 5.35536928e-02 3.22522665e-04 9.98564919e-01 1.22214170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85038572300002 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:220.19, Y:56.64, Z:12.23 [[ 8.03664009e-01 -5.93514004e-01 -4.31889643e-02 2.20188040e+02] [ 5.92668609e-01 8.04823648e-01 -3.16672566e-02 5.66385716e+01] [ 5.35544601e-02 -1.46908945e-04 9.98564919e-01 1.22298986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.910385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:220.23, Y:56.67, Z:12.23 [[ 7.98225875e-01 -6.00808527e-01 -4.31806282e-02 2.20233684e+02] [ 5.99973113e-01 7.99392725e-01 -3.16786194e-02 5.66737801e+01] [ 5.35510647e-02 -6.20522297e-04 9.98564919e-01 1.22333549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:56.71, Z:12.23 [[ 7.98531541e-01 -6.00402415e-01 -4.31777406e-02 2.20281505e+02] [ 5.99566195e-01 7.99697814e-01 -3.16825548e-02 5.67071461e+01] [ 5.35514271e-02 -5.88394328e-04 9.98564920e-01 1.22316602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.33, Y:56.74, Z:12.24 [[ 7.97121426e-01 -6.02273488e-01 -4.31749631e-02 2.20327588e+02] [ 6.01439800e-01 7.98289511e-01 -3.16863393e-02 5.67422719e+01] [ 5.35499622e-02 -7.09281182e-04 9.98564920e-01 1.22356850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.37, Y:56.78, Z:12.24 [[ 7.96554583e-01 -6.03023624e-01 -4.31660193e-02 2.20372966e+02] [ 6.02190377e-01 7.97722981e-01 -3.16985187e-02 5.67770598e+01] [ 5.35494812e-02 -7.44561070e-04 9.98564920e-01 1.22429929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:220.41, Y:56.83, Z:12.24 [[ 7.95465236e-01 -6.04460081e-01 -4.31632820e-02 2.20410472e+02] [ 6.03628741e-01 7.96634992e-01 -3.17022455e-02 5.68253976e+01] [ 5.35481227e-02 -8.36563455e-04 9.98564920e-01 1.22388069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:220.45, Y:56.86, Z:12.24 [[ 7.95843017e-01 -6.03963213e-01 -4.31547192e-02 2.20453588e+02] [ 6.03130511e-01 7.97011804e-01 -3.17138973e-02 5.68644176e+01] [ 5.35488479e-02 -7.88644118e-04 9.98564920e-01 1.22396599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.50, Y:56.89, Z:12.25 [[ 8.00902406e-01 -5.97238485e-01 -4.31454407e-02 2.20501831e+02] [ 5.96395288e-01 8.02063644e-01 -3.17265154e-02 5.68947091e+01] [ 5.35536854e-02 -3.21895019e-04 9.98564920e-01 1.22509173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.54, Y:56.94, Z:12.25 [[ 8.00443080e-01 -5.97854239e-01 -4.31414394e-02 2.20541992e+02] [ 5.97011643e-01 8.01604754e-01 -3.17319553e-02 5.69376757e+01] [ 5.35534670e-02 -3.56317552e-04 9.98564920e-01 1.22490935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:56.97, Z:12.26 [[ 8.04308480e-01 -5.92644437e-01 -4.31328151e-02 2.20588363e+02] [ 5.91793687e-01 8.05464196e-01 -3.17436740e-02 5.69716245e+01] [ 5.35546500e-02 5.97845782e-06 9.98564920e-01 1.22554604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.63, Y:57.01, Z:12.26 [[ 8.06084430e-01 -5.90227251e-01 -4.31240577e-02 2.20632249e+02] [ 5.89372399e-01 8.07237115e-01 -3.17555666e-02 5.70102868e+01] [ 5.35543406e-02 1.81538464e-04 9.98564920e-01 1.22579009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:57.05, Z:12.26 [[ 8.05379768e-01 -5.91189051e-01 -4.31153593e-02 2.20674698e+02] [ 5.90334944e-01 8.06533005e-01 -3.17673722e-02 5.70500197e+01] [ 5.35544829e-02 1.32295674e-04 9.98564920e-01 1.22572846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57038572300002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:57.08, Z:12.26 [[ 8.06037539e-01 -5.90292583e-01 -4.31062904e-02 2.20720302e+02] [ 5.89436535e-01 8.07189335e-01 -3.17796734e-02 5.70844979e+01] [ 5.35542434e-02 2.07187271e-04 9.98564920e-01 1.22636789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.76, Y:57.13, Z:12.27 [[ 8.05730528e-01 -5.90711883e-01 -4.31020639e-02 2.20762544e+02] [ 5.89856127e-01 8.06882542e-01 -3.17854047e-02 5.71253408e+01] [ 5.35543191e-02 1.86454389e-04 9.98564920e-01 1.22650498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.690385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:220.80, Y:57.17, Z:12.26 [[ 8.06429808e-01 -5.89757257e-01 -4.30969041e-02 2.20804980e+02] [ 5.88899765e-01 8.07580529e-01 -3.17923991e-02 5.71651912e+01] [ 5.35540187e-02 2.58581609e-04 9.98564920e-01 1.22636562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.750385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:220.85, Y:57.20, Z:12.27 [[ 8.06750238e-01 -5.89319169e-01 -4.30925654e-02 2.20849653e+02] [ 5.88460738e-01 8.07900260e-01 -3.17982788e-02 5.72028169e+01] [ 5.35538301e-02 2.94986198e-04 9.98564920e-01 1.22675875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.89, Y:57.24, Z:12.27 [[ 8.04829810e-01 -5.91939840e-01 -4.30836760e-02 2.20894260e+02] [ 5.91084509e-01 8.05982138e-01 -3.18103187e-02 5.72411233e+01] [ 5.35544682e-02 1.35799261e-04 9.98564921e-01 1.22739760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.870385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:57.28, Z:12.28 [[ 8.00846845e-01 -5.97317997e-01 -4.30760013e-02 2.20937660e+02] [ 5.96469845e-01 8.02004468e-01 -3.18207079e-02 5.72814058e+01] [ 5.35542270e-02 -2.10022289e-04 9.98564921e-01 1.22754082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.98, Y:57.32, Z:12.28 [[ 8.00044073e-01 -5.98393384e-01 -4.30678414e-02 2.20984429e+02] [ 5.97546194e-01 8.01202400e-01 -3.18317481e-02 5.73161177e+01] [ 5.35539654e-02 -2.68223270e-04 9.98564921e-01 1.22813723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.03, Y:57.35, Z:12.28 [[ 7.97594659e-01 -6.01654990e-01 -4.30584869e-02 2.21027623e+02] [ 6.00811853e-01 7.98755940e-01 -3.18443969e-02 5.73549478e+01] [ 5.35525624e-02 -4.71128363e-04 9.98564921e-01 1.22815054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.07, Y:57.40, Z:12.28 [[ 7.95546090e-01 -6.04361801e-01 -4.30491937e-02 2.21069425e+02] [ 6.03521936e-01 7.96709739e-01 -3.18569550e-02 5.73950165e+01] [ 5.35508386e-02 -6.37456700e-04 9.98564921e-01 1.22833257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.110385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.11, Y:57.43, Z:12.29 [[ 7.92543414e-01 -6.08294376e-01 -4.30451946e-02 2.21114428e+02] [ 6.07459991e-01 7.93710999e-01 -3.18623577e-02 5.74322060e+01] [ 5.35471374e-02 -8.95931728e-04 9.98564921e-01 1.22882323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:57.47, Z:12.30 [[ 7.95564697e-01 -6.04338263e-01 -4.30357650e-02 2.21159632e+02] [ 6.03497383e-01 7.96727612e-01 -3.18750890e-02 5.74661812e+01] [ 5.35511182e-02 -6.13276017e-04 9.98564921e-01 1.22956643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.20, Y:57.51, Z:12.29 [[ 7.93298397e-01 -6.07310776e-01 -4.30264523e-02 2.21197378e+02] [ 6.06473571e-01 7.94463961e-01 -3.18876547e-02 5.75129934e+01] [ 5.35486821e-02 -7.97980804e-04 9.98564921e-01 1.22885722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.25, Y:57.54, Z:12.30 [[ 7.99397316e-01 -5.99260793e-01 -4.30166558e-02 2.21246456e+02] [ 5.98411139e-01 8.00553836e-01 -3.19008648e-02 5.75424955e+01] [ 5.35540864e-02 -2.40180254e-04 9.98564921e-01 1.22998308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.29, Y:57.58, Z:12.31 [[ 8.00233632e-01 -5.98143756e-01 -4.30137206e-02 2.21291899e+02] [ 5.97292275e-01 8.01388808e-01 -3.19048221e-02 5.75804532e+01] [ 5.35543844e-02 -1.60451313e-04 9.98564921e-01 1.23053531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.34, Y:57.62, Z:12.31 [[ 8.00454006e-01 -5.97849365e-01 -4.30060500e-02 2.21338347e+02] [ 5.96996903e-01 8.01608458e-01 -3.19151582e-02 5.76151845e+01] [ 5.35544706e-02 -1.27862417e-04 9.98564921e-01 1.23095756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.39, Y:57.65, Z:12.32 [[ 8.01151476e-01 -5.96915042e-01 -4.29970516e-02 2.21385878e+02] [ 5.96060583e-01 8.02304450e-01 -3.19272766e-02 5.76488014e+01] [ 5.35545975e-02 -5.02628191e-05 9.98564922e-01 1.23150300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.530385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:57.68, Z:12.32 [[ 8.01822218e-01 -5.96014402e-01 -4.29879394e-02 2.21432384e+02] [ 5.95157991e-01 8.02973743e-01 -3.19395408e-02 5.76830057e+01] [ 5.35546130e-02 2.52177925e-05 9.98564922e-01 1.23169164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.48, Y:57.72, Z:12.32 [[ 8.03764637e-01 -5.93392981e-01 -4.29788137e-02 2.21479701e+02] [ 5.92532158e-01 8.04912867e-01 -3.19518160e-02 5.77178678e+01] [ 5.35541835e-02 2.15410605e-04 9.98564922e-01 1.23178531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:57.75, Z:12.32 [[ 8.07100147e-01 -5.88848758e-01 -4.29708411e-02 2.21526783e+02] [ 5.87980900e-01 8.08243069e-01 -3.19625344e-02 5.77520708e+01] [ 5.35519832e-02 5.30932391e-04 9.98564922e-01 1.23193548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.58, Y:57.78, Z:12.33 [[ 8.08202187e-01 -5.87335486e-01 -4.29680417e-02 2.21578023e+02] [ 5.86465287e-01 8.09343328e-01 -3.19662973e-02 5.77818946e+01] [ 5.35508386e-02 6.35966501e-04 9.98564922e-01 1.23262936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:57.82, Z:12.33 [[ 8.09746176e-01 -5.85205559e-01 -4.29602544e-02 2.21622652e+02] [ 5.84331804e-01 8.10884597e-01 -3.19767595e-02 5.78189931e+01] [ 5.35487860e-02 7.90015788e-04 9.98564922e-01 1.23265002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.67, Y:57.85, Z:12.33 [[ 8.10987179e-01 -5.83484744e-01 -4.29575217e-02 2.21670870e+02] [ 5.82608379e-01 8.12123592e-01 -3.19804302e-02 5.78506095e+01] [ 5.35469099e-02 9.08306786e-04 9.98564922e-01 1.23271083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.72, Y:57.88, Z:12.33 [[ 8.11342632e-01 -5.82990580e-01 -4.29548355e-02 2.21723345e+02] [ 5.82113332e-01 8.12478363e-01 -3.19840377e-02 5.78786893e+01] [ 5.35462671e-02 9.45430846e-04 9.98564922e-01 1.23319617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.950385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:221.77, Y:57.91, Z:12.33 [[ 8.10747611e-01 -5.83818320e-01 -4.29474196e-02 2.21769618e+02] [ 5.82941704e-01 8.11883830e-01 -3.19939925e-02 5.79143674e+01] [ 5.35469945e-02 9.03211010e-04 9.98564922e-01 1.23344344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.010385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:221.82, Y:57.94, Z:12.34 [[ 8.09394636e-01 -5.85693181e-01 -4.29397394e-02 2.21822449e+02] [ 5.84818651e-01 8.10532461e-01 -3.20042970e-02 5.79408164e+01] [ 5.35487511e-02 7.92145814e-04 9.98564922e-01 1.23377352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07038572300002 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:221.87, Y:57.97, Z:12.34 [[ 8.07759604e-01 -5.87946283e-01 -4.29370489e-02 2.21871355e+02] [ 5.87074735e-01 8.08899715e-01 -3.20079062e-02 5.79712668e+01] [ 5.35506961e-02 6.47437042e-04 9.98564922e-01 1.23439932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13038572300002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:221.92, Y:58.01, Z:12.34 [[ 8.02928312e-01 -5.94527806e-01 -4.29280121e-02 2.21916093e+02] [ 5.93664957e-01 8.04075020e-01 -3.20200214e-02 5.80095982e+01] [ 5.35541353e-02 2.24925257e-04 9.98564922e-01 1.23389150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.190385723 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:221.97, Y:58.03, Z:12.35 [[ 8.04585495e-01 -5.92283392e-01 -4.29251212e-02 2.21973326e+02] [ 5.91417137e-01 8.05729632e-01 -3.20238965e-02 5.80309494e+01] [ 5.35532641e-02 3.79310300e-04 9.98564922e-01 1.23492986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.250385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:222.02, Y:58.07, Z:12.35 [[ 8.01422521e-01 -5.96556922e-01 -4.29159787e-02 2.22020330e+02] [ 5.95696113e-01 8.02570761e-01 -3.20361438e-02 5.80653735e+01] [ 5.35544930e-02 1.09605460e-04 9.98564922e-01 1.23532016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.310385723 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:222.07, Y:58.09, Z:12.36 [[ 8.02636853e-01 -5.94922355e-01 -4.29123895e-02 2.22071885e+02] [ 5.94058950e-01 8.03783143e-01 -3.20409508e-02 5.80918967e+01] [ 5.35541332e-02 2.24758896e-04 9.98564922e-01 1.23620141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.370385723 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:222.12, Y:58.12, Z:12.36 [[ 8.03142550e-01 -5.94239716e-01 -4.29092487e-02 2.22123505e+02] [ 5.93375113e-01 8.04287936e-01 -3.20451564e-02 5.81188170e+01] [ 5.35538957e-02 2.75548378e-04 9.98564922e-01 1.23648726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.430385723 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:222.17, Y:58.15, Z:12.37 [[ 8.03802434e-01 -5.93347112e-01 -4.29051531e-02 2.22171236e+02] [ 5.92480944e-01 8.04946636e-01 -3.20506391e-02 5.81518353e+01] [ 5.35535128e-02 3.41896073e-04 9.98564922e-01 1.23663019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.490385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:222.22, Y:58.18, Z:12.37 [[ 8.02969418e-01 -5.94474588e-01 -4.28961286e-02 2.22222493e+02] [ 5.93609382e-01 8.04114348e-01 -3.20627128e-02 5.81795167e+01] [ 5.35538605e-02 2.81833473e-04 9.98564923e-01 1.23706806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.550385723 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:58.21, Z:12.37 [[ 8.00948483e-01 -5.97195296e-01 -4.28871293e-02 2.22269972e+02] [ 5.96333335e-01 8.02095858e-01 -3.20747458e-02 5.82108401e+01] [ 5.35544761e-02 1.15194170e-04 9.98564923e-01 1.23743775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.610385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:222.32, Y:58.24, Z:12.38 [[ 7.97942305e-01 -6.01206361e-01 -4.28834457e-02 2.22319822e+02] [ 6.00349902e-01 7.99093793e-01 -3.20796700e-02 5.82433031e+01] [ 5.35543969e-02 -1.47346563e-04 9.98564923e-01 1.23753467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:222.37, Y:58.27, Z:12.38 [[ 7.97045025e-01 -6.02395960e-01 -4.28758230e-02 2.22369174e+02] [ 6.01540672e-01 7.98197382e-01 -3.20898548e-02 5.82735283e+01] [ 5.35541686e-02 -2.14492282e-04 9.98564923e-01 1.23794668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.730385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:222.42, Y:58.30, Z:12.38 [[ 7.94448214e-01 -6.05817167e-01 -4.28671728e-02 2.22418192e+02] [ 6.04966218e-01 7.95603780e-01 -3.21014060e-02 5.83048100e+01] [ 5.35528676e-02 -4.30286794e-04 9.98564923e-01 1.23827735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.790385723 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:222.47, Y:58.34, Z:12.38 [[ 7.92628222e-01 -6.08196626e-01 -4.28644903e-02 2.22467991e+02] [ 6.07348952e-01 7.93786193e-01 -3.21049875e-02 5.83363184e+01] [ 5.35513856e-02 -5.86384084e-04 9.98564923e-01 1.23848578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85038572300002 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:222.52, Y:58.37, Z:12.39 [[ 7.91658331e-01 -6.09459079e-01 -4.28569446e-02 2.22517384e+02] [ 6.08612706e-01 7.92817253e-01 -3.21150571e-02 5.83688246e+01] [ 5.35505382e-02 -6.59128555e-04 9.98564923e-01 1.23866785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.910385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:222.56, Y:58.40, Z:12.39 [[ 7.94517851e-01 -6.05727090e-01 -4.28494732e-02 2.22563935e+02] [ 6.04874736e-01 7.95672380e-01 -3.21250228e-02 5.84032358e+01] [ 5.35531389e-02 -3.94659714e-04 9.98564923e-01 1.23902684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.970385723 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:222.61, Y:58.44, Z:12.39 [[ 7.97174395e-01 -6.02227259e-01 -4.28405593e-02 2.22609116e+02] [ 6.01369197e-01 7.98324688e-01 -3.21369055e-02 5.84393928e+01] [ 5.35543967e-02 -1.44274622e-04 9.98564923e-01 1.23919559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.030385723 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:222.66, Y:58.47, Z:12.39 [[ 8.00179034e-01 -5.98229864e-01 -4.28315665e-02 2.22655682e+02] [ 5.97365415e-01 8.01324535e-01 -3.21488865e-02 5.84749528e+01] [ 5.35544091e-02 1.38768483e-04 9.98564923e-01 1.23904394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.090385723 meters Centerline goodness : 0.997442 with order 1 Centerline is valid? [True, True] Translation: X:222.70, Y:58.51, Z:12.39 [[ 8.01864130e-01 -5.95970023e-01 -4.28211297e-02 2.22702701e+02] [ 5.95101603e-01 8.03006624e-01 -3.21627819e-02 5.85108214e+01] [ 5.35537047e-02 3.07258202e-04 9.98564923e-01 1.23924028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.150385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:58.55, Z:12.40 [[ 7.99129957e-01 -5.99631928e-01 -4.28119476e-02 2.22746653e+02] [ 5.98768089e-01 8.00275918e-01 -3.21749996e-02 5.85485518e+01] [ 5.35545277e-02 7.75780027e-05 9.98564924e-01 1.24008172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.210385723 meters Centerline goodness : 0.997556 with order 1 Centerline is valid? [True, True] Translation: X:222.79, Y:58.58, Z:12.40 [[ 7.98541701e-01 -6.00415482e-01 -4.28065503e-02 2.22794812e+02] [ 5.99552383e-01 7.99688219e-01 -3.21821788e-02 5.85818889e+01] [ 5.35545724e-02 3.40426092e-05 9.98564924e-01 1.24011244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.270385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:222.84, Y:58.62, Z:12.41 [[ 7.97050022e-01 -6.02395013e-01 -4.27961510e-02 2.22837891e+02] [ 6.01534019e-01 7.98198122e-01 -3.21960020e-02 5.86199606e+01] [ 5.35545184e-02 -8.15165895e-05 9.98564924e-01 1.24092412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.330385723 meters Centerline goodness : 0.997174 with order 1 Centerline is valid? [True, True] Translation: X:222.89, Y:58.65, Z:12.41 [[ 7.97925659e-01 -6.01235497e-01 -4.27845695e-02 2.22886247e+02] [ 6.00372010e-01 7.99071884e-01 -3.22113850e-02 5.86531442e+01] [ 5.35545747e-02 1.56325818e-05 9.98564924e-01 1.24057389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.93, Y:58.69, Z:12.41 [[ 7.94742794e-01 -6.05437315e-01 -4.27732387e-02 2.22929983e+02] [ 6.04579078e-01 7.95892955e-01 -3.22264240e-02 5.86907692e+01] [ 5.35539990e-02 -2.48086982e-04 9.98564924e-01 1.24070600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:58.73, Z:12.42 [[ 7.92431944e-01 -6.08459306e-01 -4.27654820e-02 2.22977964e+02] [ 6.07604900e-01 7.93584955e-01 -3.22367141e-02 5.87252069e+01] [ 5.35527718e-02 -4.39114345e-04 9.98564924e-01 1.24166841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.02, Y:58.76, Z:12.42 [[ 7.88461878e-01 -6.13595692e-01 -4.27573868e-02 2.23024413e+02] [ 6.12748214e-01 7.89619990e-01 -3.22474478e-02 5.87601507e+01] [ 5.35489823e-02 -7.73629125e-04 9.98564924e-01 1.24175851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:223.07, Y:58.79, Z:12.42 [[ 7.86326206e-01 -6.16330358e-01 -4.27549698e-02 2.23072817e+02] [ 6.15486733e-01 7.87487128e-01 -3.22506520e-02 5.87920285e+01] [ 5.35460443e-02 -9.55583901e-04 9.98564924e-01 1.24224008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:223.12, Y:58.83, Z:12.42 [[ 7.86437621e-01 -6.16188786e-01 -4.27463339e-02 2.23115946e+02] [ 6.15344331e-01 7.87597938e-01 -3.22620944e-02 5.88309773e+01] [ 5.35464652e-02 -9.31589461e-04 9.98564924e-01 1.24219514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.16, Y:58.86, Z:12.42 [[ 7.88657146e-01 -6.13346107e-01 -4.27370988e-02 2.23164002e+02] [ 6.12496806e-01 7.89813922e-01 -3.22743233e-02 5.88638740e+01] [ 5.35496861e-02 -7.22960792e-04 9.98564925e-01 1.24223558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:58.90, Z:12.42 [[ 7.89592090e-01 -6.12142649e-01 -4.27283106e-02 2.23208502e+02] [ 6.11290956e-01 7.90747105e-01 -3.22859539e-02 5.88996494e+01] [ 5.35508973e-02 -6.26696049e-04 9.98564925e-01 1.24234606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:58.94, Z:12.43 [[ 7.89776011e-01 -6.11905603e-01 -4.27245265e-02 2.23253288e+02] [ 6.11053292e-01 7.90930571e-01 -3.22909607e-02 5.89356339e+01] [ 5.35511539e-02 -6.04336459e-04 9.98564925e-01 1.24279448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:58.97, Z:12.43 [[ 7.87935551e-01 -6.14273951e-01 -4.27209548e-02 2.23299862e+02] [ 6.13424855e-01 7.89092476e-01 -3.22956853e-02 5.89710615e+01] [ 5.35491823e-02 -7.59176866e-04 9.98564925e-01 1.24300371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.930385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:223.35, Y:59.01, Z:12.43 [[ 7.87825403e-01 -6.14415780e-01 -4.27128154e-02 2.23345501e+02] [ 6.13566308e-01 7.88982053e-01 -3.23064466e-02 5.90060763e+01] [ 5.35492353e-02 -7.55305099e-04 9.98564925e-01 1.24340205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:59.04, Z:12.43 [[ 7.86228035e-01 -6.16459159e-01 -4.27034136e-02 2.23389792e+02] [ 6.15612019e-01 7.87386393e-01 -3.23188693e-02 5.90420917e+01] [ 5.35473498e-02 -8.78733574e-04 9.98564925e-01 1.24338599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.44, Y:59.07, Z:12.44 [[ 7.86634666e-01 -6.15940439e-01 -4.26998654e-02 2.23438919e+02] [ 6.15092280e-01 7.87792279e-01 -3.23235565e-02 5.90745003e+01] [ 5.35480099e-02 -8.37527544e-04 9.98564925e-01 1.24391945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.48, Y:59.11, Z:12.44 [[ 7.86409614e-01 -6.16228323e-01 -4.26916113e-02 2.23484494e+02] [ 6.15379996e-01 7.87567104e-01 -3.23344546e-02 5.91083876e+01] [ 5.35479154e-02 -8.43437613e-04 9.98564925e-01 1.24413916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.53, Y:59.14, Z:12.45 [[ 7.88424444e-01 -6.13648814e-01 -4.26852402e-02 2.23531353e+02] [ 6.12796245e-01 7.89578812e-01 -3.23428630e-02 5.91417619e+01] [ 5.35505208e-02 -6.57451153e-04 9.98564925e-01 1.24458810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.58, Y:59.18, Z:12.45 [[ 7.89766379e-01 -6.11921394e-01 -4.26763874e-02 2.23576804e+02] [ 6.11065670e-01 7.90918410e-01 -3.23545400e-02 5.91774488e+01] [ 5.35519757e-02 -5.25547328e-04 9.98564925e-01 1.24498388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:59.21, Z:12.46 [[ 7.90102853e-01 -6.11487510e-01 -4.26674056e-02 2.23623124e+02] [ 6.10630513e-01 7.91253938e-01 -3.23663804e-02 5.92126521e+01] [ 5.35523900e-02 -4.81250272e-04 9.98564925e-01 1.24551804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:59.25, Z:12.46 [[ 7.89549747e-01 -6.12202148e-01 -4.26582632e-02 2.23666614e+02] [ 6.11345543e-01 7.90701123e-01 -3.23784255e-02 5.92514020e+01] [ 5.35520782e-02 -5.14561423e-04 9.98564925e-01 1.24593378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.71, Y:59.29, Z:12.46 [[ 7.90740564e-01 -6.10663920e-01 -4.26490051e-02 2.23712869e+02] [ 6.09804417e-01 7.91889778e-01 -3.23906156e-02 5.92856043e+01] [ 5.35530915e-02 -3.94978076e-04 9.98564925e-01 1.24590318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.76, Y:59.32, Z:12.46 [[ 7.91992084e-01 -6.09040334e-01 -4.26428195e-02 2.23757182e+02] [ 6.08178037e-01 7.93139203e-01 -3.23987571e-02 5.93238569e+01] [ 5.35538417e-02 -2.74867088e-04 9.98564926e-01 1.24596316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.80, Y:59.36, Z:12.46 [[ 7.94402578e-01 -6.05893473e-01 -4.26338319e-02 2.23801971e+02] [ 6.05025997e-01 7.95545786e-01 -3.24105796e-02 5.93608468e+01] [ 5.35545240e-02 -4.75287173e-05 9.98564926e-01 1.24602374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:59.40, Z:12.47 [[ 7.95938946e-01 -6.03874421e-01 -4.26248508e-02 2.23848324e+02] [ 6.03003412e-01 7.97079465e-01 -3.24223868e-02 5.93965259e+01] [ 5.35544434e-02 1.03309900e-04 9.98564926e-01 1.24684250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.89, Y:59.43, Z:12.47 [[ 7.98299607e-01 -6.00750837e-01 -4.26165348e-02 2.23892830e+02] [ 5.99874783e-01 7.99436255e-01 -3.24333139e-02 5.94328518e+01] [ 5.35535434e-02 3.26917198e-04 9.98564926e-01 1.24696382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.94, Y:59.47, Z:12.47 [[ 7.99543330e-01 -5.99094774e-01 -4.26135618e-02 2.23938109e+02] [ 5.98216158e-01 8.00677997e-01 -3.24372196e-02 5.94697437e+01] [ 5.35527101e-02 4.42841359e-04 9.98564926e-01 1.24733205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.98, Y:59.50, Z:12.48 [[ 7.99382675e-01 -5.99309779e-01 -4.26043065e-02 2.23984947e+02] [ 5.98430820e-01 8.00517078e-01 -3.24493713e-02 5.95045226e+01] [ 5.35527005e-02 4.43735144e-04 9.98564926e-01 1.24779743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.03, Y:59.54, Z:12.48 [[ 7.99253933e-01 -5.99482102e-01 -4.25952984e-02 2.24033121e+02] [ 5.98602758e-01 8.00388037e-01 -3.24611917e-02 5.95374670e+01] [ 5.35526707e-02 4.47072009e-04 9.98564926e-01 1.24837632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:59.57, Z:12.48 [[ 7.97528468e-01 -6.01776371e-01 -4.25857027e-02 2.24078053e+02] [ 6.00899617e-01 7.98664575e-01 -3.24737753e-02 5.95726997e+01] [ 5.35536429e-02 3.09027795e-04 9.98564926e-01 1.24815107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:224.12, Y:59.61, Z:12.48 [[ 7.97899651e-01 -6.01284838e-01 -4.25757024e-02 2.24122838e+02] [ 6.00406685e-01 7.99034677e-01 -3.24868813e-02 5.96090081e+01] [ 5.35533318e-02 3.58534949e-04 9.98564926e-01 1.24832149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.17, Y:59.64, Z:12.49 [[ 7.98822472e-01 -6.00059034e-01 -4.25654023e-02 2.24169284e+02] [ 5.99178421e-01 7.99955590e-01 -3.25003713e-02 5.96425088e+01] [ 5.35525729e-02 4.57756407e-04 9.98564926e-01 1.24851705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07038572300002 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:224.22, Y:59.68, Z:12.49 [[ 7.97660760e-01 -6.01602733e-01 -4.25612808e-02 2.24216927e+02] [ 6.00724025e-01 7.98795356e-01 -3.25057677e-02 5.96758917e+01] [ 5.35533121e-02 3.60991495e-04 9.98564927e-01 1.24882846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.26, Y:59.71, Z:12.49 [[ 7.95731427e-01 -6.04152955e-01 -4.25523516e-02 2.24262271e+02] [ 6.03277258e-01 7.96868349e-01 -3.25174525e-02 5.97100353e+01] [ 5.35541371e-02 2.04292901e-04 9.98564927e-01 1.24923652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.31, Y:59.75, Z:12.49 [[ 7.93598878e-01 -6.06951765e-01 -4.25485162e-02 2.24308851e+02] [ 6.06079809e-01 7.94738671e-01 -3.25224703e-02 5.97453709e+01] [ 5.35545219e-02 2.19993368e-05 9.98564927e-01 1.24928480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.36, Y:59.78, Z:12.50 [[ 7.92442235e-01 -6.08461426e-01 -4.25440598e-02 2.24355271e+02] [ 6.07591328e-01 7.93583447e-01 -3.25282988e-02 5.97789953e+01] [ 5.35544767e-02 -7.26039814e-05 9.98564927e-01 1.24982293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:59.82, Z:12.50 [[ 7.88449101e-01 -6.13627273e-01 -4.25392165e-02 2.24400102e+02] [ 6.12764311e-01 7.89595718e-01 -3.25346314e-02 5.98150331e+01] [ 5.35529204e-02 -4.14612790e-04 9.98564927e-01 1.25021029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.44, Y:59.85, Z:12.51 [[ 7.90743518e-01 -6.10668416e-01 -4.25296896e-02 2.24444599e+02] [ 6.09800493e-01 7.91886385e-01 -3.25470804e-02 5.98501756e+01] [ 5.35541562e-02 -1.98232802e-04 9.98564927e-01 1.25061554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.49, Y:59.88, Z:12.51 [[ 7.91969565e-01 -6.09077809e-01 -4.25256460e-02 2.24491108e+02] [ 6.08207307e-01 7.93110469e-01 -3.25523629e-02 5.98836618e+01] [ 5.35544569e-02 -8.39279383e-05 9.98564927e-01 1.25106191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.490385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:224.54, Y:59.92, Z:12.51 [[ 7.91794041e-01 -6.09306239e-01 -4.25218046e-02 2.24536503e+02] [ 6.08435796e-01 7.92934990e-01 -3.25573799e-02 5.99205713e+01] [ 5.35544414e-02 -9.30485964e-05 9.98564927e-01 1.25098799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.58, Y:59.96, Z:12.51 [[ 7.91471102e-01 -6.09726300e-01 -4.25127371e-02 2.24577674e+02] [ 6.08855828e-01 7.92612028e-01 -3.25692158e-02 5.99621659e+01] [ 5.35544142e-02 -1.06534630e-04 9.98564927e-01 1.25106771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:59.99, Z:12.52 [[ 7.93968282e-01 -6.06471635e-01 -4.25032218e-02 2.24626328e+02] [ 6.05595821e-01 7.95105112e-01 -3.25816287e-02 5.99939892e+01] [ 5.35543625e-02 1.29006292e-04 9.98564927e-01 1.25186659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.67, Y:60.03, Z:12.52 [[ 7.91725947e-01 -6.09396216e-01 -4.25003110e-02 2.24669418e+02] [ 6.08524397e-01 7.92865845e-01 -3.25854252e-02 6.00324964e+01] [ 5.35544798e-02 -6.37494898e-05 9.98564927e-01 1.25184049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.730385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:224.71, Y:60.07, Z:12.53 [[ 7.90642938e-01 -6.10800869e-01 -4.24975670e-02 2.24714897e+02] [ 6.09930883e-01 7.91784235e-01 -3.25890035e-02 6.00679888e+01] [ 5.35542952e-02 -1.54313100e-04 9.98564927e-01 1.25250782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.790385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:224.76, Y:60.11, Z:12.53 [[ 7.87531780e-01 -6.14807615e-01 -4.24887255e-02 2.24758900e+02] [ 6.13942814e-01 7.88677011e-01 -3.26005267e-02 6.01058961e+01] [ 5.35529331e-02 -4.11696883e-04 9.98564927e-01 1.25291492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:224.80, Y:60.14, Z:12.53 [[ 7.85843329e-01 -6.16964922e-01 -4.24799715e-02 2.24804297e+02] [ 6.16102648e-01 7.86990463e-01 -3.26119296e-02 6.01421521e+01] [ 5.35517490e-02 -5.44155660e-04 9.98564927e-01 1.25337353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.910385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:224.85, Y:60.18, Z:12.53 [[ 7.83455266e-01 -6.19995235e-01 -4.24706306e-02 2.24845347e+02] [ 6.19136738e-01 7.84605231e-01 -3.26240897e-02 6.01838563e+01] [ 5.35494591e-02 -7.35612821e-04 9.98564927e-01 1.25329616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:60.22, Z:12.54 [[ 7.84174017e-01 -6.19086556e-01 -4.24611209e-02 2.24892050e+02] [ 6.18226058e-01 7.85322484e-01 -3.26364622e-02 6.02182680e+01] [ 5.35504679e-02 -6.57905679e-04 9.98564928e-01 1.25374343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.030385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:224.93, Y:60.26, Z:12.53 [[ 7.77494679e-01 -6.27454735e-01 -4.24568001e-02 2.24931913e+02] [ 6.26606287e-01 7.78652076e-01 -3.26420822e-02 6.02637232e+01] [ 5.35405046e-02 -1.22465263e-03 9.98564928e-01 1.25312936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.98, Y:60.30, Z:12.54 [[ 7.82194520e-01 -6.21586564e-01 -4.24485203e-02 2.24979711e+02] [ 6.20728847e-01 7.83345065e-01 -3.26528459e-02 6.02964726e+01] [ 5.35484091e-02 -8.08143906e-04 9.98564928e-01 1.25425655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.150385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:225.02, Y:60.34, Z:12.54 [[ 7.79668632e-01 -6.24752457e-01 -4.24404424e-02 2.25021131e+02] [ 6.23898840e-01 7.80822223e-01 -3.26633417e-02 6.03397028e+01] [ 5.35449436e-02 -1.01195987e-03 9.98564928e-01 1.25419701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.210385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:225.06, Y:60.38, Z:12.55 [[ 7.81873590e-01 -6.21991327e-01 -4.24320509e-02 2.25062574e+02] [ 6.21133044e-01 7.83023713e-01 -3.26742392e-02 6.03805231e+01] [ 5.35483955e-02 -8.08824287e-04 9.98564928e-01 1.25466112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.270385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:225.10, Y:60.42, Z:12.55 [[ 7.83993963e-01 -6.19316749e-01 -4.24291227e-02 2.25102818e+02] [ 6.18454337e-01 7.85140993e-01 -3.26780413e-02 6.04238899e+01] [ 5.35509018e-02 -6.21087843e-04 9.98564928e-01 1.25486681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.330385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:225.14, Y:60.46, Z:12.55 [[ 7.86191312e-01 -6.16525598e-01 -4.24194320e-02 2.25143854e+02] [ 6.15658435e-01 7.87334754e-01 -3.26906160e-02 6.04635174e+01] [ 5.35528946e-02 -4.14802866e-04 9.98564928e-01 1.25515489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.390385723 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:225.19, Y:60.50, Z:12.56 [[ 7.86014816e-01 -6.16750888e-01 -4.24152146e-02 2.25186949e+02] [ 6.15883758e-01 7.87158283e-01 -3.26960869e-02 6.05028159e+01] [ 5.35528282e-02 -4.23232997e-04 9.98564928e-01 1.25558661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.23, Y:60.54, Z:12.56 [[ 7.85327260e-01 -6.17626786e-01 -4.24057390e-02 2.25231777e+02] [ 6.16760268e-01 7.86471191e-01 -3.27083719e-02 6.05408963e+01] [ 5.35524587e-02 -4.67398843e-04 9.98564928e-01 1.25630212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.510385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:60.58, Z:12.56 [[ 7.82013129e-01 -6.21818236e-01 -4.23974994e-02 2.25275048e+02] [ 6.20957269e-01 7.83161244e-01 -3.27190489e-02 6.05801716e+01] [ 5.35493796e-02 -7.40309631e-04 9.98564928e-01 1.25644632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57038572300002 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:225.32, Y:60.61, Z:12.57 [[ 7.81358136e-01 -6.22641736e-01 -4.23878782e-02 2.25321028e+02] [ 6.21781304e-01 7.82506651e-01 -3.27315085e-02 6.06143597e+01] [ 5.35487999e-02 -7.80959638e-04 9.98564928e-01 1.25695158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63038572300002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:60.66, Z:12.57 [[ 7.77738041e-01 -6.27157920e-01 -4.23849432e-02 2.25363019e+02] [ 6.26303949e-01 7.78891368e-01 -3.27353086e-02 6.06566454e+01] [ 5.35434745e-02 -1.08636250e-03 9.98564928e-01 1.25723012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.690385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:60.70, Z:12.57 [[ 7.74760836e-01 -6.30832667e-01 -4.23768048e-02 2.25406421e+02] [ 6.29983590e-01 7.75917770e-01 -3.27458407e-02 6.06976116e+01] [ 5.35380619e-02 -1.32649672e-03 9.98564928e-01 1.25732809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.750385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:225.45, Y:60.74, Z:12.57 [[ 7.73689040e-01 -6.32147275e-01 -4.23685254e-02 2.25449998e+02] [ 6.31299578e-01 7.74846986e-01 -3.27565496e-02 6.07352417e+01] [ 5.35360877e-02 -1.40384878e-03 9.98564929e-01 1.25723239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.810385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:225.49, Y:60.78, Z:12.57 [[ 7.67994197e-01 -6.39054119e-01 -4.23644613e-02 2.25490073e+02] [ 6.38216541e-01 7.69159483e-01 -3.27618049e-02 6.07802926e+01] [ 5.35215935e-02 -1.87682391e-03 9.98564929e-01 1.25653905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.870385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:60.81, Z:12.58 [[ 7.75193501e-01 -6.30302296e-01 -4.23562402e-02 2.25538645e+02] [ 6.29450976e-01 7.76348786e-01 -3.27724302e-02 6.08085338e+01] [ 5.35397536e-02 -1.25620183e-03 9.98564929e-01 1.25846051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.930385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:225.58, Y:60.85, Z:12.59 [[ 7.74959352e-01 -6.30590587e-01 -4.23499164e-02 2.25582346e+02] [ 6.29739249e-01 7.76114624e-01 -3.27806000e-02 6.08462251e+01] [ 5.35395272e-02 -1.26577203e-03 9.98564929e-01 1.25881998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.63, Y:60.88, Z:12.60 [[ 7.74731609e-01 -6.30870956e-01 -4.23411274e-02 2.25625943e+02] [ 6.30019417e-01 7.75886733e-01 -3.27919484e-02 6.08836435e+01] [ 5.35394068e-02 -1.27077343e-03 9.98564929e-01 1.25959320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.67, Y:60.92, Z:12.60 [[ 7.72427231e-01 -6.33690915e-01 -4.23319901e-02 2.25669554e+02] [ 6.32842947e-01 7.73584978e-01 -3.28037397e-02 6.09238908e+01] [ 5.35348235e-02 -1.45099960e-03 9.98564929e-01 1.26013515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.72, Y:60.96, Z:12.62 [[ 7.73717118e-01 -6.32115872e-01 -4.23242772e-02 2.25716408e+02] [ 6.31265004e-01 7.74872736e-01 -3.28136881e-02 6.09568402e+01] [ 5.35379815e-02 -1.32932275e-03 9.98564929e-01 1.26172995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.170385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:61.00, Z:12.61 [[ 7.70255437e-01 -6.36329658e-01 -4.23217159e-02 2.25761540e+02] [ 6.35484929e-01 7.71415550e-01 -3.28169912e-02 6.09969388e+01] [ 5.35300545e-02 -1.61734672e-03 9.98564929e-01 1.26060956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.81, Y:61.03, Z:12.61 [[ 7.70666753e-01 -6.35831953e-01 -4.23141122e-02 2.25807799e+02] [ 6.34985937e-01 7.71825927e-01 -3.28267925e-02 6.10327904e+01] [ 5.35314524e-02 -1.57034863e-03 9.98564929e-01 1.26134345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.85, Y:61.07, Z:12.62 [[ 7.71368236e-01 -6.34981283e-01 -4.23062046e-02 2.25849741e+02] [ 6.34133430e-01 7.72526068e-01 -3.28369804e-02 6.10724003e+01] [ 5.35335138e-02 -1.49837495e-03 9.98564929e-01 1.26165357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.90, Y:61.11, Z:12.62 [[ 7.72952081e-01 -6.33052597e-01 -4.23023667e-02 2.25895956e+02] [ 6.32201585e-01 7.74107592e-01 -3.28419238e-02 6.11090863e+01] [ 5.35372484e-02 -1.35838991e-03 9.98564929e-01 1.26205385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:61.14, Z:12.62 [[ 7.76446049e-01 -6.28762846e-01 -4.22943909e-02 2.25942059e+02] [ 6.27904890e-01 7.77596414e-01 -3.28521921e-02 6.11446117e+01] [ 5.35442045e-02 -1.04890011e-03 9.98564929e-01 1.26245407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.98, Y:61.18, Z:12.63 [[ 7.80109312e-01 -6.24212638e-01 -4.22852611e-02 2.25983577e+02] [ 6.23347334e-01 7.81254160e-01 -3.28639391e-02 6.11834283e+01] [ 5.35496223e-02 -7.20939881e-04 9.98564929e-01 1.26251941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.530385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:61.22, Z:12.63 [[ 7.83487888e-01 -6.19966949e-01 -4.22813325e-02 2.26030050e+02] [ 6.19095168e-01 7.84627811e-01 -3.28689928e-02 6.12184597e+01] [ 5.35527985e-02 -4.23710866e-04 9.98564929e-01 1.26269139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.08, Y:61.25, Z:12.63 [[ 7.85183138e-01 -6.17819147e-01 -4.22722244e-02 2.26078466e+02] [ 6.16943617e-01 7.86320185e-01 -3.28807023e-02 6.12510222e+01] [ 5.35538308e-02 -2.62205973e-04 9.98564930e-01 1.26348484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.12, Y:61.29, Z:12.63 [[ 7.86213814e-01 -6.16507570e-01 -4.22641103e-02 2.26121886e+02] [ 6.15629582e-01 7.87348964e-01 -3.28911287e-02 6.12906635e+01] [ 5.35542333e-02 -1.59576792e-04 9.98564930e-01 1.26309139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.17, Y:61.32, Z:12.64 [[ 7.85018117e-01 -6.18029948e-01 -4.22556485e-02 2.26169646e+02] [ 6.17153577e-01 7.86154515e-01 -3.29019962e-02 6.13248622e+01] [ 5.35538878e-02 -2.49561547e-04 9.98564930e-01 1.26372343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.22, Y:61.36, Z:12.64 [[ 7.85232789e-01 -6.17757790e-01 -4.22466609e-02 2.26219375e+02] [ 6.16880404e-01 7.86368403e-01 -3.29135323e-02 6.13569874e+01] [ 5.35540303e-02 -2.16352534e-04 9.98564930e-01 1.26434055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:61.39, Z:12.65 [[ 7.86559268e-01 -6.16068529e-01 -4.22384373e-02 2.26263510e+02] [ 6.15188138e-01 7.87692554e-01 -3.29240823e-02 6.13944472e+01] [ 5.35543936e-02 -8.78434955e-05 9.98564930e-01 1.26454966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.890385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:61.43, Z:12.65 [[ 7.87219109e-01 -6.15225351e-01 -4.22355537e-02 2.26310460e+02] [ 6.14343548e-01 7.88351296e-01 -3.29277811e-02 6.14294658e+01] [ 5.35544592e-02 -2.57614109e-05 9.98564930e-01 1.26467017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.36, Y:61.46, Z:12.65 [[ 7.88277667e-01 -6.13869017e-01 -4.22273619e-02 2.26359060e+02] [ 6.12984702e-01 7.89407895e-01 -3.29382831e-02 6.14588052e+01] [ 5.35544043e-02 7.97861292e-05 9.98564930e-01 1.26514938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.41, Y:61.49, Z:12.65 [[ 7.87724972e-01 -6.14578358e-01 -4.22233351e-02 2.26405747e+02] [ 6.13694785e-01 7.88855779e-01 -3.29434442e-02 6.14938920e+01] [ 5.35544498e-02 3.81330554e-05 9.98564930e-01 1.26548529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.45, Y:61.53, Z:12.66 [[ 7.86954054e-01 -6.15565741e-01 -4.22153417e-02 2.26453490e+02] [ 6.14683037e-01 7.88085540e-01 -3.29536842e-02 6.15278078e+01] [ 5.35544594e-02 -1.60191132e-05 9.98564930e-01 1.26582502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.51, Y:61.56, Z:12.66 [[ 7.85452613e-01 -6.17480949e-01 -4.22074741e-02 2.26506189e+02] [ 6.16600463e-01 7.86585825e-01 -3.29637580e-02 6.15558266e+01] [ 5.35542934e-02 -1.33678214e-04 9.98564930e-01 1.26588534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.190385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:61.59, Z:12.66 [[ 7.84944705e-01 -6.18127050e-01 -4.21990565e-02 2.26555714e+02] [ 6.17246918e-01 7.86078191e-01 -3.29745304e-02 6.15869091e+01] [ 5.35542072e-02 -1.64054552e-04 9.98564930e-01 1.26578360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:61.62, Z:12.66 [[ 7.81903214e-01 -6.21970618e-01 -4.21890346e-02 2.26602425e+02] [ 6.21095365e-01 7.83040473e-01 -3.29873479e-02 6.16206882e+01] [ 5.35528828e-02 -4.10500528e-04 9.98564930e-01 1.26615017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.65, Y:61.65, Z:12.66 [[ 7.78792191e-01 -6.25862419e-01 -4.21776719e-02 2.26650356e+02] [ 6.24992063e-01 7.79933201e-01 -3.30018700e-02 6.16516000e+01] [ 5.35503968e-02 -6.59111552e-04 9.98564931e-01 1.26637534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.370385723 meters Centerline goodness : 0.994728 with order 1 Centerline is valid? [True, True] Translation: X:226.70, Y:61.68, Z:12.67 [[ 7.77182552e-01 -6.27860428e-01 -4.21730270e-02 2.26698080e+02] [ 6.26992683e-01 7.78325549e-01 -3.30078045e-02 6.16829799e+01] [ 5.35486387e-02 -7.89089624e-04 9.98564931e-01 1.26655458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.430385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:61.72, Z:12.68 [[ 7.75320621e-01 -6.30159002e-01 -4.21611944e-02 2.26743839e+02] [ 6.29293824e-01 7.76465563e-01 -3.30229116e-02 6.17166717e+01] [ 5.35464005e-02 -9.28434913e-04 9.98564931e-01 1.26752727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.79, Y:61.75, Z:12.68 [[ 7.75486365e-01 -6.29955411e-01 -4.21553976e-02 2.26790651e+02] [ 6.29089531e-01 7.76630775e-01 -3.30303098e-02 6.17508926e+01] [ 5.35468015e-02 -9.04964410e-04 9.98564931e-01 1.26789523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.550385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:226.84, Y:61.79, Z:12.68 [[ 7.75473561e-01 -6.29971781e-01 -4.21463125e-02 2.26837225e+02] [ 6.29105295e-01 7.76617513e-01 -3.30418983e-02 6.17860299e+01] [ 5.35470279e-02 -8.91349854e-04 9.98564931e-01 1.26813228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.610385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:226.88, Y:61.82, Z:12.68 [[ 7.75123293e-01 -6.30402891e-01 -4.21435143e-02 2.26882995e+02] [ 6.29536848e-01 7.76267579e-01 -3.30454668e-02 6.18209952e+01] [ 5.35466017e-02 -9.16584123e-04 9.98564931e-01 1.26845848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.93, Y:61.86, Z:12.69 [[ 7.74220079e-01 -6.31512436e-01 -4.21344532e-02 2.26928738e+02] [ 6.30647404e-01 7.75365130e-01 -3.30570162e-02 6.18566804e+01] [ 5.35455026e-02 -9.78577861e-04 9.98564931e-01 1.26900429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.730385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:226.98, Y:61.89, Z:12.69 [[ 7.73224783e-01 -6.32731283e-01 -4.21255131e-02 2.26975235e+02] [ 6.31867435e-01 7.74370728e-01 -3.30684048e-02 6.18913363e+01] [ 5.35441785e-02 -1.04842982e-03 9.98564931e-01 1.26934814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:227.02, Y:61.93, Z:12.70 [[ 7.74913297e-01 -6.30662803e-01 -4.21166315e-02 2.27021242e+02] [ 6.29795283e-01 7.76056464e-01 -3.30797128e-02 6.19266029e+01] [ 5.35470285e-02 -8.90946511e-04 9.98564931e-01 1.26964325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85038572300002 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:227.07, Y:61.96, Z:12.70 [[ 7.77535102e-01 -6.27428181e-01 -4.21075154e-02 2.27067397e+02] [ 6.26555275e-01 7.78674163e-01 -3.30913126e-02 6.19610916e+01] [ 5.35504564e-02 -6.53028779e-04 9.98564931e-01 1.26971686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.910385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:227.11, Y:62.00, Z:12.70 [[ 7.79205355e-01 -6.25353354e-01 -4.20974645e-02 2.27110454e+02] [ 6.24476726e-01 7.80341552e-01 -3.31040942e-02 6.19990208e+01] [ 5.35521571e-02 -4.93999329e-04 9.98564932e-01 1.26986641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.970385723 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:62.04, Z:12.70 [[ 7.78138763e-01 -6.26680401e-01 -4.20920516e-02 2.27154314e+02] [ 6.25805338e-01 7.79276166e-01 -3.31109752e-02 6.20367234e+01] [ 5.35513318e-02 -5.76497292e-04 9.98564932e-01 1.26979060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.030385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:227.20, Y:62.07, Z:12.70 [[ 7.76204085e-01 -6.29075660e-01 -4.20836413e-02 2.27199353e+02] [ 6.28203527e-01 7.77343736e-01 -3.31216612e-02 6.20727726e+01] [ 5.35494858e-02 -7.27923124e-04 9.98564932e-01 1.27038077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.25, Y:62.11, Z:12.71 [[ 7.74609774e-01 -6.31038413e-01 -4.20739781e-02 2.27246944e+02] [ 6.30168502e-01 7.75751121e-01 -3.31339317e-02 6.21064562e+01] [ 5.35477194e-02 -8.47828352e-04 9.98564932e-01 1.27096342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.150385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:227.29, Y:62.14, Z:12.71 [[ 7.71575327e-01 -6.34745703e-01 -4.20643137e-02 2.27291625e+02] [ 6.33880607e-01 7.72720329e-01 -3.31461963e-02 6.21428430e+01] [ 5.35433560e-02 -1.08896547e-03 9.98564932e-01 1.27069141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:62.18, Z:12.71 [[ 7.69069899e-01 -6.37779219e-01 -4.20613606e-02 2.27335569e+02] [ 6.36918433e-01 7.70218145e-01 -3.31499433e-02 6.21813613e+01] [ 5.35387681e-02 -1.29503228e-03 9.98564932e-01 1.27118473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.270385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:227.38, Y:62.21, Z:12.72 [[ 7.72525394e-01 -6.33589923e-01 -4.20514574e-02 2.27384870e+02] [ 6.32722226e-01 7.73668426e-01 -3.31625009e-02 6.22111201e+01] [ 5.35453113e-02 -9.88017644e-04 9.98564932e-01 1.27161951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.330385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:227.43, Y:62.25, Z:12.72 [[ 7.71459729e-01 -6.34887326e-01 -4.20472345e-02 2.27427613e+02] [ 6.34021260e-01 7.72603996e-01 -3.31678544e-02 6.22509386e+01] [ 5.35437118e-02 -1.07117665e-03 9.98564932e-01 1.27179524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.390385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:62.29, Z:12.72 [[ 7.76782525e-01 -6.28364353e-01 -4.20374627e-02 2.27473289e+02] [ 6.27488006e-01 7.77918939e-01 -3.31802347e-02 6.22850844e+01] [ 5.35510151e-02 -6.04177077e-04 9.98564932e-01 1.27232655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.450385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:227.52, Y:62.32, Z:12.73 [[ 7.78863706e-01 -6.25783134e-01 -4.20332763e-02 2.27519747e+02] [ 6.24902734e-01 7.79996982e-01 -3.31855372e-02 6.23207218e+01] [ 5.35527782e-02 -4.19698832e-04 9.98564932e-01 1.27251964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.56, Y:62.36, Z:12.72 [[ 7.78825013e-01 -6.25831911e-01 -4.20240295e-02 2.27564699e+02] [ 6.24950950e-01 7.79957853e-01 -3.31972427e-02 6.23585836e+01] [ 5.35528657e-02 -4.08114204e-04 9.98564932e-01 1.27228801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.61, Y:62.40, Z:12.72 [[ 7.81709595e-01 -6.22225729e-01 -4.20148865e-02 2.27610022e+02] [ 6.21338921e-01 7.82837863e-01 -3.32088102e-02 6.23962809e+01] [ 5.35542201e-02 -1.45838698e-04 9.98564932e-01 1.27244603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63038572300002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:227.66, Y:62.43, Z:12.73 [[ 7.82830317e-01 -6.20815717e-01 -4.20064162e-02 2.27659150e+02] [ 6.19926302e-01 7.83956532e-01 -3.32195209e-02 6.24277428e+01] [ 5.35544051e-02 -3.56341326e-05 9.98564933e-01 1.27272012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.690385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:62.46, Z:12.74 [[ 7.85698313e-01 -6.17182647e-01 -4.19969127e-02 2.27709525e+02] [ 6.16287382e-01 7.86819883e-01 -3.32315312e-02 6.24558169e+01] [ 5.35539303e-02 2.27790685e-04 9.98564933e-01 1.27371787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.750385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:227.76, Y:62.49, Z:12.73 [[ 7.81953313e-01 -6.21920891e-01 -4.19931169e-02 2.27755132e+02] [ 6.21032165e-01 7.83080071e-01 -3.32363270e-02 6.24923655e+01] [ 5.35543391e-02 -8.98202668e-05 9.98564933e-01 1.27288049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:227.80, Y:62.52, Z:12.74 [[ 7.82403018e-01 -6.21355695e-01 -4.19835315e-02 2.27803459e+02] [ 6.20465505e-01 7.83528620e-01 -3.32484308e-02 6.25238026e+01] [ 5.35544003e-02 -3.56604791e-05 9.98564933e-01 1.27355732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.85, Y:62.55, Z:12.74 [[ 7.84314941e-01 -6.18940808e-01 -4.19803410e-02 2.27851724e+02] [ 6.18046937e-01 7.85437622e-01 -3.32524587e-02 6.25549760e+01] [ 5.35542429e-02 1.34579038e-04 9.98564933e-01 1.27417989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.90, Y:62.58, Z:12.75 [[ 7.83304171e-01 -6.20220214e-01 -4.19697693e-02 2.27904151e+02] [ 6.19327461e-01 7.84427742e-01 -3.32657965e-02 6.25829701e+01] [ 5.35543708e-02 6.42064557e-05 9.98564933e-01 1.27466077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:62.61, Z:12.75 [[ 7.83109525e-01 -6.20466637e-01 -4.19598049e-02 2.27952584e+02] [ 6.19573565e-01 7.84232841e-01 -3.32783604e-02 6.26139385e+01] [ 5.35543693e-02 6.34150762e-05 9.98564933e-01 1.27536134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.050385723 meters Centerline goodness : 0.996395 with order 1 Centerline is valid? [True, True] Translation: X:228.00, Y:62.65, Z:12.75 [[ 7.82939563e-01 -6.20681419e-01 -4.19549377e-02 2.28001392e+02] [ 6.19788327e-01 7.84062863e-01 -3.32844955e-02 6.26456888e+01] [ 5.35543764e-02 5.65677237e-05 9.98564933e-01 1.27517124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.05, Y:62.68, Z:12.75 [[ 7.81995169e-01 -6.21871341e-01 -4.19474732e-02 2.28048334e+02] [ 6.20979453e-01 7.83119426e-01 -3.32939001e-02 6.26788414e+01] [ 5.35544034e-02 -1.28499149e-05 9.98564933e-01 1.27522323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:62.71, Z:12.76 [[ 7.83911010e-01 -6.19455104e-01 -4.19392602e-02 2.28096590e+02] [ 6.18559198e-01 7.85032067e-01 -3.33042425e-02 6.27106465e+01] [ 5.35541472e-02 1.65647193e-04 9.98564933e-01 1.27613475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:62.74, Z:12.76 [[ 7.84832600e-01 -6.18287748e-01 -4.19291153e-02 2.28145759e+02] [ 6.17389492e-01 7.85951775e-01 -3.33170098e-02 6.27441388e+01] [ 5.35537615e-02 2.61680306e-04 9.98564933e-01 1.27626457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.19, Y:62.78, Z:12.77 [[ 7.85378026e-01 -6.17595321e-01 -4.19210650e-02 2.28194103e+02] [ 6.16695538e-01 7.86495973e-01 -3.33271361e-02 6.27772409e+01] [ 5.35534321e-02 3.21866639e-04 9.98564933e-01 1.27665835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.24, Y:62.81, Z:12.77 [[ 7.84059812e-01 -6.19268616e-01 -4.19117189e-02 2.28241851e+02] [ 6.18370590e-01 7.85179172e-01 -3.33388854e-02 6.28086456e+01] [ 5.35539341e-02 2.22705894e-04 9.98564934e-01 1.27692921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.29, Y:62.84, Z:12.77 [[ 7.82999667e-01 -6.20608774e-01 -4.19078913e-02 2.28289323e+02] [ 6.19712407e-01 7.84120355e-01 -3.33436961e-02 6.28420340e+01] [ 5.35542209e-02 1.37262678e-04 9.98564934e-01 1.27706604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:62.88, Z:12.77 [[ 7.82889786e-01 -6.20748009e-01 -4.18986004e-02 2.28336351e+02] [ 6.19851216e-01 7.84010133e-01 -3.33553666e-02 6.28764645e+01] [ 5.35542047e-02 1.42677360e-04 9.98564934e-01 1.27741758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:62.91, Z:12.78 [[ 7.84576248e-01 -6.18615704e-01 -4.18893942e-02 2.28383810e+02] [ 6.17715249e-01 7.85693655e-01 -3.33669243e-02 6.29096800e+01] [ 5.35535346e-02 3.03178727e-04 9.98564934e-01 1.27798829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.43, Y:62.95, Z:12.78 [[ 7.86218924e-01 -6.16527255e-01 -4.18801460e-02 2.28428053e+02] [ 6.15623215e-01 7.87333431e-01 -3.33785281e-02 6.29478334e+01] [ 5.35524113e-02 4.60440331e-04 9.98564934e-01 1.27812857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.47, Y:62.99, Z:12.78 [[ 7.85557877e-01 -6.17369943e-01 -4.18709454e-02 2.28470108e+02] [ 6.16466483e-01 7.86672854e-01 -3.33900655e-02 6.29887657e+01] [ 5.35527590e-02 4.17794506e-04 9.98564934e-01 1.27794235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:63.02, Z:12.79 [[ 7.85710564e-01 -6.17176240e-01 -4.18616663e-02 2.28517591e+02] [ 6.16271885e-01 7.86824816e-01 -3.34016949e-02 6.30218674e+01] [ 5.35525303e-02 4.45896515e-04 9.98564934e-01 1.27854867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.56, Y:63.06, Z:12.79 [[ 7.82774357e-01 -6.20896243e-01 -4.18588292e-02 2.28561441e+02] [ 6.19996994e-01 7.83892733e-01 -3.34052499e-02 6.30604030e+01] [ 5.35540262e-02 1.96424731e-04 9.98564934e-01 1.27858520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.61, Y:63.10, Z:12.79 [[ 7.80448541e-01 -6.23817810e-01 -4.18499184e-02 2.28607634e+02] [ 6.22922149e-01 7.81569792e-01 -3.34164096e-02 6.30958567e+01] [ 5.35543835e-02 1.05470582e-05 9.98564934e-01 1.27894136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.65, Y:63.13, Z:12.79 [[ 7.76960268e-01 -6.28157674e-01 -4.18411034e-02 2.28651692e+02] [ 6.27267682e-01 7.78086024e-01 -3.34274433e-02 6.31314838e+01] [ 5.35536829e-02 -2.73776620e-04 9.98564934e-01 1.27917191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.70, Y:63.17, Z:12.79 [[ 7.75519446e-01 -6.29935959e-01 -4.18363104e-02 2.28695558e+02] [ 6.29048224e-01 7.76646983e-01 -3.34334410e-02 6.31684240e+01] [ 5.35529710e-02 -3.88773136e-04 9.98564934e-01 1.27928675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:63.21, Z:12.80 [[ 7.75517001e-01 -6.29939247e-01 -4.18321182e-02 2.28740519e+02] [ 6.29051234e-01 7.76644319e-01 -3.34386855e-02 6.32062777e+01] [ 5.35530173e-02 -3.82276530e-04 9.98564934e-01 1.27971080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:63.24, Z:12.80 [[ 7.75829033e-01 -6.29555442e-01 -4.18241245e-02 2.28785029e+02] [ 6.28666333e-01 7.76955487e-01 -3.34486808e-02 6.32442881e+01] [ 5.35532820e-02 -3.42961234e-04 9.98564934e-01 1.28035728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.83, Y:63.28, Z:12.81 [[ 7.74932445e-01 -6.30659265e-01 -4.18162328e-02 2.28828819e+02] [ 6.29771228e-01 7.76059744e-01 -3.34585437e-02 6.32817957e+01] [ 5.35528355e-02 -4.06549227e-04 9.98564935e-01 1.28083353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:63.32, Z:12.81 [[ 7.74356280e-01 -6.31367193e-01 -4.18069369e-02 2.28874265e+02] [ 6.30479560e-01 7.75483897e-01 -3.34701551e-02 6.33175761e+01] [ 5.35525642e-02 -4.40594412e-04 9.98564935e-01 1.28119917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.250385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:63.35, Z:12.81 [[ 7.73628204e-01 -6.32259718e-01 -4.17977496e-02 2.28918720e+02] [ 6.31372766e-01 7.74756356e-01 -3.34816244e-02 6.33544907e+01] [ 5.35521545e-02 -4.87631824e-04 9.98564935e-01 1.28125536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.310385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:63.39, Z:12.82 [[ 7.75428869e-01 -6.30050634e-01 -4.17883750e-02 2.28961708e+02] [ 6.29159837e-01 7.76553988e-01 -3.34933207e-02 6.33916314e+01] [ 5.35534172e-02 -3.19879476e-04 9.98564935e-01 1.28157902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.370385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:63.43, Z:12.82 [[ 7.76785749e-01 -6.28377250e-01 -4.17843502e-02 2.29006684e+02] [ 6.27483760e-01 7.77908730e-01 -3.34983411e-02 6.34283226e+01] [ 5.35540062e-02 -1.97967177e-04 9.98564935e-01 1.28180591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.05, Y:63.46, Z:12.82 [[ 7.79265481e-01 -6.25300056e-01 -4.17749891e-02 2.29051952e+02] [ 6.24401506e-01 7.80384417e-01 -3.35100111e-02 6.34649718e+01] [ 5.35543623e-02 2.88288060e-05 9.98564935e-01 1.28230637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.490385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:63.50, Z:12.83 [[ 7.80487399e-01 -6.23774754e-01 -4.17669328e-02 2.29097850e+02] [ 6.22873480e-01 7.81604142e-01 -3.35200494e-02 6.35010588e+01] [ 5.35541682e-02 1.46461381e-04 9.98564935e-01 1.28255546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.550385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:63.54, Z:12.83 [[ 7.79048281e-01 -6.25571796e-01 -4.17576811e-02 2.29140729e+02] [ 6.24672480e-01 7.80166602e-01 -3.35315708e-02 6.35407376e+01] [ 5.35543531e-02 3.78383487e-05 9.98564935e-01 1.28325015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.19, Y:63.58, Z:12.84 [[ 7.79169063e-01 -6.25421915e-01 -4.17492477e-02 2.29186946e+02] [ 6.24521822e-01 7.80286758e-01 -3.35420677e-02 6.35768682e+01] [ 5.35543293e-02 6.16252261e-05 9.98564935e-01 1.28396260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.670385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:63.61, Z:12.84 [[ 7.79273522e-01 -6.25292321e-01 -4.17407632e-02 2.29234469e+02] [ 6.24391476e-01 7.80390611e-01 -3.35526227e-02 6.36110140e+01] [ 5.35542971e-02 8.40937523e-05 9.98564935e-01 1.28362835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:63.65, Z:12.84 [[ 7.78880086e-01 -6.25782526e-01 -4.17377754e-02 2.29278596e+02] [ 6.24882185e-01 7.79997582e-01 -3.35563390e-02 6.36507831e+01] [ 5.35543345e-02 5.51719707e-05 9.98564935e-01 1.28392809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.33, Y:63.68, Z:12.86 [[ 7.80522532e-01 -6.23733243e-01 -4.17303065e-02 2.29327934e+02] [ 6.22829472e-01 7.81637255e-01 -3.35656247e-02 6.36821969e+01] [ 5.35539582e-02 2.07861641e-04 9.98564935e-01 1.28579725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85038572300002 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:229.37, Y:63.72, Z:12.84 [[ 7.75748372e-01 -6.29661365e-01 -4.17256330e-02 2.29371970e+02] [ 6.28765800e-01 7.76869698e-01 -3.35714333e-02 6.37212395e+01] [ 5.35540145e-02 -1.92666306e-04 9.98564936e-01 1.28444012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.910385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:229.42, Y:63.75, Z:12.86 [[ 7.77117921e-01 -6.27970628e-01 -4.17208214e-02 2.29422064e+02] [ 6.27072302e-01 7.78237037e-01 -3.35774119e-02 6.37518159e+01] [ 5.35543169e-02 -6.83629878e-05 9.98564936e-01 1.28624723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.970385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:229.46, Y:63.79, Z:12.85 [[ 7.71267237e-01 -6.35143024e-01 -4.17155783e-02 2.29463458e+02] [ 6.34254751e-01 7.72394349e-01 -3.35839245e-02 6.37936917e+01] [ 5.35514723e-02 -5.56123130e-04 9.98564936e-01 1.28540384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.51, Y:63.83, Z:12.87 [[ 7.73000350e-01 -6.33032971e-01 -4.17099070e-02 2.29512633e+02] [ 6.32141242e-01 7.74124730e-01 -3.35909665e-02 6.38265418e+01] [ 5.35528598e-02 -4.00723520e-04 9.98564936e-01 1.28671143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.090385723 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:229.56, Y:63.87, Z:12.86 [[ 7.68566522e-01 -6.38409329e-01 -4.17016771e-02 2.29556006e+02] [ 6.37524911e-01 7.69696660e-01 -3.36011805e-02 6.38657180e+01] [ 5.35489487e-02 -7.61115580e-04 9.98564936e-01 1.28619787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.150385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:63.90, Z:12.87 [[ 7.67148393e-01 -6.40112960e-01 -4.16982250e-02 2.29601408e+02] [ 6.39230819e-01 7.68280309e-01 -3.36054640e-02 6.39015136e+01] [ 5.35472182e-02 -8.74412808e-04 9.98564936e-01 1.28691004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.210385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:63.94, Z:12.87 [[ 7.66517620e-01 -6.40868757e-01 -4.16890268e-02 2.29646283e+02] [ 6.39987111e-01 7.67649923e-01 -3.36168709e-02 6.39389837e+01] [ 5.35465804e-02 -9.12515970e-04 9.98564936e-01 1.28728830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:63.97, Z:12.89 [[ 7.71288520e-01 -6.35119525e-01 -4.16798309e-02 2.29696703e+02] [ 6.34228821e-01 7.72413712e-01 -3.36282685e-02 6.39699851e+01] [ 5.35520428e-02 -4.97452511e-04 9.98564936e-01 1.28871998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.330385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:229.74, Y:64.01, Z:12.88 [[ 7.66545597e-01 -6.40836418e-01 -4.16717202e-02 2.29735989e+02] [ 6.39953559e-01 7.67676954e-01 -3.36383162e-02 6.40146555e+01] [ 5.35470773e-02 -8.82662498e-04 9.98564936e-01 1.28809519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.390385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:229.79, Y:64.05, Z:12.89 [[ 7.70386849e-01 -6.36213782e-01 -4.16668379e-02 2.29785696e+02] [ 6.35323807e-01 7.71512617e-01 -3.36443627e-02 6.40454614e+01] [ 5.35514984e-02 -5.52759504e-04 9.98564936e-01 1.28880753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.450385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:64.10, Z:12.87 [[ 7.60747629e-01 -6.47709605e-01 -4.16570689e-02 2.29818338e+02] [ 6.46835972e-01 7.61886125e-01 -3.36564539e-02 6.40986987e+01] [ 5.35375513e-02 -1.34122317e-03 9.98564936e-01 1.28715500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:229.87, Y:64.13, Z:12.89 [[ 7.67615213e-01 -6.39556106e-01 -4.16517850e-02 2.29867601e+02] [ 6.38670021e-01 7.68744045e-01 -3.36629917e-02 6.41290416e+01] [ 5.35489336e-02 -7.61521834e-04 9.98564936e-01 1.28913918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57038572300002 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:229.91, Y:64.17, Z:12.89 [[ 7.69003670e-01 -6.37886464e-01 -4.16439016e-02 2.29910971e+02] [ 6.36997400e-01 7.70130158e-01 -3.36727414e-02 6.41669031e+01] [ 5.35506104e-02 -6.32595328e-04 9.98564936e-01 1.28949055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:64.21, Z:12.90 [[ 7.70586536e-01 -6.35974029e-01 -4.16344230e-02 2.29953533e+02] [ 6.35081536e-01 7.71710308e-01 -3.36844571e-02 6.42069647e+01] [ 5.35521533e-02 -4.84464184e-04 9.98564936e-01 1.28972528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.690385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:230.00, Y:64.25, Z:12.89 [[ 7.69136823e-01 -6.37726718e-01 -4.16314845e-02 2.29998288e+02] [ 6.36836589e-01 7.70262469e-01 -3.36880884e-02 6.42461357e+01] [ 5.35509641e-02 -6.01703315e-04 9.98564936e-01 1.28931895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:64.28, Z:12.90 [[ 7.70331082e-01 -6.36284156e-01 -4.16232665e-02 2.30042228e+02] [ 6.35391371e-01 7.71454622e-01 -3.36982391e-02 6.42843248e+01] [ 5.35521170e-02 -4.88263368e-04 9.98564936e-01 1.28989645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:230.09, Y:64.32, Z:12.90 [[ 7.69182938e-01 -6.37672188e-01 -4.16147621e-02 2.30086138e+02] [ 6.36780862e-01 7.70307636e-01 -3.37087381e-02 6.43224264e+01] [ 5.35512938e-02 -5.71297833e-04 9.98564937e-01 1.29020508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.13, Y:64.36, Z:12.90 [[ 7.65871703e-01 -6.41645964e-01 -4.16051703e-02 2.30130397e+02] [ 6.40759831e-01 7.67000497e-01 -3.37205727e-02 6.43594898e+01] [ 5.35478557e-02 -8.33289471e-04 9.98564937e-01 1.29043005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.17, Y:64.40, Z:12.91 [[ 7.65885150e-01 -6.41630105e-01 -4.16022351e-02 2.30173837e+02] [ 6.40743752e-01 7.67013770e-01 -3.37241936e-02 6.43970362e+01] [ 5.35479451e-02 -8.27513080e-04 9.98564937e-01 1.29104576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:64.43, Z:12.91 [[ 7.68037010e-01 -6.39053383e-01 -4.15923741e-02 2.30218169e+02] [ 6.38162585e-01 7.69162125e-01 -3.37363509e-02 6.44337690e+01] [ 5.35506080e-02 -6.31930916e-04 9.98564937e-01 1.29141733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:230.26, Y:64.48, Z:12.91 [[ 7.63946291e-01 -6.43938290e-01 -4.15877886e-02 2.30257479e+02] [ 6.43054377e-01 7.65076823e-01 -3.37420026e-02 6.44772646e+01] [ 5.35456206e-02 -9.66131729e-04 9.98564937e-01 1.29089671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.110385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:230.30, Y:64.52, Z:12.91 [[ 7.68483690e-01 -6.38517100e-01 -4.15780260e-02 2.30302373e+02] [ 6.37624560e-01 7.69607424e-01 -3.37540281e-02 6.45151240e+01] [ 5.35512816e-02 -5.71750425e-04 9.98564937e-01 1.29118687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.170385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:230.35, Y:64.55, Z:12.92 [[ 7.68277648e-01 -6.38765564e-01 -4.15693313e-02 2.30346830e+02] [ 6.37872808e-01 7.69401211e-01 -3.37647326e-02 6.45524146e+01] [ 5.35512423e-02 -5.75256720e-04 9.98564937e-01 1.29182782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:64.59, Z:12.92 [[ 7.67482261e-01 -6.39721778e-01 -4.15575031e-02 2.30388813e+02] [ 6.38829634e-01 7.68606309e-01 -3.37792844e-02 6.45915482e+01] [ 5.35507030e-02 -6.23162924e-04 9.98564937e-01 1.29208406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.43, Y:64.63, Z:12.93 [[ 7.67382405e-01 -6.39841842e-01 -4.15531145e-02 2.30433209e+02] [ 6.38949582e-01 7.68506361e-01 -3.37846821e-02 6.46307449e+01] [ 5.35506861e-02 -6.24574511e-04 9.98564937e-01 1.29262349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.48, Y:64.67, Z:12.93 [[ 7.66362865e-01 -6.41063194e-01 -4.15444371e-02 2.30476967e+02] [ 6.40172147e-01 7.67487783e-01 -3.37953492e-02 6.46691458e+01] [ 5.35498024e-02 -6.96090803e-04 9.98564937e-01 1.29294830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:64.71, Z:12.93 [[ 7.64032767e-01 -6.43839119e-01 -4.15345612e-02 2.30521381e+02] [ 6.42951499e-01 7.65160391e-01 -3.38074824e-02 6.47056355e+01] [ 5.35471808e-02 -8.74684071e-04 9.98564937e-01 1.29336810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.470385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:64.75, Z:12.93 [[ 7.59637026e-01 -6.49020268e-01 -4.15244565e-02 2.30561423e+02] [ 6.48139660e-01 7.60770133e-01 -3.38198891e-02 6.47496692e+01] [ 5.35403598e-02 -1.22280720e-03 9.98564938e-01 1.29294025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.60, Y:64.79, Z:12.93 [[ 7.60246716e-01 -6.48306625e-01 -4.15144735e-02 2.30604162e+02] [ 6.47424284e-01 7.61378475e-01 -3.38321389e-02 6.47887025e+01] [ 5.35418263e-02 -1.15670583e-03 9.98564938e-01 1.29325264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.590385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:230.65, Y:64.83, Z:12.94 [[ 7.63610728e-01 -6.44341546e-01 -4.15045669e-02 2.30646814e+02] [ 6.43452667e-01 7.64737360e-01 -3.38442878e-02 6.48269412e+01] [ 5.35473736e-02 -8.62363032e-04 9.98564938e-01 1.29399585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.69, Y:64.86, Z:12.94 [[ 7.65259041e-01 -6.42383237e-01 -4.15015213e-02 2.30690908e+02] [ 6.41491274e-01 7.66383231e-01 -3.38480221e-02 6.48642557e+01] [ 5.35494720e-02 -7.20358808e-04 9.98564938e-01 1.29413572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.710385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:64.90, Z:12.94 [[ 7.67667439e-01 -6.39503849e-01 -4.14913226e-02 2.30734849e+02] [ 6.38606993e-01 7.68787730e-01 -3.38605192e-02 6.49001345e+01] [ 5.35519521e-02 -5.03030728e-04 9.98564938e-01 1.29444186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.77, Y:64.94, Z:12.95 [[ 7.67777203e-01 -6.39372769e-01 -4.14804650e-02 2.30773919e+02] [ 6.38475003e-01 7.68896765e-01 -3.38738149e-02 6.49447556e+01] [ 5.35521902e-02 -4.76697114e-04 9.98564938e-01 1.29452018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:64.98, Z:12.95 [[ 7.68437672e-01 -6.38579497e-01 -4.14701125e-02 2.30819498e+02] [ 6.37679892e-01 7.69555756e-01 -3.38864842e-02 6.49799659e+01] [ 5.35527779e-02 -4.05005795e-04 9.98564938e-01 1.29491760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.86, Y:65.02, Z:12.95 [[ 7.68584531e-01 -6.38403350e-01 -4.14606097e-02 2.30861357e+02] [ 6.37502861e-01 7.69701904e-01 -3.38981071e-02 6.50201754e+01] [ 5.35529753e-02 -3.77696504e-04 9.98564938e-01 1.29511419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:65.06, Z:12.95 [[ 7.69933823e-01 -6.36776059e-01 -4.14506698e-02 2.30905771e+02] [ 6.35872555e-01 7.71048759e-01 -3.39102572e-02 6.50566729e+01] [ 5.35537275e-02 -2.48689329e-04 9.98564939e-01 1.29523719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.95, Y:65.09, Z:12.96 [[ 7.72423145e-01 -6.33754592e-01 -4.14439718e-02 2.30951830e+02] [ 6.32846287e-01 7.73534173e-01 -3.39184415e-02 6.50902948e+01] [ 5.35542964e-02 -2.82744074e-05 9.98564939e-01 1.29553428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07038572300002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.00, Y:65.13, Z:12.96 [[ 7.76546602e-01 -6.28695563e-01 -4.14398797e-02 2.30996303e+02] [ 6.27779754e-01 7.77651452e-01 -3.39234402e-02 6.51277742e+01] [ 5.35532990e-02 3.28014697e-04 9.98564939e-01 1.29632025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:65.16, Z:12.97 [[ 7.79482240e-01 -6.25052709e-01 -4.14312493e-02 2.31044472e+02] [ 6.24131176e-01 7.80582321e-01 -3.39339774e-02 6.51609076e+01] [ 5.35510252e-02 5.92398400e-04 9.98564939e-01 1.29673147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.09, Y:65.20, Z:12.97 [[ 7.78785139e-01 -6.25921702e-01 -4.14213630e-02 2.31089490e+02] [ 6.25000756e-01 7.79885711e-01 -3.39460408e-02 6.51965325e+01] [ 5.35514927e-02 5.48288961e-04 9.98564939e-01 1.29694146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.250385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.13, Y:65.23, Z:12.97 [[ 7.80703072e-01 -6.23528055e-01 -4.14183274e-02 2.31134165e+02] [ 6.22603537e-01 7.81800646e-01 -3.39497441e-02 6.52330572e+01] [ 5.35494931e-02 7.17472377e-04 9.98564939e-01 1.29717975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.18, Y:65.27, Z:12.97 [[ 7.80616279e-01 -6.23637369e-01 -4.14084065e-02 2.31181293e+02] [ 6.22712364e-01 7.81713442e-01 -3.39618404e-02 6.52667715e+01] [ 5.35493807e-02 7.25638814e-04 9.98564939e-01 1.29738129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.370385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:65.30, Z:12.98 [[ 7.80842987e-01 -6.23354154e-01 -4.13984149e-02 2.31230265e+02] [ 6.22428105e-01 7.81939269e-01 -3.39740155e-02 6.52978781e+01] [ 5.35488899e-02 7.60834767e-04 9.98564939e-01 1.29771612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:65.33, Z:12.98 [[ 7.79023622e-01 -6.25627033e-01 -4.13885580e-02 2.31279812e+02] [ 6.24703545e-01 7.80122062e-01 -3.39860193e-02 6.53278618e+01] [ 5.35506996e-02 6.20332923e-04 9.98564939e-01 1.29806261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.490385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:231.33, Y:65.36, Z:12.98 [[ 7.78353964e-01 -6.26460270e-01 -4.13840052e-02 2.31329241e+02] [ 6.25537664e-01 7.79453144e-01 -3.39915623e-02 6.53604155e+01] [ 5.35512563e-02 5.70213353e-04 9.98564939e-01 1.29792560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.38, Y:65.39, Z:12.98 [[ 7.77601289e-01 -6.27394818e-01 -4.13760621e-02 2.31378892e+02] [ 6.26473018e-01 7.78701146e-01 -3.40012282e-02 6.53909151e+01] [ 5.35517813e-02 5.18412345e-04 9.98564939e-01 1.29845753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:65.43, Z:12.98 [[ 7.75367933e-01 -6.30153425e-01 -4.13670091e-02 2.31426177e+02] [ 6.29234952e-01 7.76470568e-01 -3.40122388e-02 6.54250404e+01] [ 5.35531939e-02 3.42431335e-04 9.98564939e-01 1.29830924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:65.46, Z:12.99 [[ 7.74715196e-01 -6.30956390e-01 -4.13569771e-02 2.31474040e+02] [ 6.30038408e-01 7.75818240e-01 -3.40244328e-02 6.54558838e+01] [ 5.35534305e-02 3.02761026e-04 9.98564940e-01 1.29871827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.53, Y:65.48, Z:12.99 [[ 7.72617220e-01 -6.33523945e-01 -4.13526647e-02 2.31527472e+02] [ 6.32609348e-01 7.73723073e-01 -3.40296732e-02 6.54801755e+01] [ 5.35541236e-02 1.31829258e-04 9.98564940e-01 1.29898264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.57, Y:65.51, Z:12.99 [[ 7.67602122e-01 -6.39591490e-01 -4.13486040e-02 2.31573772e+02] [ 6.38685369e-01 7.68714931e-01 -3.40346065e-02 6.55149815e+01] [ 5.35535340e-02 -2.83712225e-04 9.98564940e-01 1.29900882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:231.62, Y:65.55, Z:12.99 [[ 7.65054013e-01 -6.42637907e-01 -4.13385744e-02 2.31622394e+02] [ 6.41735559e-01 7.66169883e-01 -3.40467842e-02 6.55471946e+01] [ 5.35521248e-02 -4.80804299e-04 9.98564940e-01 1.29938771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.910385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:65.58, Z:13.00 [[ 7.65707150e-01 -6.41860193e-01 -4.13285859e-02 2.31672498e+02] [ 6.40956057e-01 7.66821572e-01 -3.40589047e-02 6.55754702e+01] [ 5.35527064e-02 -4.10660607e-04 9.98564940e-01 1.30012048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.72, Y:65.61, Z:13.00 [[ 7.70117332e-01 -6.36562327e-01 -4.13243122e-02 2.31715069e+02] [ 6.35650246e-01 7.71225261e-01 -3.40640892e-02 6.56149033e+01] [ 5.35542694e-02 -3.44637169e-05 9.98564940e-01 1.30009532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.76, Y:65.65, Z:13.00 [[ 7.73766932e-01 -6.32121653e-01 -4.13152561e-02 2.31759204e+02] [ 6.31202627e-01 7.74869107e-01 -3.40750696e-02 6.56518635e+01] [ 5.35535049e-02 2.87863862e-04 9.98564940e-01 1.30042276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.80, Y:65.69, Z:13.01 [[ 7.73677529e-01 -6.32231665e-01 -4.13062127e-02 2.31801171e+02] [ 6.31312211e-01 7.74779346e-01 -3.40860286e-02 6.56925188e+01] [ 5.35534671e-02 2.94477929e-04 9.98564940e-01 1.30052931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:65.73, Z:13.01 [[ 7.76290284e-01 -6.29021467e-01 -4.12963667e-02 2.31847048e+02] [ 6.28096822e-01 7.77387749e-01 -3.40979532e-02 6.57273580e+01] [ 5.35516341e-02 5.31793078e-04 9.98564940e-01 1.30130573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.89, Y:65.76, Z:13.02 [[ 7.74742255e-01 -6.30927331e-01 -4.12933546e-02 2.31890712e+02] [ 6.30005192e-01 7.75841826e-01 -3.41016006e-02 6.57648868e+01] [ 5.35527434e-02 4.04923159e-04 9.98564940e-01 1.30154611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.270385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:231.93, Y:65.80, Z:13.02 [[ 7.73081141e-01 -6.32962235e-01 -4.12838801e-02 2.31933259e+02] [ 6.32042378e-01 7.74182621e-01 -3.41130666e-02 6.58026907e+01] [ 5.35535454e-02 2.79006699e-04 9.98564940e-01 1.30151699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:65.84, Z:13.02 [[ 7.69586814e-01 -6.37206491e-01 -4.12798233e-02 2.31978657e+02] [ 6.36292445e-01 7.70693122e-01 -3.41179750e-02 6.58382663e+01] [ 5.35542710e-02 -9.29598683e-06 9.98564940e-01 1.30171554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.390385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:65.87, Z:13.02 [[ 7.65115683e-01 -6.42568852e-01 -4.12706030e-02 2.32025184e+02] [ 6.41661958e-01 7.66227861e-01 -3.41291246e-02 6.58722498e+01] [ 5.35529983e-02 -3.69047465e-04 9.98564940e-01 1.30228900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.07, Y:65.91, Z:13.02 [[ 7.63639683e-01 -6.44322844e-01 -4.12614441e-02 2.32067103e+02] [ 6.43417907e-01 7.64753453e-01 -3.41401941e-02 6.59119488e+01] [ 5.35521388e-02 -4.77545009e-04 9.98564941e-01 1.30227687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.510385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:232.11, Y:65.95, Z:13.03 [[ 7.64046281e-01 -6.43840913e-01 -4.12572323e-02 2.32110434e+02] [ 6.42934998e-01 7.65159257e-01 -3.41452831e-02 6.59503520e+01] [ 5.35524834e-02 -4.37142004e-04 9.98564941e-01 1.30256102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57038572300002 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:65.99, Z:13.03 [[ 7.63160291e-01 -6.44891491e-01 -4.12472480e-02 2.32154844e+02] [ 6.43986457e-01 7.64273982e-01 -3.41573398e-02 6.59880519e+01] [ 5.35519763e-02 -4.95143657e-04 9.98564941e-01 1.30291205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63038572300002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:66.02, Z:13.03 [[ 7.63419020e-01 -6.44585813e-01 -4.12374707e-02 2.32199600e+02] [ 6.43679695e-01 7.64531830e-01 -3.41691397e-02 6.60238799e+01] [ 5.35523016e-02 -4.58351448e-04 9.98564941e-01 1.30323568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.24, Y:66.06, Z:13.04 [[ 7.62029008e-01 -6.46228743e-01 -4.12335061e-02 2.32242748e+02] [ 6.45324766e-01 7.63143557e-01 -3.41739233e-02 6.60624015e+01] [ 5.35512560e-02 -5.67481756e-04 9.98564941e-01 1.30368147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.29, Y:66.10, Z:13.04 [[ 7.62650030e-01 -6.45496294e-01 -4.12245771e-02 2.32286377e+02] [ 6.44590664e-01 7.63763237e-01 -3.41846911e-02 6.60993866e+01] [ 5.35519079e-02 -5.02021843e-04 9.98564941e-01 1.30407349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:66.14, Z:13.04 [[ 7.64242420e-01 -6.43610479e-01 -4.12198397e-02 2.32330292e+02] [ 6.42701794e-01 7.65353134e-01 -3.41904025e-02 6.61377597e+01] [ 5.35530348e-02 -3.62308975e-04 9.98564941e-01 1.30446213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.38, Y:66.17, Z:13.05 [[ 7.65362647e-01 -6.42278487e-01 -4.12111990e-02 2.32376347e+02] [ 6.41367309e-01 7.66471317e-01 -3.42008143e-02 6.61743851e+01] [ 5.35536493e-02 -2.55490072e-04 9.98564941e-01 1.30480640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.42, Y:66.21, Z:13.05 [[ 7.65347504e-01 -6.42297092e-01 -4.12024718e-02 2.32421485e+02] [ 6.41385375e-01 7.66455730e-01 -3.42113249e-02 6.62103589e+01] [ 5.35537052e-02 -2.43110745e-04 9.98564941e-01 1.30538270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:232.47, Y:66.25, Z:13.06 [[ 7.64039501e-01 -6.43853110e-01 -4.11924017e-02 2.32465145e+02] [ 6.42942996e-01 7.65149044e-01 -3.42234456e-02 6.62480997e+01] [ 5.35531987e-02 -3.36301874e-04 9.98564941e-01 1.30584825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:66.28, Z:13.06 [[ 7.64405746e-01 -6.43418443e-01 -4.11893414e-02 2.32511037e+02] [ 6.42507500e-01 7.65514609e-01 -3.42271284e-02 6.62848698e+01] [ 5.35534083e-02 -3.01047109e-04 9.98564941e-01 1.30630944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.110385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:66.32, Z:13.07 [[ 7.63623424e-01 -6.44347252e-01 -4.11811164e-02 2.32555190e+02] [ 6.43437124e-01 7.64732956e-01 -3.42370217e-02 6.63216926e+01] [ 5.35530877e-02 -3.53267355e-04 9.98564941e-01 1.30655986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:66.36, Z:13.07 [[ 7.62254924e-01 -6.45965915e-01 -4.11760547e-02 2.32599415e+02] [ 6.45057814e-01 7.63366115e-01 -3.42431082e-02 6.63600549e+01] [ 5.35522856e-02 -4.58957990e-04 9.98564941e-01 1.30695700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:66.40, Z:13.07 [[ 7.61129930e-01 -6.47291651e-01 -4.11673126e-02 2.32643276e+02] [ 6.46384917e-01 7.62242238e-01 -3.42536148e-02 6.63990465e+01] [ 5.35515433e-02 -5.38478501e-04 9.98564941e-01 1.30723475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:66.44, Z:13.07 [[ 7.61692171e-01 -6.46630503e-01 -4.11585921e-02 2.32686864e+02] [ 6.45722238e-01 7.62803227e-01 -3.42640900e-02 6.64362074e+01] [ 5.35521127e-02 -4.78329093e-04 9.98564942e-01 1.30707019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:66.48, Z:13.07 [[ 7.60941277e-01 -6.47514610e-01 -4.11485438e-02 2.32730114e+02] [ 6.46606983e-01 7.62052856e-01 -3.42761531e-02 6.64753354e+01] [ 5.35516752e-02 -5.24796017e-04 9.98564942e-01 1.30734686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.77, Y:66.51, Z:13.08 [[ 7.61097221e-01 -6.47331907e-01 -4.11390506e-02 2.32773198e+02] [ 6.46423398e-01 7.62208078e-01 -3.42875432e-02 6.65148871e+01] [ 5.35519374e-02 -4.97090992e-04 9.98564942e-01 1.30750132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.470385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:232.82, Y:66.55, Z:13.09 [[ 7.61541621e-01 -6.46809649e-01 -4.11295199e-02 2.32820191e+02] [ 6.45899761e-01 7.62651348e-01 -3.42989720e-02 6.65502598e+01] [ 5.35523898e-02 -4.45452354e-04 9.98564942e-01 1.30863196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.530385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:66.59, Z:13.08 [[ 7.59265485e-01 -6.49480565e-01 -4.11207939e-02 2.32861728e+02] [ 6.48574014e-01 7.60377940e-01 -3.43094303e-02 6.65914510e+01] [ 5.35506527e-02 -6.19912143e-04 9.98564942e-01 1.30843461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.590385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:66.63, Z:13.09 [[ 7.60911774e-01 -6.47551237e-01 -4.11177288e-02 2.32906202e+02] [ 6.46641666e-01 7.62021762e-01 -3.43131033e-02 6.66294428e+01] [ 5.35520966e-02 -4.79192372e-04 9.98564942e-01 1.30920512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:232.95, Y:66.67, Z:13.10 [[ 7.61739873e-01 -6.46577448e-01 -4.11092498e-02 2.32950419e+02] [ 6.45665910e-01 7.62848246e-01 -3.43232586e-02 6.66682934e+01] [ 5.35527640e-02 -3.97446575e-04 9.98564942e-01 1.30988631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.710385723 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:232.99, Y:66.71, Z:13.10 [[ 7.60846569e-01 -6.47629006e-01 -4.10995019e-02 2.32991650e+02] [ 6.46718370e-01 7.61955683e-01 -3.43349270e-02 6.67086835e+01] [ 5.35522937e-02 -4.56191429e-04 9.98564942e-01 1.30975347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:66.75, Z:13.10 [[ 7.59882703e-01 -6.48760012e-01 -4.10940855e-02 2.33032289e+02] [ 6.47850676e-01 7.60992883e-01 -3.43414085e-02 6.67509685e+01] [ 5.35516392e-02 -5.27388791e-04 9.98564942e-01 1.30989858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.830385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:233.08, Y:66.79, Z:13.10 [[ 7.60656460e-01 -6.47852965e-01 -4.10887480e-02 2.33075063e+02] [ 6.46941961e-01 7.61765271e-01 -3.43477935e-02 6.67901050e+01] [ 5.35523011e-02 -4.55164226e-04 9.98564942e-01 1.30997710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.12, Y:66.83, Z:13.10 [[ 7.61279572e-01 -6.47120831e-01 -4.10857935e-02 2.33116042e+02] [ 6.46208570e-01 7.62387349e-01 -3.43513273e-02 6.68333779e+01] [ 5.35527486e-02 -3.99028122e-04 9.98564942e-01 1.31049880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.950385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:233.16, Y:66.87, Z:13.11 [[ 7.60115507e-01 -6.48488247e-01 -4.10780904e-02 2.33158033e+02] [ 6.47577480e-01 7.61224514e-01 -3.43605362e-02 6.68733750e+01] [ 5.35520533e-02 -4.83269866e-04 9.98564942e-01 1.31112749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:233.20, Y:66.91, Z:13.12 [[ 7.58184592e-01 -6.50745340e-01 -4.10685670e-02 2.33200996e+02] [ 6.49837258e-01 7.59295798e-01 -3.43719151e-02 6.69115889e+01] [ 5.35505539e-02 -6.27628529e-04 9.98564942e-01 1.31170303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07038572300002 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:233.24, Y:66.96, Z:13.12 [[ 7.56264313e-01 -6.52976597e-01 -4.10591428e-02 2.33240452e+02] [ 6.52071183e-01 7.57377693e-01 -3.43831692e-02 6.69559822e+01] [ 5.35486837e-02 -7.70720000e-04 9.98564943e-01 1.31191610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13038572300002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:233.28, Y:67.00, Z:13.12 [[ 7.55705832e-01 -6.53623372e-01 -4.10509871e-02 2.33282266e+02] [ 6.52718382e-01 7.56819557e-01 -3.43929037e-02 6.69970487e+01] [ 5.35481956e-02 -8.03816006e-04 9.98564943e-01 1.31227303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.190385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:67.04, Z:13.13 [[ 7.54427416e-01 -6.55099049e-01 -4.10427832e-02 2.33322668e+02] [ 6.54195705e-01 7.55542477e-01 -3.44026911e-02 6.70407465e+01] [ 5.35467363e-02 -8.95679152e-04 9.98564943e-01 1.31258592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.250385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:233.36, Y:67.08, Z:13.13 [[ 7.52775355e-01 -6.56997276e-01 -4.10346631e-02 2.33361246e+02] [ 6.56096217e-01 7.53892262e-01 -3.44123738e-02 6.70847087e+01] [ 5.35445509e-02 -1.01790036e-03 9.98564943e-01 1.31268228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.310385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:67.13, Z:13.13 [[ 7.52209168e-01 -6.57645618e-01 -4.10318141e-02 2.33400532e+02] [ 6.56745336e-01 7.53326701e-01 -3.44157705e-02 6.71284481e+01] [ 5.35437418e-02 -1.05959439e-03 9.98564943e-01 1.31301468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.370385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:233.44, Y:67.17, Z:13.14 [[ 7.51545123e-01 -6.58404930e-01 -4.10228645e-02 2.33442163e+02] [ 6.57505196e-01 7.52663098e-01 -3.44264349e-02 6.71694466e+01] [ 5.35429308e-02 -1.09972728e-03 9.98564943e-01 1.31367808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.430385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:233.48, Y:67.21, Z:13.14 [[ 7.50515060e-01 -6.59579448e-01 -4.10133753e-02 2.33482012e+02] [ 6.58680846e-01 7.51633944e-01 -3.44377361e-02 6.72139950e+01] [ 5.35414680e-02 -1.16868518e-03 9.98564943e-01 1.31410370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.490385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:67.26, Z:13.13 [[ 7.49519947e-01 -6.60710554e-01 -4.10050360e-02 2.33522371e+02] [ 6.59813097e-01 7.50639751e-01 -3.44476628e-02 6.72584475e+01] [ 5.35399444e-02 -1.23644937e-03 9.98564943e-01 1.31333188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.56, Y:67.30, Z:13.15 [[ 7.52603413e-01 -6.57196601e-01 -4.09967180e-02 2.33563555e+02] [ 6.56293376e-01 7.53718569e-01 -3.44575594e-02 6.72980837e+01] [ 5.35453785e-02 -9.72997688e-04 9.98564943e-01 1.31472726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.60, Y:67.34, Z:13.15 [[ 7.55685879e-01 -6.53650048e-01 -4.09935098e-02 2.33604076e+02] [ 6.52741382e-01 7.56796605e-01 -3.44613757e-02 6.73408391e+01] [ 5.35494289e-02 -7.16185266e-04 9.98564943e-01 1.31490586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:67.38, Z:13.15 [[ 7.56881905e-01 -6.52265353e-01 -4.09840240e-02 2.33645613e+02] [ 6.51354045e-01 7.57990465e-01 -3.44726532e-02 6.73821050e+01] [ 5.35508167e-02 -6.03382374e-04 9.98564943e-01 1.31507063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.69, Y:67.42, Z:13.15 [[ 7.56807702e-01 -6.52352036e-01 -4.09746696e-02 2.33687580e+02] [ 6.51440253e-01 7.57915871e-01 -3.44837684e-02 6.74238549e+01] [ 5.35509089e-02 -5.94967577e-04 9.98564943e-01 1.31532598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.73, Y:67.46, Z:13.16 [[ 7.56659295e-01 -6.52524687e-01 -4.09663793e-02 2.33731087e+02] [ 6.51612624e-01 7.57767233e-01 -3.44936143e-02 6.74604024e+01] [ 5.35509148e-02 -5.94296034e-04 9.98564943e-01 1.31568912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85038572300002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.77, Y:67.50, Z:13.16 [[ 7.57332957e-01 -6.51742952e-01 -4.09623865e-02 2.33772722e+02] [ 6.50829488e-01 7.58439741e-01 -3.44983553e-02 6.75011980e+01] [ 5.35515618e-02 -5.32787601e-04 9.98564944e-01 1.31584934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.82, Y:67.54, Z:13.16 [[ 7.59618126e-01 -6.49078685e-01 -4.09531874e-02 2.33815941e+02] [ 6.48160750e-01 7.60721205e-01 -3.45092722e-02 6.75410863e+01] [ 5.35531911e-02 -3.30379946e-04 9.98564944e-01 1.31634248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:67.58, Z:13.17 [[ 7.61391609e-01 -6.46997953e-01 -4.09446697e-02 2.33861009e+02] [ 6.46076461e-01 7.62491717e-01 -3.45193754e-02 6.75793722e+01] [ 5.35539367e-02 -1.70624520e-04 9.98564944e-01 1.31672236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:67.62, Z:13.17 [[ 7.62272016e-01 -6.45960989e-01 -4.09362083e-02 2.33904164e+02] [ 6.45037462e-01 7.63370417e-01 -3.45294068e-02 6.76174700e+01] [ 5.35541401e-02 -8.45873565e-05 9.98564944e-01 1.31691258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.95, Y:67.66, Z:13.17 [[ 7.63867809e-01 -6.44073716e-01 -4.09269979e-02 2.33947425e+02] [ 6.43146890e-01 7.64963427e-01 -3.45403202e-02 6.76550947e+01] [ 5.35541689e-02 6.21673014e-05 9.98564944e-01 1.31702947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.99, Y:67.69, Z:13.17 [[ 7.62030289e-01 -6.46246989e-01 -4.09227067e-02 2.33990679e+02] [ 6.45323015e-01 7.63128313e-01 -3.45454035e-02 6.76943433e+01] [ 5.35541392e-02 -8.37206702e-05 9.98564944e-01 1.31739140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.04, Y:67.73, Z:13.18 [[ 7.64179332e-01 -6.43704894e-01 -4.09140304e-02 2.34037032e+02] [ 6.42776717e-01 7.65273806e-01 -3.45556764e-02 6.77275239e+01] [ 5.35540937e-02 1.08147613e-04 9.98564944e-01 1.31799636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:67.77, Z:13.18 [[ 7.67215781e-01 -6.40083067e-01 -4.09098189e-02 2.34081256e+02] [ 6.39149457e-01 7.68305624e-01 -3.45606616e-02 6.77652082e+01] [ 5.35529382e-02 3.67996393e-04 9.98564944e-01 1.31815661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.330385723 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:234.13, Y:67.80, Z:13.18 [[ 7.69837818e-01 -6.36927705e-01 -4.09002801e-02 2.34127650e+02] [ 6.35989029e-01 7.70923301e-01 -3.45719464e-02 6.78021730e+01] [ 5.35508094e-02 6.02662277e-04 9.98564944e-01 1.31833732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.17, Y:67.84, Z:13.18 [[ 7.67640606e-01 -6.39574773e-01 -4.08902043e-02 2.34171862e+02] [ 6.38639206e-01 7.68728769e-01 -3.45838595e-02 6.78410946e+01] [ 5.35524406e-02 4.33887293e-04 9.98564944e-01 1.31830340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.22, Y:67.87, Z:13.19 [[ 7.70892247e-01 -6.35652441e-01 -4.08793138e-02 2.34222216e+02] [ 6.34710655e-01 7.71975032e-01 -3.45967278e-02 6.78708647e+01] [ 5.35493040e-02 7.23813153e-04 9.98564944e-01 1.31912840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:67.91, Z:13.20 [[ 7.71549044e-01 -6.34855261e-01 -4.08762755e-02 2.34269112e+02] [ 6.33912167e-01 7.72630690e-01 -3.46003171e-02 6.79061250e+01] [ 5.35484583e-02 7.83873176e-04 9.98564944e-01 1.31952262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:67.94, Z:13.20 [[ 7.73140749e-01 -6.32916430e-01 -4.08677716e-02 2.34316529e+02] [ 6.31970093e-01 7.74219559e-01 -3.46103585e-02 6.79416711e+01] [ 5.35460926e-02 9.31469101e-04 9.98564944e-01 1.31951342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.36, Y:67.97, Z:13.20 [[ 7.71012501e-01 -6.35507650e-01 -4.08625734e-02 2.34364679e+02] [ 6.34564614e-01 7.72094197e-01 -3.46164947e-02 6.79735526e+01] [ 5.35488030e-02 7.59807048e-04 9.98564945e-01 1.31995941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.690385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.41, Y:68.01, Z:13.20 [[ 7.68442098e-01 -6.38613800e-01 -4.08553107e-02 2.34413422e+02] [ 6.37674681e-01 7.69527197e-01 -3.46250641e-02 6.80075065e+01] [ 5.35513165e-02 5.54959676e-04 9.98564945e-01 1.32039050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.750385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:234.46, Y:68.04, Z:13.21 [[ 7.64877883e-01 -6.42879011e-01 -4.08460706e-02 2.34461253e+02] [ 6.41945362e-01 7.65967691e-01 -3.46359610e-02 6.80410408e+01] [ 5.35535027e-02 2.71334987e-04 9.98564945e-01 1.32052397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.810385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.51, Y:68.07, Z:13.21 [[ 7.61914141e-01 -6.46388958e-01 -4.08430782e-02 2.34511008e+02] [ 6.45460140e-01 7.63008069e-01 -3.46394892e-02 6.80721067e+01] [ 5.35541816e-02 2.97376796e-05 9.98564945e-01 1.32107676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.870385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:68.11, Z:13.21 [[ 7.60365571e-01 -6.48210502e-01 -4.08331111e-02 2.34557769e+02] [ 6.47283673e-01 7.61461186e-01 -3.46512345e-02 6.81060660e+01] [ 5.35541234e-02 -8.30004312e-05 9.98564945e-01 1.32149101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93038572300003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.60, Y:68.14, Z:13.22 [[ 7.59955178e-01 -6.48692214e-01 -4.08232707e-02 2.34604109e+02] [ 6.47765457e-01 7.61050853e-01 -3.46628238e-02 6.81418168e+01] [ 5.35540889e-02 -1.01712164e-04 9.98564945e-01 1.32171965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99038572300003 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:234.65, Y:68.18, Z:13.22 [[ 7.60354350e-01 -6.48224914e-01 -4.08132832e-02 2.34651639e+02] [ 6.47296853e-01 7.61448920e-01 -3.46745795e-02 6.81756304e+01] [ 5.35541568e-02 -5.33423717e-05 9.98564945e-01 1.32202541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.050385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:234.70, Y:68.21, Z:13.22 [[ 7.60497908e-01 -6.48056775e-01 -4.08086718e-02 2.34697950e+02] [ 6.47128181e-01 7.61592026e-01 -3.46800059e-02 6.82123701e+01] [ 5.35541718e-02 -3.43695785e-05 9.98564945e-01 1.32241972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:68.25, Z:13.23 [[ 7.60383349e-01 -6.48191723e-01 -4.08001559e-02 2.34743774e+02] [ 6.47262785e-01 7.61477176e-01 -3.46900218e-02 6.82464247e+01] [ 5.35541724e-02 -3.07075862e-05 9.98564945e-01 1.32290046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:234.79, Y:68.28, Z:13.24 [[ 7.60267559e-01 -6.48327941e-01 -4.07936134e-02 2.34791285e+02] [ 6.47398786e-01 7.61361202e-01 -3.46977136e-02 6.82799319e+01] [ 5.35541718e-02 -3.01897955e-05 9.98564945e-01 1.32371465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.84, Y:68.32, Z:13.24 [[ 7.62332650e-01 -6.45899046e-01 -4.07842245e-02 2.34837162e+02] [ 6.44965816e-01 7.63422818e-01 -3.47087460e-02 6.83172995e+01] [ 5.35539535e-02 1.55179693e-04 9.98564945e-01 1.32363669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.290385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:234.88, Y:68.35, Z:13.24 [[ 7.64743039e-01 -6.43043814e-01 -4.07766863e-02 2.34882389e+02] [ 6.42106043e-01 7.65829301e-01 -3.47175998e-02 6.83548479e+01] [ 5.35529190e-02 3.67086126e-04 9.98564945e-01 1.32402522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:68.39, Z:13.24 [[ 7.65661421e-01 -6.41950577e-01 -4.07681896e-02 2.34928613e+02] [ 6.41010723e-01 7.66745883e-01 -3.47275745e-02 6.83916358e+01] [ 5.35522280e-02 4.56717403e-04 9.98564945e-01 1.32439512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.97, Y:68.43, Z:13.24 [[ 7.65707919e-01 -6.41895639e-01 -4.07599309e-02 2.34973159e+02] [ 6.40955191e-01 7.66791866e-01 -3.47372651e-02 6.84295474e+01] [ 5.35520824e-02 4.73309661e-04 9.98564946e-01 1.32435260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.02, Y:68.46, Z:13.25 [[ 7.65240140e-01 -6.42453875e-01 -4.07498081e-02 2.35021219e+02] [ 6.41513586e-01 7.66324224e-01 -3.47491359e-02 6.84635589e+01] [ 5.35522821e-02 4.49878100e-04 9.98564946e-01 1.32458391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.07, Y:68.50, Z:13.25 [[ 7.64141517e-01 -6.43760763e-01 -4.07409163e-02 2.35066909e+02] [ 6.42821772e-01 7.65226726e-01 -3.47595578e-02 6.84988717e+01] [ 5.35528774e-02 3.72073166e-04 9.98564946e-01 1.32467782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:68.54, Z:13.25 [[ 7.64108387e-01 -6.43800285e-01 -4.07377784e-02 2.35111092e+02] [ 6.42861155e-01 7.65193474e-01 -3.47632350e-02 6.85368059e+01] [ 5.35528628e-02 3.74144107e-04 9.98564946e-01 1.32472899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:235.16, Y:68.57, Z:13.25 [[ 7.64352155e-01 -6.43511502e-01 -4.07275172e-02 2.35158537e+02] [ 6.42571321e-01 7.65436332e-01 -3.47752526e-02 6.85695917e+01] [ 5.35525964e-02 4.10204746e-04 9.98564946e-01 1.32487964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.20, Y:68.60, Z:13.25 [[ 7.64715280e-01 -6.43080221e-01 -4.07230974e-02 2.35204047e+02] [ 6.42139154e-01 7.65798687e-01 -3.47804276e-02 6.86043069e+01] [ 5.35522996e-02 4.47229103e-04 9.98564946e-01 1.32515377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.25, Y:68.64, Z:13.25 [[ 7.64525550e-01 -6.43306036e-01 -4.07188736e-02 2.35251316e+02] [ 6.42365026e-01 7.65609007e-01 -3.47853718e-02 6.86395637e+01] [ 5.35523761e-02 4.37925211e-04 9.98564946e-01 1.32544675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.30, Y:68.67, Z:13.26 [[ 7.63336267e-01 -6.44717297e-01 -4.07105743e-02 2.35299061e+02] [ 6.43777771e-01 7.64421012e-01 -3.47950820e-02 6.86732841e+01] [ 5.35530097e-02 3.51785184e-04 9.98564946e-01 1.32590121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.890385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:235.35, Y:68.71, Z:13.27 [[ 7.63100946e-01 -6.44996401e-01 -4.07012030e-02 2.35345462e+02] [ 6.44056688e-01 7.64185529e-01 -3.48060406e-02 6.87069844e+01] [ 5.35530413e-02 3.46640535e-04 9.98564946e-01 1.32672985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:235.39, Y:68.74, Z:13.27 [[ 7.61314334e-01 -6.47104421e-01 -4.06983300e-02 2.35391322e+02] [ 6.46167531e-01 7.62401356e-01 -3.48093997e-02 6.87448428e+01] [ 5.35537784e-02 2.02955516e-04 9.98564946e-01 1.32661821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:235.44, Y:68.78, Z:13.27 [[ 7.60591170e-01 -6.47954790e-01 -4.06898278e-02 2.35435775e+02] [ 6.47018584e-01 7.61678781e-01 -3.48193353e-02 6.87808160e+01] [ 5.35539336e-02 1.56204145e-04 9.98564946e-01 1.32689256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:68.81, Z:13.28 [[ 7.59584413e-01 -6.49134961e-01 -4.06856508e-02 2.35483987e+02] [ 6.48200183e-01 7.60673252e-01 -3.48242154e-02 6.88125661e+01] [ 5.35541020e-02 7.94848730e-05 9.98564946e-01 1.32788855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.130385723 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:68.85, Z:13.27 [[ 7.58158616e-01 -6.50799947e-01 -4.06809779e-02 2.35530093e+02] [ 6.49867268e-01 7.59249253e-01 -3.48296733e-02 6.88484183e+01] [ 5.35541516e-02 -3.08191012e-05 9.98564946e-01 1.32730049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.190385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:235.58, Y:68.88, Z:13.28 [[ 7.60525407e-01 -6.48033144e-01 -4.06712336e-02 2.35577494e+02] [ 6.47095889e-01 7.61612114e-01 -3.48410482e-02 6.88826841e+01] [ 5.35538582e-02 1.79314240e-04 9.98564946e-01 1.32838458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.62, Y:68.92, Z:13.29 [[ 7.60610570e-01 -6.47933803e-01 -4.06613693e-02 2.35621491e+02] [ 6.46995791e-01 7.61696623e-01 -3.48525566e-02 6.89189070e+01] [ 5.35537772e-02 2.01488157e-04 9.98564946e-01 1.32855899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:68.95, Z:13.29 [[ 7.60482338e-01 -6.48084704e-01 -4.06550080e-02 2.35667862e+02] [ 6.47146511e-01 7.61568234e-01 -3.48599753e-02 6.89534967e+01] [ 5.35537795e-02 2.00648943e-04 9.98564947e-01 1.32908862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.370385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:68.99, Z:13.29 [[ 7.58082263e-01 -6.50891119e-01 -4.06452193e-02 2.35712160e+02] [ 6.49956334e-01 7.59171094e-01 -3.48713849e-02 6.89911952e+01] [ 5.35541503e-02 1.77606752e-05 9.98564947e-01 1.32861498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.76, Y:69.03, Z:13.30 [[ 7.59579949e-01 -6.49142905e-01 -4.06422185e-02 2.35757494e+02] [ 6.48205426e-01 7.60666463e-01 -3.48748819e-02 6.90257607e+01] [ 5.35539547e-02 1.45754529e-04 9.98564947e-01 1.32967692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49038572300003 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:235.80, Y:69.06, Z:13.30 [[ 7.59055988e-01 -6.49755693e-01 -4.06392357e-02 2.35802105e+02] [ 6.48818905e-01 7.60143097e-01 -3.48783573e-02 6.90624864e+01] [ 5.35540457e-02 1.07121532e-04 9.98564947e-01 1.32998079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.85, Y:69.10, Z:13.30 [[ 7.58805102e-01 -6.50049267e-01 -4.06296495e-02 2.35847045e+02] [ 6.49112302e-01 7.59892058e-01 -3.48895207e-02 6.90982059e+01] [ 5.35540554e-02 1.01140972e-04 9.98564947e-01 1.33028981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:235.88, Y:69.15, Z:13.29 [[ 7.54147869e-01 -6.55446898e-01 -4.06245665e-02 2.35884698e+02] [ 6.54517394e-01 7.55241212e-01 -3.48954383e-02 6.91452417e+01] [ 5.35534536e-02 -2.73164973e-04 9.98564947e-01 1.32914303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.93, Y:69.18, Z:13.31 [[ 7.60952705e-01 -6.47534904e-01 -4.06143887e-02 2.35933672e+02] [ 6.46593400e-01 7.62035732e-01 -3.49072801e-02 6.91756710e+01] [ 5.35532977e-02 3.01793518e-04 9.98564947e-01 1.33063233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:235.98, Y:69.21, Z:13.31 [[ 7.59835692e-01 -6.48845563e-01 -4.06098004e-02 2.35978420e+02] [ 6.47905642e-01 7.60920093e-01 -3.49126171e-02 6.92143074e+01] [ 5.35537098e-02 2.16533781e-04 9.98564947e-01 1.33115135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.02, Y:69.26, Z:13.30 [[ 7.53256355e-01 -6.56472687e-01 -4.06014071e-02 2.36018829e+02] [ 6.55543220e-01 7.54349730e-01 -3.49223753e-02 6.92571849e+01] [ 5.35532460e-02 -3.10476002e-04 9.98564947e-01 1.33046711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.07, Y:69.29, Z:13.32 [[ 7.54896261e-01 -6.54586512e-01 -4.05972183e-02 2.36068765e+02] [ 6.53654050e-01 7.55987083e-01 -3.49272442e-02 6.92890720e+01] [ 5.35538755e-02 -1.70090111e-04 9.98564947e-01 1.33198586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.11, Y:69.33, Z:13.32 [[ 7.51850075e-01 -6.58083579e-01 -4.05890124e-02 2.36112228e+02] [ 6.57155677e-01 7.52944777e-01 -3.49367777e-02 6.93270139e+01] [ 5.35526046e-02 -4.06081008e-04 9.98564947e-01 1.33235326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.970385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:236.15, Y:69.37, Z:13.33 [[ 7.50108856e-01 -6.60068185e-01 -4.05794974e-02 2.36154878e+02] [ 6.59142582e-01 7.51205502e-01 -3.49478260e-02 6.93660448e+01] [ 5.35514898e-02 -5.33000931e-04 9.98564947e-01 1.33258483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.20, Y:69.41, Z:13.32 [[ 7.46169158e-01 -6.64519118e-01 -4.05700552e-02 2.36196111e+02] [ 6.63599460e-01 7.47270795e-01 -3.49587837e-02 6.94087601e+01] [ 5.35475975e-02 -8.37100504e-04 9.98564947e-01 1.33240906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.24, Y:69.45, Z:13.33 [[ 7.46397807e-01 -6.64262800e-01 -4.05616269e-02 2.36240302e+02] [ 6.63342232e-01 7.47498684e-01 -3.49685601e-02 6.94456042e+01] [ 5.35480764e-02 -8.05783582e-04 9.98564947e-01 1.33288947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:69.48, Z:13.33 [[ 7.50851206e-01 -6.59225335e-01 -4.05514957e-02 2.36283746e+02] [ 6.58296746e-01 7.51945325e-01 -3.49803049e-02 6.94830772e+01] [ 5.35524108e-02 -4.29913545e-04 9.98564948e-01 1.33336106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:236.33, Y:69.52, Z:13.35 [[ 7.52892003e-01 -6.56893798e-01 -4.05483804e-02 2.36328397e+02] [ 6.55961626e-01 7.53983071e-01 -3.49839156e-02 6.95207368e+01] [ 5.35535096e-02 -2.59071230e-04 9.98564948e-01 1.33495265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.37, Y:69.56, Z:13.34 [[ 7.53598065e-01 -6.56084189e-01 -4.05400107e-02 2.36372028e+02] [ 6.55150323e-01 7.54687684e-01 -3.49936120e-02 6.95601724e+01] [ 5.35538023e-02 -1.88682858e-04 9.98564948e-01 1.33442449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:69.60, Z:13.35 [[ 7.54776281e-01 -6.54728929e-01 -4.05314071e-02 2.36415268e+02] [ 6.53792571e-01 7.55863760e-01 -3.50035743e-02 6.95983035e+01] [ 5.35540744e-02 -7.92652467e-05 9.98564948e-01 1.33491969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.390385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:236.46, Y:69.64, Z:13.35 [[ 7.56588184e-01 -6.52634902e-01 -4.05216587e-02 2.36457354e+02] [ 6.51694930e-01 7.57672540e-01 -3.50148558e-02 6.96366444e+01] [ 5.35540651e-02 8.40666084e-05 9.98564948e-01 1.33512538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.50, Y:69.68, Z:13.35 [[ 7.56840235e-01 -6.52342864e-01 -4.05172246e-02 2.36499934e+02] [ 6.51402200e-01 7.57923990e-01 -3.50199860e-02 6.96759807e+01] [ 5.35540145e-02 1.11525212e-04 9.98564948e-01 1.33531043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.510385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:69.72, Z:13.36 [[ 7.56776448e-01 -6.52417452e-01 -4.05077417e-02 2.36541306e+02] [ 6.51476307e-01 7.57859785e-01 -3.50309514e-02 6.97151276e+01] [ 5.35539925e-02 1.20764944e-04 9.98564948e-01 1.33551994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.570385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:236.58, Y:69.76, Z:13.36 [[ 7.54461026e-01 -6.55094039e-01 -4.05013699e-02 2.36582475e+02] [ 6.54156342e-01 7.55547349e-01 -3.50383167e-02 6.97566046e+01] [ 5.35540951e-02 -5.91836662e-05 9.98564948e-01 1.33612870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.630385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:236.63, Y:69.79, Z:13.36 [[ 7.54748157e-01 -6.54763834e-01 -4.04912376e-02 2.36628273e+02] [ 6.53825034e-01 7.55833527e-01 -3.50500219e-02 6.97929258e+01] [ 5.35541217e-02 -2.02453379e-05 9.98564948e-01 1.33630461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.690385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:236.67, Y:69.83, Z:13.37 [[ 7.52920330e-01 -6.56865400e-01 -4.04823821e-02 2.36669911e+02] [ 6.55929079e-01 7.54007840e-01 -3.50602470e-02 6.98333934e+01] [ 5.35538966e-02 -1.55998838e-04 9.98564948e-01 1.33655241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.750385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:69.87, Z:13.37 [[ 7.51685814e-01 -6.58278331e-01 -4.04731569e-02 2.36713608e+02] [ 6.57343481e-01 7.52774588e-01 -3.50708932e-02 6.98725821e+01] [ 5.35535731e-02 -2.42472964e-04 9.98564948e-01 1.33703935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.810385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:69.91, Z:13.38 [[ 7.50848104e-01 -6.59234171e-01 -4.04652048e-02 2.36755436e+02] [ 6.58300213e-01 7.51937643e-01 -3.50800660e-02 6.99118045e+01] [ 5.35532890e-02 -2.98451895e-04 9.98564948e-01 1.33783628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:69.95, Z:13.38 [[ 7.49931730e-01 -6.60277063e-01 -4.04549304e-02 2.36798456e+02] [ 6.59343981e-01 7.51022019e-01 -3.50919107e-02 6.99508322e+01] [ 5.35529272e-02 -3.57177492e-04 9.98564949e-01 1.33811336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.84, Y:69.99, Z:13.38 [[ 7.49648305e-01 -6.60599122e-01 -4.04502036e-02 2.36841186e+02] [ 6.59666215e-01 7.50738743e-01 -3.50973583e-02 6.99899376e+01] [ 5.35528192e-02 -3.72957535e-04 9.98564949e-01 1.33832917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:236.88, Y:70.03, Z:13.38 [[ 7.49661043e-01 -6.60585260e-01 -4.04405041e-02 2.36883574e+02] [ 6.59651729e-01 7.50750949e-01 -3.51085310e-02 7.00290722e+01] [ 5.35529249e-02 -3.57150485e-04 9.98564949e-01 1.33841440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.93, Y:70.07, Z:13.39 [[ 7.48609987e-01 -6.61776316e-01 -4.04375439e-02 2.36925982e+02] [ 6.60844335e-01 7.49701218e-01 -3.51119402e-02 7.00705105e+01] [ 5.35523263e-02 -4.37772717e-04 9.98564949e-01 1.33887429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.110385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:236.96, Y:70.12, Z:13.39 [[ 7.44104812e-01 -6.66838446e-01 -4.04291503e-02 2.36964716e+02] [ 6.65913363e-01 7.45201896e-01 -3.51216022e-02 7.01157022e+01] [ 5.35483141e-02 -7.88158269e-04 9.98564949e-01 1.33856170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.170385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:237.01, Y:70.15, Z:13.39 [[ 7.43330299e-01 -6.67701876e-01 -4.04261157e-02 2.37007967e+02] [ 6.66777878e-01 7.44428297e-01 -3.51250948e-02 7.01549528e+01] [ 5.35474362e-02 -8.45692413e-04 9.98564949e-01 1.33905983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:237.05, Y:70.20, Z:13.39 [[ 7.43269508e-01 -6.67770159e-01 -4.04160002e-02 2.37048616e+02] [ 6.66845629e-01 7.44367058e-01 -3.51367302e-02 7.01971060e+01] [ 5.35475990e-02 -8.35172880e-04 9.98564949e-01 1.33942676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.290385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:70.24, Z:13.40 [[ 7.45933166e-01 -6.64794022e-01 -4.04056868e-02 2.37090759e+02] [ 6.63864471e-01 7.47026466e-01 -3.51485861e-02 7.02368097e+01] [ 5.35506874e-02 -6.05403727e-04 9.98564949e-01 1.34036824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:237.13, Y:70.28, Z:13.41 [[ 7.47833877e-01 -6.62655710e-01 -4.03968043e-02 2.37131685e+02] [ 6.61722481e-01 7.48924040e-01 -3.51587919e-02 7.02760527e+01] [ 5.35523121e-02 -4.38537901e-04 9.98564949e-01 1.34071002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:237.17, Y:70.32, Z:13.40 [[ 7.47064905e-01 -6.63522777e-01 -4.03924854e-02 2.37169759e+02] [ 6.62590545e-01 7.48155920e-01 -3.51637531e-02 7.03224834e+01] [ 5.35518281e-02 -4.94073027e-04 9.98564949e-01 1.34025296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.470385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:70.36, Z:13.40 [[ 7.49175393e-01 -6.61139476e-01 -4.03834560e-02 2.37210358e+02] [ 6.60203214e-01 7.50262952e-01 -3.51741197e-02 7.03638444e+01] [ 5.35532100e-02 -3.09702552e-04 9.98564949e-01 1.34041687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.530385723 meters Centerline goodness : 0.997356 with order 1 Centerline is valid? [True, True] Translation: X:237.25, Y:70.40, Z:13.41 [[ 7.52353349e-01 -6.57521445e-01 -4.03731021e-02 2.37254579e+02] [ 6.56579316e-01 7.53435829e-01 -3.51860000e-02 7.04008221e+01] [ 5.35540912e-02 -3.58388622e-05 9.98564949e-01 1.34103634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.590385723 meters Centerline goodness : 0.997191 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:70.44, Z:13.41 [[ 7.53805264e-01 -6.55857133e-01 -4.03614312e-02 2.37294470e+02] [ 6.54911897e-01 7.54885032e-01 -3.51993824e-02 7.04433096e+01] [ 5.35540063e-02 1.00298299e-04 9.98564949e-01 1.34146262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.650385723 meters Centerline goodness : 0.997212 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:70.48, Z:13.41 [[ 7.55863083e-01 -6.53485256e-01 -4.03487307e-02 2.37337363e+02] [ 6.52535854e-01 7.56939190e-01 -3.52139350e-02 7.04821567e+01] [ 5.35533228e-02 2.87920031e-04 9.98564950e-01 1.34149204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.710385723 meters Centerline goodness : 0.997531 with order 1 Centerline is valid? [True, True] Translation: X:237.38, Y:70.52, Z:13.42 [[ 7.54766022e-01 -6.54752279e-01 -4.03448317e-02 2.37378877e+02] [ 6.53804446e-01 7.55843510e-01 -3.52184015e-02 7.05242605e+01] [ 5.35537078e-02 2.04022470e-04 9.98564950e-01 1.34229874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.770385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:237.42, Y:70.56, Z:13.42 [[ 7.52647157e-01 -6.57187560e-01 -4.03332112e-02 2.37418864e+02] [ 6.56242499e-01 7.53727079e-01 -3.52317047e-02 7.05649026e+01] [ 5.35540714e-02 4.86750744e-05 9.98564950e-01 1.34240538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:70.60, Z:13.43 [[ 7.50520400e-01 -6.59615756e-01 -4.03259655e-02 2.37461608e+02] [ 6.58673744e-01 7.51602982e-01 -3.52399960e-02 7.06046968e+01] [ 5.35539725e-02 -1.13318790e-04 9.98564950e-01 1.34275796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.50, Y:70.65, Z:13.43 [[ 7.48370799e-01 -6.62054291e-01 -4.03145437e-02 2.37501678e+02] [ 6.61115103e-01 7.49455831e-01 -3.52530578e-02 7.06471576e+01] [ 5.35534080e-02 -2.70194624e-04 9.98564950e-01 1.34291349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.950385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:237.55, Y:70.69, Z:13.43 [[ 7.46140153e-01 -6.64567811e-01 -4.03050486e-02 2.37545759e+02] [ 6.63631691e-01 7.47227833e-01 -3.52639103e-02 7.06861485e+01] [ 5.35523138e-02 -4.35888141e-04 9.98564950e-01 1.34330552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.59, Y:70.73, Z:13.44 [[ 7.44232234e-01 -6.66704314e-01 -4.02956585e-02 2.37587024e+02] [ 6.65770736e-01 7.45322096e-01 -3.52746369e-02 7.07263652e+01] [ 5.35509973e-02 -5.75148435e-04 9.98564950e-01 1.34411331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.070385723 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:70.77, Z:13.44 [[ 7.42592893e-01 -6.68530068e-01 -4.02907270e-02 2.37629807e+02] [ 6.67598864e-01 7.43684785e-01 -3.52802688e-02 7.07659378e+01] [ 5.35495211e-02 -6.99166697e-04 9.98564950e-01 1.34401843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.67, Y:70.81, Z:13.44 [[ 7.41845206e-01 -6.69360324e-01 -4.02796127e-02 2.37671777e+02] [ 6.68429653e-01 7.42937552e-01 -3.52929536e-02 7.08068375e+01] [ 5.35489396e-02 -7.42179128e-04 9.98564950e-01 1.34414234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:70.85, Z:13.44 [[ 7.43365237e-01 -6.67672566e-01 -4.02674689e-02 2.37710980e+02] [ 6.66738666e-01 7.44454822e-01 -3.53068035e-02 7.08483735e+01] [ 5.35506955e-02 -6.02028137e-04 9.98564951e-01 1.34421409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.250385723 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:70.89, Z:13.45 [[ 7.45378408e-01 -6.65424616e-01 -4.02629873e-02 2.37752230e+02] [ 6.64487153e-01 7.46464930e-01 -3.53119135e-02 7.08874955e+01] [ 5.35523245e-02 -4.33499989e-04 9.98564951e-01 1.34486767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.79, Y:70.93, Z:13.45 [[ 7.46219332e-01 -6.64481715e-01 -4.02586397e-02 2.37793964e+02] [ 6.63542612e-01 7.47304436e-01 -3.53168694e-02 7.09279134e+01] [ 5.35528741e-02 -3.59192269e-04 9.98564951e-01 1.34534514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.84, Y:70.97, Z:13.45 [[ 7.46698983e-01 -6.63943261e-01 -4.02489005e-02 2.37836321e+02] [ 6.63002777e-01 7.47782891e-01 -3.53279652e-02 7.09676959e+01] [ 5.35532036e-02 -3.05777099e-04 9.98564951e-01 1.34535905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:71.01, Z:13.46 [[ 7.47826423e-01 -6.62673715e-01 -4.02391396e-02 2.37878826e+02] [ 6.61730793e-01 7.48908210e-01 -3.53390796e-02 7.10065263e+01] [ 5.35537012e-02 -1.99980315e-04 9.98564951e-01 1.34592519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49038572300003 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:237.92, Y:71.05, Z:13.46 [[ 7.49192976e-01 -6.61128966e-01 -4.02290319e-02 2.37920567e+02] [ 6.60183196e-01 7.50272274e-01 -3.53505822e-02 7.10453126e+01] [ 5.35540211e-02 -7.41229530e-05 9.98564951e-01 1.34618162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.96, Y:71.08, Z:13.46 [[ 7.50593026e-01 -6.59539296e-01 -4.02246889e-02 2.37963790e+02] [ 6.58590975e-01 7.51670084e-01 -3.53555233e-02 7.10833193e+01] [ 5.35540522e-02 4.59920699e-05 9.98564951e-01 1.34642344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.00, Y:71.12, Z:13.46 [[ 7.51624118e-01 -6.58364608e-01 -4.02147744e-02 2.38004702e+02] [ 6.57414000e-01 7.52699158e-01 -3.53667969e-02 7.11246601e+01] [ 5.35538742e-02 1.44781868e-04 9.98564951e-01 1.34634984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.05, Y:71.16, Z:13.47 [[ 7.54890217e-01 -6.54617500e-01 -4.02080607e-02 2.38051194e+02] [ 6.53661150e-01 7.55960152e-01 -3.53744280e-02 7.11581279e+01] [ 5.35524113e-02 4.21362436e-04 9.98564951e-01 1.34694878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:71.20, Z:13.47 [[ 7.55584066e-01 -6.53816965e-01 -4.02006879e-02 2.38093579e+02] [ 6.52859036e-01 7.56652586e-01 -3.53828047e-02 7.11954326e+01] [ 5.35518324e-02 4.89301108e-04 9.98564951e-01 1.34729598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:71.23, Z:13.47 [[ 7.56663803e-01 -6.52567332e-01 -4.01966008e-02 2.38137610e+02] [ 6.51607391e-01 7.57730517e-01 -3.53874473e-02 7.12339368e+01] [ 5.35508831e-02 5.83998253e-04 9.98564951e-01 1.34740864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:71.27, Z:13.48 [[ 7.57755100e-01 -6.51300437e-01 -4.01864325e-02 2.38181488e+02] [ 6.50338101e-01 7.58819653e-01 -3.53989907e-02 7.12698344e+01] [ 5.35496329e-02 6.88997500e-04 9.98564951e-01 1.34758853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:71.31, Z:13.48 [[ 7.58354981e-01 -6.50602278e-01 -4.01795854e-02 2.38227388e+02] [ 6.49638550e-01 7.59418274e-01 -3.54067607e-02 7.13058812e+01] [ 5.35488306e-02 7.48685717e-04 9.98564951e-01 1.34780457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.970385723 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:71.34, Z:13.48 [[ 7.58232001e-01 -6.50746205e-01 -4.01697403e-02 2.38272395e+02] [ 6.49782088e-01 7.59294942e-01 -3.54179267e-02 7.13429384e+01] [ 5.35487621e-02 7.53427738e-04 9.98564952e-01 1.34765038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.030385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:238.32, Y:71.38, Z:13.48 [[ 7.58402870e-01 -6.50547669e-01 -4.01598921e-02 2.38318156e+02] [ 6.49582682e-01 7.59465021e-01 -3.54290900e-02 7.13788018e+01] [ 5.35483452e-02 7.82353132e-04 9.98564952e-01 1.34824123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.37, Y:71.41, Z:13.49 [[ 7.57070146e-01 -6.52098748e-01 -4.01499387e-02 2.38365227e+02] [ 6.51135339e-01 7.58133728e-01 -3.54403661e-02 7.14134855e+01] [ 5.35496411e-02 6.87799133e-04 9.98564952e-01 1.34857338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.150385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:238.41, Y:71.45, Z:13.49 [[ 7.56023957e-01 -6.53311984e-01 -4.01401079e-02 2.38410505e+02] [ 6.52349691e-01 7.57088549e-01 -3.54514970e-02 7.14493978e+01] [ 5.35505039e-02 6.16794047e-04 9.98564952e-01 1.34864572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.210385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:71.48, Z:13.49 [[ 7.55337669e-01 -6.54105923e-01 -4.01303827e-02 2.38455358e+02] [ 6.53144165e-01 7.56402744e-01 -3.54625023e-02 7.14840457e+01] [ 5.35509644e-02 5.75238505e-04 9.98564952e-01 1.34883051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.270385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:238.50, Y:71.52, Z:13.49 [[ 7.54660135e-01 -6.54887753e-01 -4.01262034e-02 2.38500433e+02] [ 6.53926847e-01 7.55725979e-01 -3.54672307e-02 7.15191408e+01] [ 5.35514693e-02 5.26103425e-04 9.98564952e-01 1.34946332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.330385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:238.54, Y:71.56, Z:13.49 [[ 7.49697746e-01 -6.60563082e-01 -4.01211268e-02 2.38541966e+02] [ 6.59609938e-01 7.50770536e-01 -3.54729725e-02 7.15620867e+01] [ 5.35538959e-02 1.29713565e-04 9.98564952e-01 1.34878176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.390385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:71.60, Z:13.49 [[ 7.48832983e-01 -6.61543798e-01 -4.01119301e-02 2.38589560e+02] [ 6.60591502e-01 7.49906526e-01 -3.54833688e-02 7.15976241e+01] [ 5.35540007e-02 7.35167083e-05 9.98564952e-01 1.34903874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.450385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:71.63, Z:13.50 [[ 7.51528961e-01 -6.58480050e-01 -4.01029321e-02 2.38638292e+02] [ 6.57522835e-01 7.52598120e-01 -3.54935354e-02 7.16282798e+01] [ 5.35531762e-02 3.05826147e-04 9.98564952e-01 1.35012676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:71.66, Z:13.50 [[ 7.49913124e-01 -6.60319896e-01 -4.00991442e-02 2.38683552e+02] [ 6.59365075e-01 7.50984423e-01 -3.54978142e-02 7.16644499e+01] [ 5.35537457e-02 1.80301536e-04 9.98564952e-01 1.35042577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.73, Y:71.70, Z:13.51 [[ 7.48492073e-01 -6.61930870e-01 -4.00891631e-02 2.38728807e+02] [ 6.60977751e-01 7.49564885e-01 -3.55090828e-02 7.16992901e+01] [ 5.35539870e-02 8.02221068e-05 9.98564952e-01 1.35068700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.77, Y:71.74, Z:13.51 [[ 7.45707021e-01 -6.65067096e-01 -4.00848697e-02 2.38769607e+02] [ 6.64118229e-01 7.46783596e-01 -3.55139288e-02 7.17417983e+01] [ 5.35538686e-02 -1.38106613e-04 9.98564952e-01 1.35053115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.690385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:71.78, Z:13.51 [[ 7.44998313e-01 -6.65861487e-01 -4.00748364e-02 2.38814230e+02] [ 6.64913160e-01 7.46075363e-01 -3.55252470e-02 7.17795775e+01] [ 5.35537419e-02 -1.80036957e-04 9.98564952e-01 1.35092372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:238.86, Y:71.81, Z:13.52 [[ 7.48542639e-01 -6.61875141e-01 -4.00651447e-02 2.38862643e+02] [ 6.60920492e-01 7.49614089e-01 -3.55361739e-02 7.18112387e+01] [ 5.35539071e-02 1.20466190e-04 9.98564953e-01 1.35153642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.810385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.90, Y:71.86, Z:13.51 [[ 7.48096874e-01 -6.62379204e-01 -4.00606693e-02 2.38899197e+02] [ 6.61425007e-01 7.49168727e-01 -3.55412184e-02 7.18574713e+01] [ 5.35539646e-02 9.11459657e-05 9.98564953e-01 1.35114993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.870385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:71.89, Z:13.52 [[ 7.53505495e-01 -6.56220563e-01 -4.00505012e-02 2.38945920e+02] [ 6.55256997e-01 7.54568933e-01 -3.55526729e-02 7.18909880e+01] [ 5.35512590e-02 5.45763208e-04 9.98564953e-01 1.35169099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93038572300003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.99, Y:71.93, Z:13.52 [[ 7.52124976e-01 -6.57803009e-01 -4.00402663e-02 2.38989047e+02] [ 6.56841067e-01 7.53189883e-01 -3.55641959e-02 7.19296173e+01] [ 5.35521586e-02 4.48628690e-04 9.98564953e-01 1.35163218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.03, Y:71.96, Z:13.52 [[ 7.54233475e-01 -6.55385012e-01 -4.00293658e-02 2.39033960e+02] [ 6.54419006e-01 7.55294697e-01 -3.55764608e-02 7.19641013e+01] [ 5.35502469e-02 6.36979843e-04 9.98564953e-01 1.35219656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.08, Y:72.00, Z:13.52 [[ 7.53298384e-01 -6.56460021e-01 -4.00223124e-02 2.39079028e+02] [ 6.55495108e-01 7.54360600e-01 -3.55843939e-02 7.19991705e+01] [ 5.35509875e-02 5.71236387e-04 9.98564953e-01 1.35248830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:72.04, Z:13.53 [[ 7.48826387e-01 -6.61556952e-01 -4.00180156e-02 2.39123201e+02] [ 6.60599011e-01 7.49894895e-01 -3.55892254e-02 7.20368292e+01] [ 5.35536051e-02 2.14289624e-04 9.98564953e-01 1.35261018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.17, Y:72.07, Z:13.53 [[ 7.51387990e-01 -6.58646726e-01 -4.00072490e-02 2.39170540e+02] [ 6.57684002e-01 7.52452190e-01 -3.56013245e-02 7.20687011e+01] [ 5.35522379e-02 4.38279983e-04 9.98564953e-01 1.35321664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.230385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:239.21, Y:72.11, Z:13.53 [[ 7.48555193e-01 -6.61864723e-01 -4.00026368e-02 2.39214072e+02] [ 6.60906298e-01 7.49623267e-01 -3.56065061e-02 7.21079361e+01] [ 5.35535976e-02 2.15440506e-04 9.98564953e-01 1.35331465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:72.14, Z:13.54 [[ 7.49181403e-01 -6.61156448e-01 -3.99922029e-02 2.39264594e+02] [ 6.60196388e-01 7.50248007e-01 -3.56182213e-02 7.21373045e+01] [ 5.35532872e-02 2.81801193e-04 9.98564953e-01 1.35406901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.31, Y:72.17, Z:13.54 [[ 7.47989708e-01 -6.62504619e-01 -3.99878214e-02 2.39310727e+02] [ 6.61546219e-01 7.49057803e-01 -3.56231396e-02 7.21717301e+01] [ 5.35536842e-02 1.91949771e-04 9.98564953e-01 1.35426264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.36, Y:72.21, Z:13.54 [[ 7.47616313e-01 -6.62926270e-01 -3.99826113e-02 2.39355173e+02] [ 6.61968159e-01 7.48684668e-01 -3.56289863e-02 7.22086948e+01] [ 5.35537591e-02 1.69595804e-04 9.98564953e-01 1.35446742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:239.40, Y:72.24, Z:13.55 [[ 7.47573659e-01 -6.62974910e-01 -3.99736398e-02 2.39401945e+02] [ 6.62016331e-01 7.48641594e-01 -3.56390491e-02 7.22433498e+01] [ 5.35537248e-02 1.79612017e-04 9.98564953e-01 1.35487792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:72.28, Z:13.55 [[ 7.45816288e-01 -6.64951838e-01 -3.99639690e-02 2.39448970e+02] [ 6.63995508e-01 7.46886237e-01 -3.56498901e-02 7.22777019e+01] [ 5.35539984e-02 5.23728390e-05 9.98564954e-01 1.35519679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.49, Y:72.31, Z:13.56 [[ 7.44897929e-01 -6.65981029e-01 -3.99542828e-02 2.39493948e+02] [ 6.65025595e-01 7.45968678e-01 -3.56607426e-02 7.23129710e+01] [ 5.35540216e-02 -7.00735744e-06 9.98564954e-01 1.35551296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.54, Y:72.35, Z:13.56 [[ 7.44589409e-01 -6.66326337e-01 -3.99477665e-02 2.39540111e+02] [ 6.65371008e-01 7.45660253e-01 -3.56680407e-02 7.23471261e+01] [ 5.35540166e-02 -2.20403490e-05 9.98564954e-01 1.35606988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:72.39, Z:13.56 [[ 7.44382942e-01 -6.66557313e-01 -3.99422490e-02 2.39584540e+02] [ 6.65601985e-01 7.45453786e-01 -3.56742184e-02 7.23851907e+01] [ 5.35540119e-02 -3.03605910e-05 9.98564954e-01 1.35639357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:72.42, Z:13.57 [[ 7.44557504e-01 -6.66362872e-01 -3.99330202e-02 2.39630076e+02] [ 6.65406711e-01 7.45627603e-01 -3.56845459e-02 7.24210300e+01] [ 5.35540186e-02 -2.50325698e-06 9.98564954e-01 1.35659544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:72.46, Z:13.57 [[ 7.44293575e-01 -6.66658210e-01 -3.99237379e-02 2.39675198e+02] [ 6.65701916e-01 7.45363556e-01 -3.56949280e-02 7.24576861e+01] [ 5.35540160e-02 -9.80323360e-06 9.98564954e-01 1.35684023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.72, Y:72.50, Z:13.57 [[ 7.43595527e-01 -6.67437286e-01 -3.99144181e-02 2.39718779e+02] [ 6.66481554e-01 7.44666010e-01 -3.57053464e-02 7.24955031e+01] [ 5.35539899e-02 -5.18875431e-05 9.98564954e-01 1.35735960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.76, Y:72.53, Z:13.58 [[ 7.42075133e-01 -6.69127880e-01 -3.99046023e-02 2.39761744e+02] [ 6.68173997e-01 7.43147263e-01 -3.57163132e-02 7.25337622e+01] [ 5.35537769e-02 -1.59029807e-04 9.98564954e-01 1.35779747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.80, Y:72.57, Z:13.58 [[ 7.41414727e-01 -6.69860148e-01 -3.98946688e-02 2.39804462e+02] [ 6.68906727e-01 7.42487268e-01 -3.57274054e-02 7.25728900e+01] [ 5.35536487e-02 -1.96987792e-04 9.98564954e-01 1.35812881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.85, Y:72.61, Z:13.58 [[ 7.39968592e-01 -6.71457880e-01 -3.98848130e-02 2.39846379e+02] [ 6.70506182e-01 7.41042662e-01 -3.57384047e-02 7.26135104e+01] [ 5.35531814e-02 -2.97716622e-04 9.98564954e-01 1.35849157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:72.65, Z:13.59 [[ 7.37515391e-01 -6.74152082e-01 -3.98750243e-02 2.39888192e+02] [ 6.73203717e-01 7.38592405e-01 -3.57493231e-02 7.26543423e+01] [ 5.35518707e-02 -4.78338550e-04 9.98564955e-01 1.35876742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:72.70, Z:13.59 [[ 7.35543113e-01 -6.76303986e-01 -3.98653690e-02 2.39928772e+02] [ 6.75358189e-01 7.36622382e-01 -3.57600868e-02 7.26964502e+01] [ 5.35504123e-02 -6.20317811e-04 9.98564955e-01 1.35931435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.97, Y:72.73, Z:13.59 [[ 7.35622602e-01 -6.76218061e-01 -3.98562631e-02 2.39971958e+02] [ 6.75271587e-01 7.36701278e-01 -3.57702329e-02 7.27345224e+01] [ 5.35506375e-02 -6.00410208e-04 9.98564955e-01 1.35922808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.01, Y:72.78, Z:13.59 [[ 7.34674578e-01 -6.77248246e-01 -3.98506824e-02 2.40012912e+02] [ 6.76302948e-01 7.35754285e-01 -3.57764491e-02 7.27758735e+01] [ 5.35498478e-02 -6.67086303e-04 9.98564955e-01 1.35943402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.06, Y:72.81, Z:13.60 [[ 7.34019797e-01 -6.77958438e-01 -3.98408600e-02 2.40055692e+02] [ 6.77013591e-01 7.35099899e-01 -3.57873841e-02 7.28149289e+01] [ 5.35493711e-02 -7.04155256e-04 9.98564955e-01 1.35978462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:72.85, Z:13.60 [[ 7.34168129e-01 -6.77798377e-01 -3.98311341e-02 2.40098920e+02] [ 6.76852707e-01 7.35247510e-01 -3.57982057e-02 7.28538403e+01] [ 5.35497079e-02 -6.77909257e-04 9.98564955e-01 1.36001514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.14, Y:72.89, Z:13.61 [[ 7.33765504e-01 -6.78234402e-01 -3.98281453e-02 2.40141466e+02] [ 6.77289194e-01 7.34845288e-01 -3.58015306e-02 7.28945420e+01] [ 5.35493546e-02 -7.05244300e-04 9.98564955e-01 1.36087289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:72.94, Z:13.60 [[ 7.29420520e-01 -6.82905649e-01 -3.98193443e-02 2.40180739e+02] [ 6.81966820e-01 7.30505856e-01 -3.58113166e-02 7.29402830e+01] [ 5.35440146e-02 -1.03396245e-03 9.98564955e-01 1.35994399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:72.97, Z:13.61 [[ 7.34831810e-01 -6.77079997e-01 -3.98106590e-02 2.40231047e+02] [ 6.76132039e-01 7.35909182e-01 -3.58209693e-02 7.29701095e+01] [ 5.35506913e-02 -5.94874310e-04 9.98564955e-01 1.36136021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.27, Y:73.01, Z:13.62 [[ 7.34961489e-01 -6.76939507e-01 -3.98059558e-02 2.40273793e+02] [ 6.75991060e-01 7.36038430e-01 -3.58261949e-02 7.30070821e+01] [ 5.35508800e-02 -5.77596741e-04 9.98564955e-01 1.36164400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.32, Y:73.05, Z:13.62 [[ 7.35909903e-01 -6.75908671e-01 -3.98005409e-02 2.40315902e+02] [ 6.74958390e-01 7.36985227e-01 -3.58322095e-02 7.30464788e+01] [ 5.35517118e-02 -4.94431152e-04 9.98564955e-01 1.36174697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.790385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:240.36, Y:73.09, Z:13.62 [[ 7.36539676e-01 -6.75222573e-01 -3.97967658e-02 2.40360660e+02] [ 6.74271064e-01 7.37613913e-01 -3.58364019e-02 7.30851139e+01] [ 5.35521956e-02 -4.38875782e-04 9.98564955e-01 1.36224658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.850385723 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:240.40, Y:73.13, Z:13.62 [[ 7.34905097e-01 -6.77001783e-01 -3.97879876e-02 2.40402480e+02] [ 6.76052348e-01 7.35981166e-01 -3.58461454e-02 7.31269006e+01] [ 5.35511138e-02 -5.55247509e-04 9.98564955e-01 1.36190432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.910385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:240.45, Y:73.16, Z:13.63 [[ 7.36510509e-01 -6.75255228e-01 -3.97824901e-02 2.40445620e+02] [ 6.74302911e-01 7.37584029e-01 -3.58522455e-02 7.31645650e+01] [ 5.35523456e-02 -4.19893286e-04 9.98564955e-01 1.36273590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.970385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:240.49, Y:73.20, Z:13.63 [[ 7.36409778e-01 -6.75365415e-01 -3.97768080e-02 2.40488922e+02] [ 6.74412919e-01 7.37483139e-01 -3.58585485e-02 7.32028371e+01] [ 5.35523487e-02 -4.19407490e-04 9.98564955e-01 1.36329987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.030385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:240.53, Y:73.24, Z:13.64 [[ 7.35722601e-01 -6.76114514e-01 -3.97670421e-02 2.40531560e+02] [ 6.75162525e-01 7.36796412e-01 -3.58693755e-02 7.32434581e+01] [ 5.35520194e-02 -4.59306315e-04 9.98564955e-01 1.36388393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.090385723 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:73.29, Z:13.64 [[ 7.34584993e-01 -6.77350837e-01 -3.97584114e-02 2.40570947e+02] [ 6.76400138e-01 7.35659946e-01 -3.58789395e-02 7.32865083e+01] [ 5.35513005e-02 -5.36464407e-04 9.98564956e-01 1.36387343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.150385723 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:240.62, Y:73.32, Z:13.64 [[ 7.34210558e-01 -6.77757258e-01 -3.97486549e-02 2.40615047e+02] [ 6.76806569e-01 7.35285519e-01 -3.58897450e-02 7.33237461e+01] [ 5.35511456e-02 -5.51521069e-04 9.98564956e-01 1.36445422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.66, Y:73.36, Z:13.65 [[ 7.33443633e-01 -6.78587706e-01 -3.97386816e-02 2.40657175e+02] [ 6.77637636e-01 7.34519141e-01 -3.59007846e-02 7.33637023e+01] [ 5.35506533e-02 -5.97224361e-04 9.98564956e-01 1.36494926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:73.41, Z:13.65 [[ 7.33624760e-01 -6.78392139e-01 -3.97343304e-02 2.40698788e+02] [ 6.77441521e-01 7.34699785e-01 -3.59055997e-02 7.34056111e+01] [ 5.35508806e-02 -5.76448214e-04 9.98564956e-01 1.36530505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.330385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:73.45, Z:13.65 [[ 7.35080816e-01 -6.76814651e-01 -3.97255927e-02 2.40740643e+02] [ 6.75861204e-01 7.36153331e-01 -3.59152644e-02 7.34457855e+01] [ 5.35521046e-02 -4.48365068e-04 9.98564956e-01 1.36545171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.390385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:240.78, Y:73.49, Z:13.66 [[ 7.36881302e-01 -6.74854504e-01 -3.97157987e-02 2.40783917e+02] [ 6.73897620e-01 7.37950753e-01 -3.59260916e-02 7.34853902e+01] [ 5.35531883e-02 -2.91117037e-04 9.98564956e-01 1.36564601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.450385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:240.83, Y:73.53, Z:13.66 [[ 7.37528287e-01 -6.74147873e-01 -3.97073192e-02 2.40825379e+02] [ 6.73189460e-01 7.38596368e-01 -3.59354611e-02 7.35261467e+01] [ 5.35534964e-02 -2.27129697e-04 9.98564956e-01 1.36577829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.510385723 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:73.57, Z:13.66 [[ 7.38652639e-01 -6.72916318e-01 -3.96977026e-02 2.40868925e+02] [ 6.71955553e-01 7.39718604e-01 -3.59460813e-02 7.35654850e+01] [ 5.35538339e-02 -1.23423914e-04 9.98564956e-01 1.36616984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.570385723 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:73.60, Z:13.66 [[ 7.38483721e-01 -6.73102182e-01 -3.96893825e-02 2.40912416e+02] [ 6.72141192e-01 7.39549483e-01 -3.59552655e-02 7.36029124e+01] [ 5.35538300e-02 -1.24490624e-04 9.98564956e-01 1.36631983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.630385723 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:240.96, Y:73.64, Z:13.67 [[ 7.38548101e-01 -6.73031853e-01 -3.96840952e-02 2.40956846e+02] [ 6.72070448e-01 7.39613489e-01 -3.59611002e-02 7.36400335e+01] [ 5.35538580e-02 -1.11505341e-04 9.98564956e-01 1.36659823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.690385723 meters Centerline goodness : 0.997094 with order 1 Centerline is valid? [True, True] Translation: X:241.00, Y:73.68, Z:13.67 [[ 7.35626368e-01 -6.76224673e-01 -3.96741438e-02 2.40999445e+02] [ 6.75267300e-01 7.36695380e-01 -3.59720758e-02 7.36797332e+01] [ 5.35529637e-02 -3.28644492e-04 9.98564956e-01 1.36712073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.750385723 meters Centerline goodness : 0.996861 with order 1 Centerline is valid? [True, True] Translation: X:241.04, Y:73.72, Z:13.67 [[ 7.34769469e-01 -6.77156322e-01 -3.96628589e-02 2.41041558e+02] [ 6.76199633e-01 7.35839093e-01 -3.59845143e-02 7.37194423e+01] [ 5.35526235e-02 -3.79688166e-04 9.98564957e-01 1.36722413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.810385723 meters Centerline goodness : 0.996828 with order 1 Centerline is valid? [True, True] Translation: X:241.09, Y:73.76, Z:13.68 [[ 7.32874821e-01 -6.79206986e-01 -3.96530737e-02 2.41085434e+02] [ 6.78252707e-01 7.33946595e-01 -3.59952938e-02 7.37575520e+01] [ 5.35514935e-02 -5.14760093e-04 9.98564957e-01 1.36751989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.870385723 meters Centerline goodness : 0.996975 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:73.80, Z:13.68 [[ 7.30758543e-01 -6.81483940e-01 -3.96433087e-02 2.41128543e+02] [ 6.80532416e-01 7.31832765e-01 -3.60060453e-02 7.37964834e+01] [ 5.35498138e-02 -6.66831433e-04 9.98564957e-01 1.36785097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93038572300003 meters Centerline goodness : 0.996750 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:73.84, Z:13.68 [[ 7.27230569e-01 -6.85248035e-01 -3.96337045e-02 2.41172294e+02] [ 6.84301495e-01 7.28309184e-01 -3.60166140e-02 7.38361983e+01] [ 5.35459050e-02 -9.29020519e-04 9.98564957e-01 1.36811398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99038572300003 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:73.88, Z:13.69 [[ 7.25456552e-01 -6.87126347e-01 -3.96254168e-02 2.41214160e+02] [ 6.86182102e-01 7.26537177e-01 -3.60257298e-02 7.38753125e+01] [ 5.35435666e-02 -1.05515012e-03 9.98564957e-01 1.36864280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.050385723 meters Centerline goodness : 0.997029 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:73.92, Z:13.69 [[ 7.24788732e-01 -6.87831104e-01 -3.96190254e-02 2.41256104e+02] [ 6.86887525e-01 7.25869939e-01 -3.60327573e-02 7.39152056e+01] [ 5.35427108e-02 -1.09767783e-03 9.98564957e-01 1.36912758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.110385723 meters Centerline goodness : 0.997253 with order 1 Centerline is valid? [True, True] Translation: X:241.30, Y:73.96, Z:13.69 [[ 7.24649595e-01 -6.87978265e-01 -3.96089906e-02 2.41297213e+02] [ 6.87034304e-01 7.25730467e-01 -3.60437848e-02 7.39559536e+01] [ 5.35427917e-02 -1.09362124e-03 9.98564957e-01 1.36943717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.170385723 meters Centerline goodness : 0.997436 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:74.00, Z:13.70 [[ 7.25176211e-01 -6.87423447e-01 -3.96038746e-02 2.41338616e+02] [ 6.86478353e-01 7.26256093e-01 -3.60494051e-02 7.39963902e+01] [ 5.35437616e-02 -1.04503160e-03 9.98564957e-01 1.36983141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.230385723 meters Centerline goodness : 0.997196 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:74.04, Z:13.70 [[ 7.28703759e-01 -6.83683527e-01 -3.95937631e-02 2.41376987e+02] [ 6.82732286e-01 7.29778230e-01 -3.60605074e-02 7.40392814e+01] [ 5.35486413e-02 -7.54513123e-04 9.98564957e-01 1.37004930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.290385723 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:241.42, Y:74.08, Z:13.70 [[ 7.32474976e-01 -6.79641965e-01 -3.95879786e-02 2.41415693e+02] [ 6.78684452e-01 7.33543861e-01 -3.60668566e-02 7.40829868e+01] [ 5.35520680e-02 -4.49675639e-04 9.98564957e-01 1.37024466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.350385723 meters Centerline goodness : 0.997372 with order 1 Centerline is valid? [True, True] Translation: X:241.46, Y:74.13, Z:13.71 [[ 7.34468632e-01 -6.77487573e-01 -3.95779981e-02 2.41455247e+02] [ 6.76526334e-01 7.35534168e-01 -3.60778054e-02 7.41265106e+01] [ 5.35532347e-02 -2.77541632e-04 9.98564957e-01 1.37050408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.410385723 meters Centerline goodness : 0.997511 with order 1 Centerline is valid? [True, True] Translation: X:241.49, Y:74.17, Z:13.71 [[ 7.34116744e-01 -6.77869373e-01 -3.95691667e-02 2.41494029e+02] [ 6.76908166e-01 7.35182309e-01 -3.60874888e-02 7.41694478e+01] [ 5.35531548e-02 -2.92262290e-04 9.98564957e-01 1.37074457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.470385723 meters Centerline goodness : 0.997723 with order 1 Centerline is valid? [True, True] Translation: X:241.54, Y:74.21, Z:13.71 [[ 7.33095159e-01 -6.78974360e-01 -3.95639502e-02 2.41535115e+02] [ 6.78014451e-01 7.34161893e-01 -3.60932070e-02 7.42110231e+01] [ 5.35527067e-02 -3.65174699e-04 9.98564957e-01 1.37090594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.530385723 meters Centerline goodness : 0.997967 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:74.25, Z:13.71 [[ 7.32007964e-01 -6.80146913e-01 -3.95539804e-02 2.41577157e+02] [ 6.79188122e-01 7.33075703e-01 -3.61041294e-02 7.42511836e+01] [ 5.35521742e-02 -4.36083413e-04 9.98564958e-01 1.37118720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.590385723 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:74.29, Z:13.71 [[ 7.31522480e-01 -6.80669619e-01 -3.95440373e-02 2.41618600e+02] [ 6.79711003e-01 7.32590376e-01 -3.61150166e-02 7.42921657e+01] [ 5.35519758e-02 -4.59570703e-04 9.98564958e-01 1.37145294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.650385723 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:74.33, Z:13.71 [[ 7.30793265e-01 -6.81453063e-01 -3.95338686e-02 2.41658844e+02] [ 6.80494989e-01 7.31861648e-01 -3.61261445e-02 7.43338868e+01] [ 5.35515941e-02 -5.01856396e-04 9.98564958e-01 1.37147968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.710385723 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:241.70, Y:74.38, Z:13.72 [[ 7.27716185e-01 -6.84738695e-01 -3.95230788e-02 2.41697642e+02] [ 6.83784804e-01 7.28788303e-01 -3.61379451e-02 7.43757294e+01] [ 5.35490069e-02 -7.27113103e-04 9.98564958e-01 1.37175427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.770385723 meters Centerline goodness : 0.998353 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:74.42, Z:13.72 [[ 7.27261304e-01 -6.85222180e-01 -3.95165636e-02 2.41737630e+02] [ 6.84268615e-01 7.28333712e-01 -3.61450680e-02 7.44164465e+01] [ 5.35486478e-02 -7.53034920e-04 9.98564958e-01 1.37205271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.830385723 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:241.78, Y:74.46, Z:13.72 [[ 7.24983398e-01 -6.87632367e-01 -3.95069727e-02 2.41779043e+02] [ 6.86681796e-01 7.26058460e-01 -3.61555479e-02 7.44572872e+01] [ 5.35460968e-02 -9.16546993e-04 9.98564958e-01 1.37240150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.890385723 meters Centerline goodness : 0.998549 with order 1 Centerline is valid? [True, True] Translation: X:241.82, Y:74.50, Z:13.73 [[ 7.24675933e-01 -6.87956960e-01 -3.94970154e-02 2.41818695e+02] [ 6.87006278e-01 7.25750897e-01 -3.61664222e-02 7.44995378e+01] [ 5.35459362e-02 -9.25761821e-04 9.98564958e-01 1.37275337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.950385723 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:241.86, Y:74.54, Z:13.73 [[ 7.25679054e-01 -6.86899318e-01 -3.94871808e-02 2.41861271e+02] [ 6.85946485e-01 7.26752113e-01 -3.61771566e-02 7.45389644e+01] [ 5.35474563e-02 -8.33088111e-04 9.98564958e-01 1.37277843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.010385723 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:241.90, Y:74.58, Z:13.73 [[ 7.26021352e-01 -6.86538185e-01 -3.94755242e-02 2.41900155e+02] [ 6.85584128e-01 7.27093321e-01 -3.61898716e-02 7.45803662e+01] [ 5.35481187e-02 -7.89173326e-04 9.98564958e-01 1.37334535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.070385723 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:241.94, Y:74.62, Z:13.74 [[ 7.27786896e-01 -6.84666658e-01 -3.94689999e-02 2.41940244e+02] [ 6.83709458e-01 7.28856060e-01 -3.61969856e-02 7.46231761e+01] [ 5.35500889e-02 -6.41636681e-04 9.98564958e-01 1.37355600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.130385723 meters Centerline goodness : 0.995182 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:74.66, Z:13.74 [[ 7.29074148e-01 -6.83296324e-01 -3.94590904e-02 2.41983495e+02] [ 6.82336530e-01 7.30140984e-01 -3.62077850e-02 7.46619539e+01] [ 5.35513454e-02 -5.26218848e-04 9.98564959e-01 1.37390007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.190385723 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:242.02, Y:74.70, Z:13.74 [[ 7.28282594e-01 -6.84140635e-01 -3.94468648e-02 2.42022706e+02] [ 6.83181356e-01 7.29349893e-01 -3.62210994e-02 7.47049800e+01] [ 5.35508925e-02 -5.70166338e-04 9.98564959e-01 1.37397149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.250385723 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:242.06, Y:74.74, Z:13.75 [[ 7.30426896e-01 -6.81851544e-01 -3.94337567e-02 2.42064500e+02] [ 6.80888150e-01 7.31490482e-01 -3.62353644e-02 7.47436796e+01] [ 5.35525569e-02 -3.82692888e-04 9.98564959e-01 1.37458715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.310385723 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:242.11, Y:74.78, Z:13.75 [[ 7.30919955e-01 -6.81323237e-01 -3.94292672e-02 2.42107286e+02] [ 6.80358811e-01 7.31982605e-01 -3.62402490e-02 7.47834307e+01] [ 5.35528615e-02 -3.37328161e-04 9.98564959e-01 1.37490448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.370385723 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:74.83, Z:13.75 [[ 7.30150867e-01 -6.82147967e-01 -3.94190663e-02 2.42147618e+02] [ 6.81184142e-01 7.31214062e-01 -3.62513414e-02 7.48262526e+01] [ 5.35525544e-02 -3.82694492e-04 9.98564959e-01 1.37486049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43038572300003 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:74.86, Z:13.75 [[ 7.31471358e-01 -6.80732386e-01 -3.94090323e-02 2.42191412e+02] [ 6.79765916e-01 7.32532149e-01 -3.62622460e-02 7.48635608e+01] [ 5.35532684e-02 -2.64122593e-04 9.98564959e-01 1.37542375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49038572300003 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:74.90, Z:13.76 [[ 7.31141117e-01 -6.81087646e-01 -3.93990588e-02 2.42234207e+02] [ 6.80121108e-01 7.32201846e-01 -3.62730791e-02 7.49028418e+01] [ 5.35532096e-02 -2.75391914e-04 9.98564959e-01 1.37575202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.550385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:74.94, Z:13.76 [[ 7.30753429e-01 -6.81504165e-01 -3.93890822e-02 2.42276451e+02] [ 6.80537647e-01 7.31814176e-01 -3.62839094e-02 7.49418792e+01] [ 5.35531242e-02 -2.91162109e-04 9.98564959e-01 1.37605160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.32, Y:74.98, Z:13.76 [[ 7.29582239e-01 -6.82758408e-01 -3.93790944e-02 2.42319396e+02] [ 6.81793129e-01 7.30644113e-01 -3.62947460e-02 7.49804282e+01] [ 5.35526466e-02 -3.68393949e-04 9.98564960e-01 1.37588439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.36, Y:75.02, Z:13.76 [[ 7.26206857e-01 -6.86348099e-01 -3.93686173e-02 2.42361827e+02] [ 6.85387452e-01 7.27272925e-01 -3.63061069e-02 7.50215450e+01] [ 5.35503569e-02 -6.17012492e-04 9.98564960e-01 1.37579345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.730385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:242.41, Y:75.06, Z:13.77 [[ 7.32295437e-01 -6.79848735e-01 -3.93584780e-02 2.42407037e+02] [ 6.78878035e-01 7.33352359e-01 -3.63170954e-02 7.50567247e+01] [ 5.35537640e-02 -1.24762987e-04 9.98564960e-01 1.37677359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:75.10, Z:13.77 [[ 7.34897211e-01 -6.77035642e-01 -3.93551491e-02 2.42449770e+02] [ 6.76060704e-01 7.35950224e-01 -3.63207024e-02 7.50965916e+01] [ 5.35538408e-02 8.55131478e-05 9.98564960e-01 1.37707591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.49, Y:75.13, Z:13.78 [[ 7.37388342e-01 -6.74322160e-01 -3.93453647e-02 2.42494374e+02] [ 6.73342781e-01 7.38437226e-01 -3.63312985e-02 7.51339372e+01] [ 5.35530816e-02 2.97358609e-04 9.98564960e-01 1.37753554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.54, Y:75.17, Z:13.77 [[ 7.35680600e-01 -6.76185453e-01 -3.93355799e-02 2.42535716e+02] [ 6.75208164e-01 7.36731431e-01 -3.63418894e-02 7.51746164e+01] [ 5.35536150e-02 1.76318298e-04 9.98564960e-01 1.37745481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:75.21, Z:13.78 [[ 7.37287921e-01 -6.74433138e-01 -3.93250971e-02 2.42581182e+02] [ 6.73452747e-01 7.38335858e-01 -3.63532291e-02 7.52087968e+01] [ 5.35529517e-02 3.19202065e-04 9.98564960e-01 1.37807141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.030385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:242.63, Y:75.25, Z:13.78 [[ 7.36699499e-01 -6.75076086e-01 -3.93208100e-02 2.42626274e+02] [ 6.74096362e-01 7.37748060e-01 -3.63578656e-02 7.52472605e+01] [ 5.35531769e-02 2.78806412e-04 9.98564960e-01 1.37847022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.090385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:75.28, Z:13.79 [[ 7.35974142e-01 -6.75867345e-01 -3.93115068e-02 2.42670755e+02] [ 6.74888211e-01 7.37023254e-01 -3.63679218e-02 7.52841354e+01] [ 5.35533854e-02 2.34977584e-04 9.98564960e-01 1.37861540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:75.32, Z:13.79 [[ 7.35808139e-01 -6.76048680e-01 -3.93009412e-02 2.42717943e+02] [ 6.75069195e-01 7.36856923e-01 -3.63793360e-02 7.53203315e+01] [ 5.35533727e-02 2.37356789e-04 9.98564960e-01 1.37882146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.76, Y:75.36, Z:13.79 [[ 7.34321975e-01 -6.77663172e-01 -3.92920166e-02 2.42762945e+02] [ 6.76685477e-01 7.35372428e-01 -3.63889725e-02 7.53581658e+01] [ 5.35537322e-02 1.32885185e-04 9.98564960e-01 1.37918891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:75.40, Z:13.79 [[ 7.34131241e-01 -6.77870370e-01 -3.92820993e-02 2.42807968e+02] [ 6.76892399e-01 7.35181436e-01 -3.63996752e-02 7.53951534e+01] [ 5.35537314e-02 1.32384296e-04 9.98564961e-01 1.37945921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.85, Y:75.43, Z:13.80 [[ 7.34894242e-01 -6.77043298e-01 -3.92788237e-02 2.42854077e+02] [ 6.76063956e-01 7.35943160e-01 -3.64032095e-02 7.54309957e+01] [ 5.35535306e-02 1.97512089e-04 9.98564961e-01 1.38010219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:75.47, Z:13.80 [[ 7.33767408e-01 -6.78264897e-01 -3.92698529e-02 2.42899368e+02] [ 6.77286783e-01 7.34817470e-01 -3.64128842e-02 7.54678496e+01] [ 5.35537551e-02 1.21635293e-04 9.98564961e-01 1.38048750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:75.51, Z:13.80 [[ 7.31276097e-01 -6.80950756e-01 -3.92598843e-02 2.42942952e+02] [ 6.79975922e-01 7.32329205e-01 -3.64236290e-02 7.55078385e+01] [ 5.35538576e-02 -6.00468048e-05 9.98564961e-01 1.38040012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:75.54, Z:13.81 [[ 7.31991611e-01 -6.80182057e-01 -3.92511261e-02 2.42988541e+02] [ 6.79205611e-01 7.33043225e-01 -3.64330647e-02 7.55429601e+01] [ 5.35538889e-02 9.11267749e-06 9.98564961e-01 1.38094752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.03, Y:75.58, Z:13.81 [[ 7.29253503e-01 -6.83117061e-01 -3.92480542e-02 2.43030343e+02] [ 6.82144669e-01 7.30308867e-01 -3.64363736e-02 7.55842154e+01] [ 5.35535104e-02 -2.01497853e-04 9.98564961e-01 1.38105059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.08, Y:75.62, Z:13.82 [[ 7.30021134e-01 -6.82297195e-01 -3.92387783e-02 2.43076894e+02] [ 6.81323081e-01 7.31074909e-01 -3.64463602e-02 7.56186811e+01] [ 5.35537356e-02 -1.27672070e-04 9.98564961e-01 1.38159717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.12, Y:75.66, Z:13.82 [[ 7.27951450e-01 -6.84505212e-01 -3.92339356e-02 2.43119814e+02] [ 6.83534014e-01 7.29007911e-01 -3.64515726e-02 7.56592721e+01] [ 5.35531409e-02 -2.82754365e-04 9.98564961e-01 1.38164547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.17, Y:75.69, Z:13.82 [[ 7.29576753e-01 -6.82773158e-01 -3.92246900e-02 2.43167318e+02] [ 6.81798917e-01 7.30630409e-01 -3.64615188e-02 7.56931707e+01] [ 5.35536977e-02 -1.41874709e-04 9.98564961e-01 1.38228893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:75.73, Z:13.83 [[ 7.28431833e-01 -6.83994695e-01 -3.92214520e-02 2.43210090e+02] [ 6.83022033e-01 7.29486947e-01 -3.64650016e-02 7.57319301e+01] [ 5.35534049e-02 -2.26847954e-04 9.98564961e-01 1.38263519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.26, Y:75.77, Z:13.83 [[ 7.27771656e-01 -6.84697675e-01 -3.92111108e-02 2.43255804e+02] [ 6.83725433e-01 7.28827157e-01 -3.64761182e-02 7.57682433e+01] [ 5.35532357e-02 -2.63348806e-04 9.98564961e-01 1.38301519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.30, Y:75.81, Z:13.83 [[ 7.26996384e-01 -6.85521374e-01 -3.92008272e-02 2.43301378e+02] [ 6.84549732e-01 7.28052437e-01 -3.64871667e-02 7.58062234e+01] [ 5.35529904e-02 -3.08877534e-04 9.98564961e-01 1.38344492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.34, Y:75.84, Z:13.84 [[ 7.26676995e-01 -6.85860405e-01 -3.91924755e-02 2.43344916e+02] [ 6.84888772e-01 7.27733057e-01 -3.64961354e-02 7.58444062e+01] [ 5.35529142e-02 -3.21584426e-04 9.98564961e-01 1.38350435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.39, Y:75.88, Z:13.84 [[ 7.26443600e-01 -6.86107785e-01 -3.91893212e-02 2.43390560e+02] [ 6.85136330e-01 7.27499824e-01 -3.64995221e-02 7.58791758e+01] [ 5.35528306e-02 -3.35183445e-04 9.98564961e-01 1.38398607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:75.92, Z:13.84 [[ 7.27483521e-01 -6.85005366e-01 -3.91838649e-02 2.43432488e+02] [ 6.84031994e-01 7.28537980e-01 -3.65053788e-02 7.59185557e+01] [ 5.35533141e-02 -2.45955731e-04 9.98564961e-01 1.38442527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.170385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:243.47, Y:75.96, Z:13.85 [[ 7.28777202e-01 -6.83629431e-01 -3.91738580e-02 2.43473521e+02] [ 6.82653491e-01 7.29829285e-01 -3.65161140e-02 7.59612037e+01] [ 5.35537190e-02 -1.30059478e-04 9.98564961e-01 1.38452644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.52, Y:76.00, Z:13.85 [[ 7.27856493e-01 -6.84610121e-01 -3.91651270e-02 2.43515722e+02] [ 6.83635095e-01 7.28909423e-01 -3.65254760e-02 7.60006040e+01] [ 5.35535406e-02 -1.89350482e-04 9.98564962e-01 1.38499560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.56, Y:76.04, Z:13.85 [[ 7.24628952e-01 -6.88025985e-01 -3.91551570e-02 2.43557599e+02] [ 6.87055345e-01 7.25685925e-01 -3.65361607e-02 7.60411498e+01] [ 5.35521743e-02 -4.26600047e-04 9.98564962e-01 1.38534442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.350385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:76.08, Z:13.86 [[ 7.23699213e-01 -6.89004425e-01 -3.91452604e-02 2.43601192e+02] [ 6.88034641e-01 7.24756971e-01 -3.65467609e-02 7.60808781e+01] [ 5.35516804e-02 -4.84433080e-04 9.98564962e-01 1.38564175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.410385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:76.12, Z:13.86 [[ 7.22294197e-01 -6.90477480e-01 -3.91400478e-02 2.43641192e+02] [ 6.89509550e-01 7.23353653e-01 -3.65523425e-02 7.61231301e+01] [ 5.35506659e-02 -5.85891893e-04 9.98564962e-01 1.38590283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.470385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:243.68, Y:76.16, Z:13.86 [[ 7.21875705e-01 -6.90915319e-01 -3.91342383e-02 2.43683304e+02] [ 6.89947695e-01 7.22935440e-01 -3.65585613e-02 7.61647675e+01] [ 5.35503979e-02 -6.09840316e-04 9.98564962e-01 1.38621571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.530385723 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:76.21, Z:13.87 [[ 7.21545840e-01 -6.91260300e-01 -3.91254303e-02 2.43724124e+02] [ 6.90292671e-01 7.22605570e-01 -3.65679854e-02 7.62060788e+01] [ 5.35502504e-02 -6.22520088e-04 9.98564962e-01 1.38667877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.590385723 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:243.77, Y:76.25, Z:13.87 [[ 7.22637688e-01 -6.90119372e-01 -3.91155099e-02 2.43765914e+02] [ 6.89149497e-01 7.23695363e-01 -3.65785937e-02 7.62475196e+01] [ 5.35513093e-02 -5.23363559e-04 9.98564962e-01 1.38708464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.650385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:243.81, Y:76.29, Z:13.88 [[ 7.23988676e-01 -6.88702448e-01 -3.91067001e-02 2.43807310e+02] [ 6.87729994e-01 7.25043980e-01 -3.65880101e-02 7.62883177e+01] [ 5.35523296e-02 -4.05545656e-04 9.98564962e-01 1.38753000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.710385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:76.33, Z:13.88 [[ 7.26112335e-01 -6.86463649e-01 -3.90964922e-02 2.43848349e+02] [ 6.85487354e-01 7.27164086e-01 -3.65989146e-02 7.63300061e+01] [ 5.35533895e-02 -2.25227667e-04 9.98564962e-01 1.38799399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.770385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:243.89, Y:76.37, Z:13.89 [[ 7.28450389e-01 -6.83982591e-01 -3.90876706e-02 2.43891081e+02] [ 6.83002207e-01 7.29498331e-01 -3.66083336e-02 7.63704039e+01] [ 5.35538533e-02 -2.96104239e-05 9.98564962e-01 1.38865664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.830385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:243.93, Y:76.41, Z:13.89 [[ 7.29408022e-01 -6.82961776e-01 -3.90787668e-02 2.43933252e+02] [ 6.81979417e-01 7.30454112e-01 -3.66178358e-02 7.64101477e+01] [ 5.35538281e-02 5.84286088e-05 9.98564962e-01 1.38900984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:243.98, Y:76.45, Z:13.89 [[ 7.29601984e-01 -6.82755144e-01 -3.90686424e-02 2.43975638e+02] [ 6.81771910e-01 7.30647251e-01 -3.66286347e-02 7.64514988e+01] [ 5.35537849e-02 8.84215484e-05 9.98564962e-01 1.38925166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.950385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:76.49, Z:13.89 [[ 7.29811834e-01 -6.82531348e-01 -3.90595035e-02 2.44018699e+02] [ 6.81547273e-01 7.30856309e-01 -3.66383775e-02 7.64923498e+01] [ 5.35537258e-02 1.18223348e-04 9.98564963e-01 1.38892921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.010385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:244.06, Y:76.54, Z:13.90 [[ 7.25989439e-01 -6.86596068e-01 -3.90534698e-02 2.44056933e+02] [ 6.85617494e-01 7.27039070e-01 -3.66448078e-02 7.65351391e+01] [ 5.35535793e-02 -1.71998679e-04 9.98564963e-01 1.38964720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.070385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:76.58, Z:13.90 [[ 7.21568192e-01 -6.91241505e-01 -3.90451786e-02 2.44098411e+02] [ 6.90269210e-01 7.22623643e-01 -3.66536399e-02 7.65750621e+01] [ 5.35514864e-02 -5.03583869e-04 9.98564963e-01 1.38999355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.130385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:76.62, Z:13.90 [[ 7.19871164e-01 -6.93009206e-01 -3.90352116e-02 2.44140001e+02] [ 6.92038928e-01 7.20928467e-01 -3.66642515e-02 7.66171132e+01] [ 5.35502591e-02 -6.20348623e-04 9.98564963e-01 1.39036176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:244.18, Y:76.66, Z:13.90 [[ 7.19209393e-01 -6.93696458e-01 -3.90265784e-02 2.44176119e+02] [ 6.92726691e-01 7.20267166e-01 -3.66734387e-02 7.66638683e+01] [ 5.35497975e-02 -6.58870965e-04 9.98564963e-01 1.39039710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.250385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:76.71, Z:13.91 [[ 7.19680970e-01 -6.93207781e-01 -3.90163442e-02 2.44215875e+02] [ 6.92236706e-01 7.20737542e-01 -3.66843235e-02 7.67064090e+01] [ 5.35504025e-02 -6.07536069e-04 9.98564963e-01 1.39073737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:76.75, Z:13.91 [[ 7.19012172e-01 -6.93902021e-01 -3.90061820e-02 2.44255069e+02] [ 6.92931380e-01 7.20069143e-01 -3.66951257e-02 7.67495148e+01] [ 5.35499699e-02 -6.44365452e-04 9.98564963e-01 1.39097008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.370385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:244.29, Y:76.79, Z:13.91 [[ 7.17023794e-01 -6.95957027e-01 -3.89960919e-02 2.44292689e+02] [ 6.94988833e-01 7.18083006e-01 -3.67058454e-02 7.67945873e+01] [ 5.35481219e-02 -7.82883834e-04 9.98564963e-01 1.39108688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43038572300003 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:76.84, Z:13.91 [[ 7.13953115e-01 -6.99107321e-01 -3.89859396e-02 2.44331939e+02] [ 6.98143211e-01 7.15016046e-01 -3.67166252e-02 7.68382694e+01] [ 5.35444338e-02 -1.00382009e-03 9.98564963e-01 1.39140695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49038572300003 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:76.88, Z:13.92 [[ 7.11974184e-01 -7.01123068e-01 -3.89769723e-02 2.44368824e+02] [ 7.00161447e-01 7.13039367e-01 -3.67261420e-02 7.68842160e+01] [ 5.35416610e-02 -1.14210833e-03 9.98564963e-01 1.39173219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:76.93, Z:13.92 [[ 7.10907518e-01 -7.02205099e-01 -3.89679341e-02 2.44406985e+02] [ 7.01244574e-01 7.11973689e-01 -3.67357295e-02 7.69280270e+01] [ 5.35401603e-02 -1.21034605e-03 9.98564963e-01 1.39191482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:244.44, Y:76.97, Z:13.92 [[ 7.09084164e-01 -7.04046835e-01 -3.89577061e-02 2.44443775e+02] [ 7.03088483e-01 7.10152289e-01 -3.67465729e-02 7.69717832e+01] [ 5.35372125e-02 -1.33430151e-03 9.98564964e-01 1.39218792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.670385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:77.02, Z:13.92 [[ 7.06422476e-01 -7.06717850e-01 -3.89508087e-02 2.44480786e+02] [ 7.05763134e-01 7.07493852e-01 -3.67538826e-02 7.70174940e+01] [ 5.35320826e-02 -1.52627610e-03 9.98564964e-01 1.39236242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.52, Y:77.06, Z:13.93 [[ 7.05951039e-01 -7.07189321e-01 -3.89409101e-02 2.44518365e+02] [ 7.06234743e-01 7.07022538e-01 -3.67643672e-02 7.70623716e+01] [ 5.35314690e-02 -1.54758036e-03 9.98564964e-01 1.39260034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:77.11, Z:13.93 [[ 7.07650386e-01 -7.05489426e-01 -3.89307183e-02 2.44556641e+02] [ 7.04531681e-01 7.08719055e-01 -3.67751564e-02 7.71079279e+01] [ 5.35354259e-02 -1.40397078e-03 9.98564964e-01 1.39260602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:77.15, Z:13.94 [[ 7.11596323e-01 -7.01509633e-01 -3.89218140e-02 2.44597522e+02] [ 7.00545394e-01 7.12659137e-01 -3.67845780e-02 7.71490271e+01] [ 5.35427222e-02 -1.09072710e-03 9.98564964e-01 1.39401274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.64, Y:77.19, Z:13.94 [[ 7.11726948e-01 -7.01377680e-01 -3.89114663e-02 2.44637292e+02] [ 7.00412647e-01 7.12789039e-01 -3.67955209e-02 7.71929625e+01] [ 5.35432237e-02 -1.06571930e-03 9.98564964e-01 1.39431565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.68, Y:77.24, Z:13.94 [[ 7.11172192e-01 -7.01940694e-01 -3.89021335e-02 2.44677820e+02] [ 7.00975962e-01 7.12234557e-01 -3.68053853e-02 7.72350172e+01] [ 5.35426415e-02 -1.09449391e-03 9.98564964e-01 1.39423739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:77.28, Z:13.95 [[ 7.10183725e-01 -7.02940933e-01 -3.88988650e-02 2.44717932e+02] [ 7.01977508e-01 7.11247276e-01 -3.68088394e-02 7.72773814e+01] [ 5.35411517e-02 -1.16508958e-03 9.98564964e-01 1.39457307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.76, Y:77.32, Z:13.95 [[ 7.12840426e-01 -7.00247228e-01 -3.88888980e-02 2.44758133e+02] [ 6.99279210e-01 7.13899798e-01 -3.68193666e-02 7.73201479e+01] [ 5.35454358e-02 -9.47864868e-04 9.98564964e-01 1.39469892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.80, Y:77.36, Z:13.95 [[ 7.13269254e-01 -6.99810919e-01 -3.88799429e-02 2.44799359e+02] [ 6.98841737e-01 7.14327561e-01 -3.68288205e-02 7.73626943e+01] [ 5.35462255e-02 -9.02061562e-04 9.98564964e-01 1.39486292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:77.40, Z:13.95 [[ 7.15395382e-01 -6.97637818e-01 -3.88705866e-02 2.44840955e+02] [ 6.96664885e-01 7.16450241e-01 -3.68386928e-02 7.74017486e+01] [ 5.35489064e-02 -7.25542104e-04 9.98564964e-01 1.39515156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.270385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:77.44, Z:13.95 [[ 7.16562768e-01 -6.96439308e-01 -3.88598601e-02 2.44881749e+02] [ 6.95463998e-01 7.17615430e-01 -3.68500044e-02 7.74431334e+01] [ 5.35502268e-02 -6.20292466e-04 9.98564965e-01 1.39547155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.92, Y:77.48, Z:13.96 [[ 7.17786310e-01 -6.95178795e-01 -3.88491599e-02 2.44923660e+02] [ 6.94201025e-01 7.18836687e-01 -3.68612816e-02 7.74838225e+01] [ 5.35513827e-02 -5.10603329e-04 9.98564965e-01 1.39583473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.390385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:244.97, Y:77.52, Z:13.96 [[ 7.20865873e-01 -6.91985508e-01 -3.88387729e-02 2.44965888e+02] [ 6.91002495e-01 7.21911345e-01 -3.68722227e-02 7.75237884e+01] [ 5.35531945e-02 -2.57762001e-04 9.98564965e-01 1.39608392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.450385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:77.56, Z:13.96 [[ 7.19918696e-01 -6.92971444e-01 -3.88284496e-02 2.45008512e+02] [ 6.91989277e-01 7.20964963e-01 -3.68830905e-02 7.75627986e+01] [ 5.35528802e-02 -3.16044316e-04 9.98564965e-01 1.39632910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.510385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:245.05, Y:77.60, Z:13.97 [[ 7.18654056e-01 -6.94283442e-01 -3.88181644e-02 2.45051722e+02] [ 6.93302600e-01 7.19701566e-01 -3.68939121e-02 7.76022455e+01] [ 5.35523260e-02 -3.98774724e-04 9.98564965e-01 1.39658685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.570385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:77.64, Z:13.97 [[ 7.17451201e-01 -6.95526949e-01 -3.88077042e-02 2.45093499e+02] [ 6.94547328e-01 7.18499852e-01 -3.69049116e-02 7.76410208e+01] [ 5.35516903e-02 -4.76314121e-04 9.98564965e-01 1.39691734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.14, Y:77.68, Z:13.97 [[ 7.17783028e-01 -6.95184749e-01 -3.88032106e-02 2.45135169e+02] [ 6.94204373e-01 7.18830973e-01 -3.69096357e-02 7.76814078e+01] [ 5.35519655e-02 -4.44248408e-04 9.98564965e-01 1.39714056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.18, Y:77.72, Z:13.97 [[ 7.19030806e-01 -6.93894662e-01 -3.87930080e-02 2.45175940e+02] [ 6.92911827e-01 7.20076445e-01 -3.69203558e-02 7.77223527e+01] [ 5.35527691e-02 -3.33260887e-04 9.98564965e-01 1.39724303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.22, Y:77.76, Z:13.98 [[ 7.20556751e-01 -6.92310534e-01 -3.87826436e-02 2.45217834e+02] [ 6.91324814e-01 7.21599671e-01 -3.69312398e-02 7.77620669e+01] [ 5.35534292e-02 -2.00349685e-04 9.98564965e-01 1.39753612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.26, Y:77.80, Z:13.98 [[ 7.19237466e-01 -6.93681611e-01 -3.87722735e-02 2.45258589e+02] [ 6.92697293e-01 7.20281708e-01 -3.69421237e-02 7.78025463e+01] [ 5.35530313e-02 -2.87289515e-04 9.98564965e-01 1.39773800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.30, Y:77.84, Z:13.98 [[ 7.16682413e-01 -6.96321457e-01 -3.87652816e-02 2.45301290e+02] [ 6.95340588e-01 7.17729896e-01 -3.69494592e-02 7.78419687e+01] [ 5.35517028e-02 -4.74046136e-04 9.98564966e-01 1.39803153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:77.88, Z:13.98 [[ 7.17335489e-01 -6.95649226e-01 -3.87549978e-02 2.45342118e+02] [ 6.94666793e-01 7.18381505e-01 -3.69602424e-02 7.78818249e+01] [ 5.35522377e-02 -4.08916433e-04 9.98564966e-01 1.39834768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.38, Y:77.92, Z:13.99 [[ 7.18389944e-01 -6.94560496e-01 -3.87505524e-02 2.45383827e+02] [ 6.93576226e-01 7.19434232e-01 -3.69649026e-02 7.79222674e+01] [ 5.35528349e-02 -3.21247573e-04 9.98564966e-01 1.39870627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.43, Y:77.96, Z:13.99 [[ 7.18128049e-01 -6.94831821e-01 -3.87407424e-02 2.45425536e+02] [ 6.93847392e-01 7.19172186e-01 -3.69751809e-02 7.79628988e+01] [ 5.35527967e-02 -3.27248546e-04 9.98564966e-01 1.39880593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.110385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:245.47, Y:78.01, Z:14.00 [[ 7.17546089e-01 -6.95433336e-01 -3.87309399e-02 2.45465381e+02] [ 6.94449227e-01 7.18590529e-01 -3.69854461e-02 7.80056537e+01] [ 5.35525987e-02 -3.57909107e-04 9.98564966e-01 1.39961429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.51, Y:78.04, Z:14.00 [[ 7.21018269e-01 -6.91833310e-01 -3.87211414e-02 2.45510638e+02] [ 6.90843436e-01 7.22057245e-01 -3.69957015e-02 7.80426881e+01] [ 5.35537394e-02 -7.56696836e-05 9.98564966e-01 1.39964043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.55, Y:78.08, Z:14.00 [[ 7.22211497e-01 -6.90587881e-01 -3.87160609e-02 2.45553275e+02] [ 6.89595930e-01 7.23248490e-01 -3.70010176e-02 7.80817463e+01] [ 5.35537869e-02 2.41223002e-05 9.98564966e-01 1.39998716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.290385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:78.12, Z:14.00 [[ 7.18219626e-01 -6.94739118e-01 -3.87056522e-02 2.45592260e+02] [ 6.93752573e-01 7.19261765e-01 -3.70119026e-02 7.81246762e+01] [ 5.35531123e-02 -2.69470964e-04 9.98564966e-01 1.40012249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:78.16, Z:14.00 [[ 7.23646402e-01 -6.89085355e-01 -3.86944171e-02 2.45641775e+02] [ 6.88090041e-01 7.24680168e-01 -3.70236447e-02 7.81562894e+01] [ 5.35535281e-02 1.66784202e-04 9.98564966e-01 1.40048164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.69, Y:78.19, Z:14.01 [[ 7.26303096e-01 -6.86284797e-01 -3.86909655e-02 2.45686296e+02] [ 6.85285304e-01 7.27332823e-01 -3.70272514e-02 7.81943779e+01] [ 5.35524488e-02 3.78657238e-04 9.98564966e-01 1.40053977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.470385723 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:245.73, Y:78.24, Z:14.00 [[ 7.23036505e-01 -6.89725751e-01 -3.86859298e-02 2.45726121e+02] [ 6.88730878e-01 7.24070695e-01 -3.70325120e-02 7.82382919e+01] [ 5.35536252e-02 1.31663631e-04 9.98564966e-01 1.40028491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:78.27, Z:14.01 [[ 7.30954453e-01 -6.81329391e-01 -3.86762008e-02 2.45777059e+02] [ 6.80322103e-01 7.31976555e-01 -3.70426700e-02 7.82665564e+01] [ 5.35483320e-02 7.64230296e-04 9.98564966e-01 1.40149010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.82, Y:78.30, Z:14.02 [[ 7.31405024e-01 -6.80845946e-01 -3.86715465e-02 2.45822583e+02] [ 6.79837726e-01 7.32426206e-01 -3.70475283e-02 7.83031266e+01] [ 5.35477136e-02 8.06372136e-04 9.98564966e-01 1.40174108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.650385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:245.86, Y:78.34, Z:14.02 [[ 7.28106362e-01 -6.84373039e-01 -3.86609333e-02 2.45863999e+02] [ 6.83369179e-01 7.29131830e-01 -3.70586005e-02 7.83419383e+01] [ 5.35508241e-02 5.62912589e-04 9.98564967e-01 1.40162796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.92, Y:78.37, Z:14.03 [[ 7.29136611e-01 -6.83275554e-01 -3.86564329e-02 2.45915589e+02] [ 6.82269901e-01 7.30160321e-01 -3.70632943e-02 7.83722416e+01] [ 5.35498364e-02 6.50084105e-04 9.98564967e-01 1.40261515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.770385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:245.96, Y:78.41, Z:14.03 [[ 7.28116126e-01 -6.84363407e-01 -3.86475558e-02 2.45959907e+02] [ 6.83358793e-01 7.29140855e-01 -3.70725485e-02 7.84105510e+01] [ 5.35506075e-02 5.82973342e-04 9.98564967e-01 1.40286964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.830385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:78.45, Z:14.03 [[ 7.25299224e-01 -6.87348670e-01 -3.86373082e-02 2.46006082e+02] [ 6.86347705e-01 7.26327517e-01 -3.70832256e-02 7.84460061e+01] [ 5.35524459e-02 3.77806904e-04 9.98564967e-01 1.40309825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.890385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:246.05, Y:78.48, Z:14.04 [[ 7.25699514e-01 -6.86926646e-01 -3.86263961e-02 2.46053171e+02] [ 6.85924477e-01 7.26726636e-01 -3.70945883e-02 7.84793786e+01] [ 5.35520920e-02 4.24734156e-04 9.98564967e-01 1.40352371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.10, Y:78.52, Z:14.03 [[ 7.23978134e-01 -6.88741047e-01 -3.86190601e-02 2.46095832e+02] [ 6.87741046e-01 7.25007365e-01 -3.71022242e-02 7.85175164e+01] [ 5.35529278e-02 3.01286206e-04 9.98564967e-01 1.40349078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:78.56, Z:14.04 [[ 7.21849274e-01 -6.90972173e-01 -3.86145203e-02 2.46140625e+02] [ 6.89975100e-01 7.22881343e-01 -3.71069485e-02 7.85552662e+01] [ 5.35535851e-02 1.42566293e-04 9.98564967e-01 1.40370584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:78.59, Z:14.04 [[ 7.21126561e-01 -6.91726990e-01 -3.86038022e-02 2.46187914e+02] [ 6.90730401e-01 7.22159097e-01 -3.71180956e-02 7.85897494e+01] [ 5.35536755e-02 1.02024846e-04 9.98564967e-01 1.40398205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.23, Y:78.63, Z:14.04 [[ 7.20478164e-01 -6.92402916e-01 -3.85929766e-02 2.46232410e+02] [ 6.91406692e-01 7.21511052e-01 -3.71293480e-02 7.86268159e+01] [ 5.35537279e-02 6.74421845e-05 9.98564967e-01 1.40407268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.28, Y:78.66, Z:14.04 [[ 7.19967342e-01 -6.92934673e-01 -3.85819396e-02 2.46279417e+02] [ 6.91938598e-01 7.21000372e-01 -3.71408132e-02 7.86602993e+01] [ 5.35537501e-02 4.38392989e-05 9.98564967e-01 1.40446931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.32, Y:78.70, Z:14.05 [[ 7.19343867e-01 -6.93582104e-01 -3.85780451e-02 2.46323316e+02] [ 6.92586742e-01 7.20377585e-01 -3.71448580e-02 7.87000212e+01] [ 5.35537677e-02 1.28326517e-06 9.98564967e-01 1.40466076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.37, Y:78.73, Z:14.05 [[ 7.18667546e-01 -6.94283358e-01 -3.85691185e-02 2.46369427e+02] [ 6.93288507e-01 7.19701756e-01 -3.71541246e-02 7.87348039e+01] [ 5.35537527e-02 -3.80630145e-05 9.98564967e-01 1.40517575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.41, Y:78.77, Z:14.05 [[ 7.19389268e-01 -6.93535899e-01 -3.85621364e-02 2.46411123e+02] [ 6.92539585e-01 7.20422068e-01 -3.71613698e-02 7.87733623e+01] [ 5.35537581e-02 2.76847123e-05 9.98564967e-01 1.40530926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.46, Y:78.81, Z:14.06 [[ 7.20705749e-01 -6.92168120e-01 -3.85553850e-02 2.46456907e+02] [ 6.91169471e-01 7.21736292e-01 -3.71683732e-02 7.88098435e+01] [ 5.35535836e-02 1.39155247e-04 9.98564968e-01 1.40582509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.50, Y:78.85, Z:14.06 [[ 7.20766679e-01 -6.92105250e-01 -3.85450039e-02 2.46500268e+02] [ 6.91105935e-01 7.21796577e-01 -3.71791356e-02 7.88468990e+01] [ 5.35535268e-02 1.58801103e-04 9.98564968e-01 1.40605167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:78.88, Z:14.06 [[ 7.19989969e-01 -6.92913606e-01 -3.85380254e-02 2.46544610e+02] [ 6.91915061e-01 7.21020612e-01 -3.71863678e-02 7.88846890e+01] [ 5.35536509e-02 1.08771527e-04 9.98564968e-01 1.40618607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.59, Y:78.92, Z:14.07 [[ 7.18641368e-01 -6.94312723e-01 -3.85282564e-02 2.46590433e+02] [ 6.93315642e-01 7.19673428e-01 -3.71964866e-02 7.89222990e+01] [ 5.35537562e-02 1.86912278e-05 9.98564968e-01 1.40657806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.63, Y:78.96, Z:14.07 [[ 7.18251400e-01 -6.94716625e-01 -3.85193174e-02 2.46633170e+02] [ 6.93719627e-01 7.19283541e-01 -3.72057412e-02 7.89613417e+01] [ 5.35537579e-02 1.46922487e-06 9.98564968e-01 1.40693403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:246.67, Y:79.00, Z:14.07 [[ 7.19338330e-01 -6.93591675e-01 -3.85091560e-02 2.46674832e+02] [ 6.92592501e-01 7.20368363e-01 -3.72162556e-02 7.90020705e+01] [ 5.35536627e-02 9.99265019e-05 9.98564968e-01 1.40717324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:79.04, Z:14.07 [[ 7.19882216e-01 -6.93027739e-01 -3.84986805e-02 2.46717203e+02] [ 6.92027178e-01 7.20910902e-01 -3.72270890e-02 7.90402505e+01] [ 5.35535238e-02 1.56986073e-04 9.98564968e-01 1.40747107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.76, Y:79.08, Z:14.08 [[ 7.19078478e-01 -6.93861971e-01 -3.84929560e-02 2.46759355e+02] [ 6.92862287e-01 7.20108016e-01 -3.72330071e-02 7.90807647e+01] [ 5.35536539e-02 1.03136544e-04 9.98564968e-01 1.40777856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:246.80, Y:79.12, Z:14.08 [[ 7.19275184e-01 -6.93658647e-01 -3.84823397e-02 2.46798292e+02] [ 6.92658085e-01 7.20303869e-01 -3.72439764e-02 7.91231041e+01] [ 5.35535845e-02 1.33564281e-04 9.98564968e-01 1.40793481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:246.84, Y:79.16, Z:14.08 [[ 7.20050791e-01 -6.92853826e-01 -3.84764061e-02 2.46840510e+02] [ 6.91851786e-01 7.21078037e-01 -3.72501054e-02 7.91629330e+01] [ 5.35533694e-02 2.01997584e-04 9.98564968e-01 1.40829977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:79.20, Z:14.09 [[ 7.20221871e-01 -6.92676549e-01 -3.84662960e-02 2.46882258e+02] [ 6.91673699e-01 7.21248325e-01 -3.72605427e-02 7.92035977e+01] [ 5.35532557e-02 2.29732483e-04 9.98564968e-01 1.40867519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.090385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:246.92, Y:79.25, Z:14.09 [[ 7.20121585e-01 -6.92781365e-01 -3.84562399e-02 2.46922447e+02] [ 6.91778111e-01 7.21147644e-01 -3.72709186e-02 7.92452334e+01] [ 5.35532247e-02 2.36407967e-04 9.98564968e-01 1.40873138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:246.96, Y:79.28, Z:14.09 [[ 7.20129534e-01 -6.92773660e-01 -3.84462045e-02 2.46964906e+02] [ 6.91769842e-01 7.21155041e-01 -3.72812676e-02 7.92846606e+01] [ 5.35531544e-02 2.51417045e-04 9.98564969e-01 1.40904485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:79.33, Z:14.09 [[ 7.18707126e-01 -6.94249770e-01 -3.84359582e-02 2.47007069e+02] [ 6.93247494e-01 7.19734140e-01 -3.72918282e-02 7.93250940e+01] [ 5.35535145e-02 1.56271024e-04 9.98564969e-01 1.40945564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.05, Y:79.36, Z:14.10 [[ 7.15660265e-01 -6.97390744e-01 -3.84256980e-02 2.47049758e+02] [ 6.96392408e-01 7.16691109e-01 -3.73023974e-02 7.93642998e+01] [ 5.35537028e-02 -6.35207743e-05 9.98564969e-01 1.40980358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.330385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:247.09, Y:79.40, Z:14.10 [[ 7.13736400e-01 -6.99360133e-01 -3.84155499e-02 2.47091257e+02] [ 6.98364079e-01 7.14769449e-01 -3.73128454e-02 7.94045215e+01] [ 5.35533780e-02 -1.96504133e-04 9.98564969e-01 1.41005230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:79.44, Z:14.11 [[ 7.13858923e-01 -6.99235628e-01 -3.84053965e-02 2.47132471e+02] [ 6.98238831e-01 7.14891255e-01 -3.73232932e-02 7.94445170e+01] [ 5.35534585e-02 -1.72573312e-04 9.98564969e-01 1.41064454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.17, Y:79.49, Z:14.11 [[ 7.14831177e-01 -6.98242214e-01 -3.83952869e-02 2.47173570e+02] [ 6.97243424e-01 7.15861581e-01 -3.73336903e-02 7.94863362e+01] [ 5.35536694e-02 -8.35754624e-05 9.98564969e-01 1.41084927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.22, Y:79.53, Z:14.11 [[ 7.15280282e-01 -6.97782632e-01 -3.83864272e-02 2.47215280e+02] [ 6.96782690e-01 7.16309568e-01 -3.73427977e-02 7.95283637e+01] [ 5.35537207e-02 -3.64311654e-05 9.98564969e-01 1.41112492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.26, Y:79.57, Z:14.11 [[ 7.14013520e-01 -6.99079293e-01 -3.83775315e-02 2.47255928e+02] [ 6.98080730e-01 7.15044144e-01 -3.73519376e-02 7.95708998e+01] [ 5.35535953e-02 -1.20826761e-04 9.98564969e-01 1.41146311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.630385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:247.30, Y:79.61, Z:14.12 [[ 7.11252085e-01 -7.01889110e-01 -3.83685930e-02 2.47297963e+02] [ 7.00894123e-01 7.12286161e-01 -3.73611171e-02 7.96121243e+01] [ 5.35527791e-02 -3.19148930e-04 9.98564969e-01 1.41190473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.34, Y:79.65, Z:14.12 [[ 7.08356496e-01 -7.04811746e-01 -3.83598425e-02 2.47337186e+02] [ 7.03820539e-01 7.09394195e-01 -3.73700993e-02 7.96549120e+01] [ 5.35511346e-02 -5.27092462e-04 9.98564969e-01 1.41199713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.38, Y:79.70, Z:14.13 [[ 7.03888130e-01 -7.09274482e-01 -3.83563560e-02 2.47376900e+02] [ 7.08289658e-01 7.04931889e-01 -3.73736776e-02 7.96971014e+01] [ 5.35468143e-02 -8.60522257e-04 9.98564969e-01 1.41252240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.42, Y:79.74, Z:14.13 [[ 6.99454525e-01 -7.13647638e-01 -3.83460054e-02 2.47415763e+02] [ 7.12668757e-01 7.00503860e-01 -3.73842944e-02 7.97397446e+01] [ 5.35407382e-02 -1.17938615e-03 9.98564970e-01 1.41282372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.870385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:247.46, Y:79.78, Z:14.13 [[ 6.98861642e-01 -7.14228793e-01 -3.83358399e-02 2.47455862e+02] [ 7.13250213e-01 6.99911257e-01 -3.73947158e-02 7.97831550e+01] [ 5.35400686e-02 -1.20931349e-03 9.98564970e-01 1.41315341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.49, Y:79.83, Z:14.14 [[ 6.98710687e-01 -7.14376950e-01 -3.83268736e-02 2.47493522e+02] [ 7.13398090e-01 6.99760040e-01 -3.74039033e-02 7.98287382e+01] [ 5.35401010e-02 -1.20781150e-03 9.98564970e-01 1.41391216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.53, Y:79.87, Z:14.15 [[ 7.04394851e-01 -7.08773345e-01 -3.83176149e-02 2.47532832e+02] [ 7.07785618e-01 7.05435864e-01 -3.74133858e-02 7.98716507e+01] [ 5.35482304e-02 -7.66860403e-04 9.98564970e-01 1.41507727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.050385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:247.57, Y:79.92, Z:14.15 [[ 7.07341026e-01 -7.05833618e-01 -3.83089689e-02 2.47570835e+02] [ 7.04841084e-01 7.08377457e-01 -3.74222367e-02 7.99157261e+01] [ 5.35510827e-02 -5.31451838e-04 9.98564970e-01 1.41517603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.61, Y:79.96, Z:14.15 [[ 7.07138701e-01 -7.06036501e-01 -3.83055716e-02 2.47611535e+02] [ 7.05044077e-01 7.08175237e-01 -3.74257139e-02 7.99581805e+01] [ 5.35509773e-02 -5.41945619e-04 9.98564970e-01 1.41540403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.65, Y:80.01, Z:14.15 [[ 7.06693300e-01 -7.06482827e-01 -3.82961421e-02 2.47648608e+02] [ 7.05490535e-01 7.07729962e-01 -3.74353602e-02 8.00053428e+01] [ 5.35507663e-02 -5.62247479e-04 9.98564970e-01 1.41535222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:247.69, Y:80.05, Z:14.15 [[ 7.08744956e-01 -7.04425070e-01 -3.82871735e-02 2.47690433e+02] [ 7.03429273e-01 7.09778251e-01 -3.74445306e-02 8.00456323e+01] [ 5.35522691e-02 -3.93696395e-04 9.98564970e-01 1.41548849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:80.10, Z:14.14 [[ 7.00697468e-01 -7.12430731e-01 -3.82820123e-02 2.47722696e+02] [ 7.11446447e-01 7.01741736e-01 -3.74498065e-02 8.00979367e+01] [ 5.35444788e-02 -9.94617131e-04 9.98564970e-01 1.41421346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.76, Y:80.14, Z:14.14 [[ 6.98961668e-01 -7.14134265e-01 -3.82731935e-02 2.47762022e+02] [ 7.13152034e-01 7.00007867e-01 -3.74588171e-02 8.01411789e+01] [ 5.35421613e-02 -1.11232850e-03 9.98564970e-01 1.41431304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.410385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:247.80, Y:80.18, Z:14.15 [[ 6.95035689e-01 -7.17956331e-01 -3.82635346e-02 2.47802752e+02] [ 7.16979309e-01 6.96086754e-01 -3.74686809e-02 8.01815505e+01] [ 5.35356162e-02 -1.39209217e-03 9.98564970e-01 1.41505609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.470385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:247.84, Y:80.22, Z:14.15 [[ 6.94493424e-01 -7.18481517e-01 -3.82517130e-02 2.47842646e+02] [ 7.17504626e-01 6.95544611e-01 -3.74807456e-02 8.02220358e+01] [ 5.35349958e-02 -1.41564960e-03 9.98564970e-01 1.41547822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.88, Y:80.26, Z:14.16 [[ 6.93339305e-01 -7.19595572e-01 -3.82468367e-02 2.47881830e+02] [ 7.18620096e-01 6.94391805e-01 -3.74857209e-02 8.02641480e+01] [ 5.35328488e-02 -1.49462175e-03 9.98564970e-01 1.41614957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.590385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:247.92, Y:80.30, Z:14.17 [[ 6.92367738e-01 -7.20530987e-01 -3.82362619e-02 2.47922178e+02] [ 7.19556338e-01 6.93421004e-01 -3.74965044e-02 8.03046688e+01] [ 5.35312204e-02 -1.55177464e-03 9.98564971e-01 1.41730985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:80.35, Z:14.18 [[ 6.91157037e-01 -7.21692599e-01 -3.82327427e-02 2.47960685e+02] [ 7.20719522e-01 6.92211755e-01 -3.75000923e-02 8.03474490e+01] [ 5.35286930e-02 -1.63663129e-03 9.98564971e-01 1.41776329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.710385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:248.00, Y:80.39, Z:14.18 [[ 6.92885564e-01 -7.20033787e-01 -3.82222551e-02 2.47997475e+02] [ 7.19057596e-01 6.93937400e-01 -3.75107788e-02 8.03934945e+01] [ 5.35328805e-02 -1.49332570e-03 9.98564971e-01 1.41774257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.770385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:248.03, Y:80.44, Z:14.18 [[ 6.94142096e-01 -7.18823106e-01 -3.82111502e-02 2.48033246e+02] [ 7.17844459e-01 6.95191647e-01 -3.75220877e-02 8.04381292e+01] [ 5.35358161e-02 -1.38400183e-03 9.98564971e-01 1.41806275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.830385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:248.07, Y:80.48, Z:14.18 [[ 6.95944425e-01 -7.17078855e-01 -3.82004304e-02 2.48070652e+02] [ 7.16096978e-01 6.96990956e-01 -3.75329981e-02 8.04829296e+01] [ 5.35394738e-02 -1.23433196e-03 9.98564971e-01 1.41834896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.890385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:248.11, Y:80.53, Z:14.19 [[ 6.96550168e-01 -7.16491032e-01 -3.81898464e-02 2.48108050e+02] [ 7.15507682e-01 6.97595315e-01 -3.75437643e-02 8.05286935e+01] [ 5.35408283e-02 -1.17401310e-03 9.98564971e-01 1.41876164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:80.57, Z:14.19 [[ 6.94259429e-01 -7.18711401e-01 -3.81807172e-02 2.48146809e+02] [ 7.17730884e-01 6.95307232e-01 -3.75530461e-02 8.05735361e+01] [ 5.35371312e-02 -1.33192355e-03 9.98564971e-01 1.41919861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.18, Y:80.62, Z:14.19 [[ 6.92539008e-01 -7.20369805e-01 -3.81715310e-02 2.48183261e+02] [ 7.19391282e-01 6.93588675e-01 -3.75623813e-02 8.06183327e+01] [ 5.35341469e-02 -1.44685235e-03 9.98564971e-01 1.41942652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.070385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:248.22, Y:80.66, Z:14.19 [[ 6.92683496e-01 -7.20231111e-01 -3.81670154e-02 2.48221842e+02] [ 7.19252126e-01 6.93732731e-01 -3.75669689e-02 8.06637971e+01] [ 5.35346076e-02 -1.42968763e-03 9.98564971e-01 1.41926434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.26, Y:80.71, Z:14.19 [[ 6.93009206e-01 -7.19918174e-01 -3.81583855e-02 2.48256553e+02] [ 7.18938233e-01 6.94057549e-01 -3.75757327e-02 8.07121075e+01] [ 5.35355684e-02 -1.39319358e-03 9.98564971e-01 1.41911395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.190385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:248.30, Y:80.75, Z:14.20 [[ 6.94831498e-01 -7.18160041e-01 -3.81489891e-02 2.48299796e+02] [ 7.17176924e-01 6.95876862e-01 -3.75852700e-02 8.07523436e+01] [ 5.35392379e-02 -1.24414523e-03 9.98564971e-01 1.41997542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.34, Y:80.80, Z:14.20 [[ 6.94399903e-01 -7.18577809e-01 -3.81406273e-02 2.48336263e+02] [ 7.17594855e-01 6.95445421e-01 -3.75937535e-02 8.07990098e+01] [ 5.35387616e-02 -1.26441915e-03 9.98564971e-01 1.41987852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.38, Y:80.84, Z:14.21 [[ 6.95085540e-01 -7.17915095e-01 -3.81314556e-02 2.48377154e+02] [ 7.16930634e-01 6.96129640e-01 -3.76030541e-02 8.08388874e+01] [ 5.35402366e-02 -1.20026951e-03 9.98564972e-01 1.42076500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.42, Y:80.88, Z:14.21 [[ 6.97740678e-01 -7.15335100e-01 -3.81266372e-02 2.48417032e+02] [ 7.14346512e-01 6.98780870e-01 -3.76079389e-02 8.08822726e+01] [ 5.35444435e-02 -9.95041475e-04 9.98564972e-01 1.42120912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.46, Y:80.93, Z:14.21 [[ 7.00496920e-01 -7.12636730e-01 -3.81176609e-02 2.48455025e+02] [ 7.11643639e-01 7.01532814e-01 -3.76170347e-02 8.09258723e+01] [ 5.35480705e-02 -7.75573955e-04 9.98564972e-01 1.42147365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.50, Y:80.97, Z:14.22 [[ 7.06970437e-01 -7.06215770e-01 -3.81062692e-02 2.48496411e+02] [ 7.05212647e-01 7.07996620e-01 -3.76285710e-02 8.09659314e+01] [ 5.35530000e-02 -2.70735655e-04 9.98564972e-01 1.42209645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.54, Y:81.01, Z:14.22 [[ 7.11467257e-01 -7.01685477e-01 -3.81029380e-02 2.48535891e+02] [ 7.00675639e-01 7.12486832e-01 -3.76319439e-02 8.10087594e+01] [ 5.35536301e-02 7.60954914e-05 9.98564972e-01 1.42248477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.610385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:248.58, Y:81.05, Z:14.23 [[ 7.12687051e-01 -7.00447087e-01 -3.80926040e-02 2.48575510e+02] [ 6.99434918e-01 7.13704312e-01 -3.76424016e-02 8.10514306e+01] [ 5.35533662e-02 1.83954821e-04 9.98564972e-01 1.42272580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.670385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:248.62, Y:81.09, Z:14.23 [[ 7.11842791e-01 -7.01305640e-01 -3.80820150e-02 2.48618619e+02] [ 7.00294126e-01 7.12860702e-01 -3.76531112e-02 8.10907849e+01] [ 5.35535112e-02 1.34484393e-04 9.98564972e-01 1.42317874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.66, Y:81.13, Z:14.24 [[ 7.08708334e-01 -7.04473570e-01 -3.80721195e-02 2.48660875e+02] [ 7.03466068e-01 7.09730217e-01 -3.76631141e-02 8.11321174e+01] [ 5.35536021e-02 -9.02813521e-05 9.98564972e-01 1.42352550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.70, Y:81.17, Z:14.24 [[ 7.05004971e-01 -7.08180223e-01 -3.80626215e-02 2.48702876e+02] [ 7.07177575e-01 7.06031617e-01 -3.76727104e-02 8.11735330e+01] [ 5.35524827e-02 -3.57584227e-04 9.98564972e-01 1.42361966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.75, Y:81.21, Z:14.24 [[ 7.02315728e-01 -7.10847767e-01 -3.80535193e-02 2.48748286e+02] [ 7.09848520e-01 7.03345685e-01 -3.76819024e-02 8.12106887e+01] [ 5.35508748e-02 -5.47641580e-04 9.98564972e-01 1.42418846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.79, Y:81.25, Z:14.25 [[ 7.00318401e-01 -7.12816074e-01 -3.80444862e-02 2.48791866e+02] [ 7.11819227e-01 7.01350680e-01 -3.76910202e-02 8.12497257e+01] [ 5.35492913e-02 -6.85081719e-04 9.98564972e-01 1.42503627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.83, Y:81.29, Z:14.25 [[ 6.99366697e-01 -7.13750356e-01 -3.80348955e-02 2.48831606e+02] [ 7.12754362e-01 7.00399798e-01 -3.77006959e-02 8.12905584e+01] [ 5.35485183e-02 -7.42926507e-04 9.98564972e-01 1.42525266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.87, Y:81.33, Z:14.26 [[ 6.99344348e-01 -7.13772647e-01 -3.80275134e-02 2.48874248e+02] [ 7.12776281e-01 7.00377091e-01 -3.77081406e-02 8.13314610e+01] [ 5.35486385e-02 -7.34134599e-04 9.98564973e-01 1.42555849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.090385723 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:248.92, Y:81.37, Z:14.25 [[ 7.01882367e-01 -7.11277560e-01 -3.80180946e-02 2.48916418e+02] [ 7.10277008e-01 7.02911056e-01 -3.77176344e-02 8.13717693e+01] [ 5.35510460e-02 -5.30036002e-04 9.98564973e-01 1.42538907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.150385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:248.96, Y:81.41, Z:14.26 [[ 7.05234123e-01 -7.07954596e-01 -3.80147448e-02 2.48955232e+02] [ 7.06949015e-01 7.06257896e-01 -3.77210103e-02 8.14148050e+01] [ 5.35529763e-02 -2.72342731e-04 9.98564973e-01 1.42573673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.00, Y:81.46, Z:14.26 [[ 7.08842997e-01 -7.04341742e-01 -3.80041646e-02 2.48996783e+02] [ 7.03330371e-01 7.09861050e-01 -3.77316669e-02 8.14562580e+01] [ 5.35536642e-02 1.63446153e-05 9.98564973e-01 1.42618765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.270385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.04, Y:81.50, Z:14.26 [[ 7.08672979e-01 -7.04513308e-01 -3.79948290e-02 2.49038533e+02] [ 7.03501680e-01 7.09690776e-01 -3.77410653e-02 8.14963109e+01] [ 5.35536625e-02 1.66471839e-05 9.98564973e-01 1.42647078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.330385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:249.08, Y:81.54, Z:14.27 [[ 7.06827615e-01 -7.06364983e-01 -3.79899030e-02 2.49079256e+02] [ 7.05355755e-01 7.07847792e-01 -3.77460231e-02 8.15374733e+01] [ 5.35535379e-02 -1.16465155e-04 9.98564973e-01 1.42688116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.12, Y:81.58, Z:14.27 [[ 7.04675465e-01 -7.08512576e-01 -3.79791869e-02 2.49124399e+02] [ 7.07505876e-01 7.05698136e-01 -3.77568024e-02 8.15758041e+01] [ 5.35530107e-02 -2.64205572e-04 9.98564973e-01 1.42719965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.17, Y:81.62, Z:14.27 [[ 7.04684123e-01 -7.08504458e-01 -3.79699713e-02 2.49166618e+02] [ 7.07497247e-01 7.05706291e-01 -3.77660677e-02 8.16155862e+01] [ 5.35530750e-02 -2.50501807e-04 9.98564973e-01 1.42747824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.510385723 meters Centerline goodness : 0.993911 with order 1 Centerline is valid? [True, True] Translation: X:249.21, Y:81.66, Z:14.27 [[ 7.07754427e-01 -7.05437984e-01 -3.79594768e-02 2.49209402e+02] [ 7.04425778e-01 7.08771650e-01 -3.77766130e-02 8.16565253e+01] [ 5.35536587e-02 -3.06881316e-06 9.98564973e-01 1.42701797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.570385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:249.25, Y:81.70, Z:14.28 [[ 7.09924032e-01 -7.03254901e-01 -3.79527885e-02 2.49253054e+02] [ 7.02239207e-01 7.10937772e-01 -3.77833313e-02 8.16952919e+01] [ 5.35533838e-02 1.71358800e-04 9.98564973e-01 1.42805737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:81.73, Z:14.29 [[ 7.10710552e-01 -7.02460662e-01 -3.79411292e-02 2.49296716e+02] [ 7.01443212e-01 7.11722528e-01 -3.77950357e-02 8.17338155e+01] [ 5.35530822e-02 2.47783144e-04 9.98564973e-01 1.42856839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.34, Y:81.77, Z:14.29 [[ 7.11011697e-01 -7.02156482e-01 -3.79294256e-02 2.49338028e+02] [ 7.01137972e-01 7.12022607e-01 -3.78067772e-02 8.17734244e+01] [ 5.35528822e-02 2.87300282e-04 9.98564973e-01 1.42886920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.750385723 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:249.38, Y:81.81, Z:14.29 [[ 7.10946377e-01 -7.02222949e-01 -3.79233284e-02 2.49382893e+02] [ 7.01204207e-01 7.11957053e-01 -3.78128923e-02 8.18108135e+01] [ 5.35528619e-02 2.90941354e-04 9.98564974e-01 1.42903934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.43, Y:81.85, Z:14.30 [[ 7.09658526e-01 -7.03525048e-01 -3.79115226e-02 2.49427068e+02] [ 7.02507528e-01 7.10670432e-01 -3.78247252e-02 8.18480585e+01] [ 5.35532397e-02 2.09508714e-04 9.98564974e-01 1.42968934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.47, Y:81.89, Z:14.30 [[ 7.10182232e-01 -7.02997023e-01 -3.78996568e-02 2.49470199e+02] [ 7.01978116e-01 7.11192741e-01 -3.78366107e-02 8.18864231e+01] [ 5.35529855e-02 2.66158973e-04 9.98564974e-01 1.43004751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.51, Y:81.93, Z:14.29 [[ 7.09531519e-01 -7.03654355e-01 -3.78889519e-02 2.49513674e+02] [ 7.02635812e-01 7.10542395e-01 -3.78473274e-02 8.19267326e+01] [ 5.35531434e-02 2.31737170e-04 9.98564974e-01 1.42931844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.990385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:249.56, Y:81.96, Z:14.30 [[ 7.09893881e-01 -7.03289282e-01 -3.78795803e-02 2.49560078e+02] [ 7.02269719e-01 7.10903728e-01 -3.78567047e-02 8.19622969e+01] [ 5.35529496e-02 2.72560831e-04 9.98564974e-01 1.43047936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.050385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:249.60, Y:82.00, Z:14.30 [[ 7.09038363e-01 -7.04152297e-01 -3.78700792e-02 2.49603767e+02] [ 7.03133455e-01 7.10048938e-01 -3.78662068e-02 8.20012168e+01] [ 5.35531860e-02 2.20873585e-04 9.98564974e-01 1.43046134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.65, Y:82.04, Z:14.31 [[ 7.07667050e-01 -7.05530926e-01 -3.78610355e-02 2.49648728e+02] [ 7.04513570e-01 7.08679120e-01 -3.78752471e-02 8.20382278e+01] [ 5.35534835e-02 1.29451152e-04 9.98564974e-01 1.43101199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.69, Y:82.08, Z:14.31 [[ 7.07318647e-01 -7.05880779e-01 -3.78504686e-02 2.49691709e+02] [ 7.04863358e-01 7.08330652e-01 -3.78858041e-02 8.20761901e+01] [ 5.35535080e-02 1.17927269e-04 9.98564974e-01 1.43115858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.74, Y:82.11, Z:14.32 [[ 7.08192685e-01 -7.05004248e-01 -3.78435139e-02 2.49735577e+02] [ 7.03985204e-01 7.09203054e-01 -3.78927498e-02 8.21148604e+01] [ 5.35532853e-02 1.94094332e-04 9.98564974e-01 1.43165366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:249.78, Y:82.15, Z:14.32 [[ 7.11242063e-01 -7.01928252e-01 -3.78346087e-02 2.49781364e+02] [ 7.00904365e-01 7.12247525e-01 -3.79016393e-02 8.21512712e+01] [ 5.35518378e-02 4.38797761e-04 9.98564974e-01 1.43207737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.82, Y:82.19, Z:14.32 [[ 7.14452533e-01 -6.98660403e-01 -3.78314762e-02 2.49824974e+02] [ 6.97631752e-01 7.15453120e-01 -3.79047657e-02 8.21909273e+01] [ 5.35492066e-02 6.88716801e-04 9.98564974e-01 1.43237286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.410385723 meters Centerline goodness : 0.997737 with order 1 Centerline is valid? [True, True] Translation: X:249.87, Y:82.23, Z:14.32 [[ 7.16027202e-01 -6.97046986e-01 -3.78225426e-02 2.49871044e+02] [ 6.96015611e-01 7.17024981e-01 -3.79136779e-02 8.22283644e+01] [ 5.35473228e-02 8.22144602e-04 9.98564975e-01 1.43237917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.470385723 meters Centerline goodness : 0.997752 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:82.27, Z:14.33 [[ 7.16666030e-01 -6.96390762e-01 -3.78114889e-02 2.49914611e+02] [ 6.95357891e-01 7.17662261e-01 -3.79246986e-02 8.22656571e+01] [ 5.35462883e-02 8.86825965e-04 9.98564975e-01 1.43274839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:82.30, Z:14.34 [[ 7.18252245e-01 -6.94755062e-01 -3.78036566e-02 2.49957508e+02] [ 6.93719512e-01 7.19245691e-01 -3.79325043e-02 8.23027328e+01] [ 5.35439165e-02 1.01997217e-03 9.98564975e-01 1.43355103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.00, Y:82.34, Z:14.33 [[ 7.18459750e-01 -6.94541106e-01 -3.77920553e-02 2.50001713e+02] [ 6.93504653e-01 7.19452253e-01 -3.79440591e-02 8.23408803e+01] [ 5.35432881e-02 1.05231309e-03 9.98564975e-01 1.43348697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.05, Y:82.38, Z:14.34 [[ 7.18611087e-01 -6.94385016e-01 -3.77829929e-02 2.50047036e+02] [ 6.93347873e-01 7.19602870e-01 -3.79530809e-02 8.23775130e+01] [ 5.35428008e-02 1.07674694e-03 9.98564975e-01 1.43414417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:82.41, Z:14.34 [[ 7.17471327e-01 -6.95563216e-01 -3.77717778e-02 2.50092324e+02] [ 6.94527115e-01 7.18464197e-01 -3.79642392e-02 8.24144278e+01] [ 5.35441983e-02 1.00472920e-03 9.98564975e-01 1.43447203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.14, Y:82.45, Z:14.35 [[ 7.15636500e-01 -6.97451434e-01 -3.77610604e-02 2.50137396e+02] [ 6.96417391e-01 7.16631513e-01 -3.79748962e-02 8.24529681e+01] [ 5.35464117e-02 8.78762582e-04 9.98564975e-01 1.43471360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.830385723 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:250.18, Y:82.49, Z:14.35 [[ 7.12000558e-01 -7.01163324e-01 -3.77518040e-02 2.50184063e+02] [ 7.00133981e-01 7.13000433e-01 -3.79840960e-02 8.24892561e+01] [ 5.35501076e-02 6.13376797e-04 9.98564975e-01 1.43484275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.890385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:250.23, Y:82.53, Z:14.35 [[ 7.06019993e-01 -7.07185450e-01 -3.77426726e-02 2.50231859e+02] [ 7.06164152e-01 7.07028083e-01 -3.79931672e-02 8.25250989e+01] [ 5.35533445e-02 1.71413196e-04 9.98564975e-01 1.43515667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.950385723 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:250.27, Y:82.56, Z:14.36 [[ 7.04126363e-01 -7.09071388e-01 -3.77336824e-02 2.50274764e+02] [ 7.08052312e-01 7.05136699e-01 -3.80020939e-02 8.25648711e+01] [ 5.35536018e-02 4.08551254e-05 9.98564975e-01 1.43560973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.010385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:250.32, Y:82.61, Z:14.36 [[ 7.03665406e-01 -7.09529314e-01 -3.77246309e-02 2.50316434e+02] [ 7.08510414e-01 7.04675920e-01 -3.80110772e-02 8.26058277e+01] [ 5.35536125e-02 1.87862349e-05 9.98564975e-01 1.43646325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.070385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:250.36, Y:82.65, Z:14.37 [[ 7.06787395e-01 -7.06419940e-01 -3.77153409e-02 2.50357380e+02] [ 7.05396102e-01 7.07792905e-01 -3.80202927e-02 8.26464711e+01] [ 5.35529436e-02 2.68009122e-04 9.98564976e-01 1.43698234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.130385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:82.69, Z:14.37 [[ 7.07593473e-01 -7.05613090e-01 -3.77046964e-02 2.50398392e+02] [ 7.04587543e-01 7.08597240e-01 -3.80308460e-02 8.26883452e+01] [ 5.35525065e-02 3.44118978e-04 9.98564976e-01 1.43719428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.190385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:250.44, Y:82.73, Z:14.37 [[ 7.07697410e-01 -7.05509341e-01 -3.76954304e-02 2.50438344e+02] [ 7.04483158e-01 7.08700527e-01 -3.80400280e-02 8.27299247e+01] [ 5.35523665e-02 3.65033429e-04 9.98564976e-01 1.43724946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.250385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:250.48, Y:82.77, Z:14.37 [[ 7.05385468e-01 -7.07821053e-01 -3.76921672e-02 2.50478735e+02] [ 7.06797984e-01 7.06391761e-01 -3.80432611e-02 8.27701842e+01] [ 5.35532575e-02 1.94415668e-04 9.98564976e-01 1.43748009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.310385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:250.52, Y:82.81, Z:14.38 [[ 7.02846645e-01 -7.10342346e-01 -3.76874647e-02 2.50518978e+02] [ 7.09322638e-01 7.03856343e-01 -3.80479191e-02 8.28125343e+01] [ 5.35536091e-02 9.28039308e-06 9.98564976e-01 1.43798771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.370385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:250.56, Y:82.85, Z:14.38 [[ 6.97701371e-01 -7.15397177e-01 -3.76785828e-02 2.50560997e+02] [ 7.14384309e-01 6.98717930e-01 -3.80567127e-02 8.28533154e+01] [ 5.35523662e-02 -3.64767750e-04 9.98564976e-01 1.43845681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43038572300003 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:250.60, Y:82.90, Z:14.38 [[ 6.87727838e-01 -7.24990622e-01 -3.76698606e-02 2.50597031e+02] [ 7.23991456e-01 6.88757868e-01 -3.80653443e-02 8.29015789e+01] [ 5.35424305e-02 -1.09406032e-03 9.98564976e-01 1.43798360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:82.94, Z:14.39 [[ 6.92115662e-01 -7.20803437e-01 -3.76605249e-02 2.50642803e+02] [ 7.19797536e-01 6.93139116e-01 -3.80745785e-02 8.29369571e+01] [ 5.35482699e-02 -7.55940893e-04 9.98564976e-01 1.43919718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.68, Y:82.98, Z:14.40 [[ 6.91487110e-01 -7.21406731e-01 -3.76550801e-02 2.50683804e+02] [ 7.20401429e-01 6.92511153e-01 -3.80799625e-02 8.29780684e+01] [ 5.35477042e-02 -7.94970254e-04 9.98564976e-01 1.43975706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.72, Y:83.02, Z:14.40 [[ 6.91613708e-01 -7.21285855e-01 -3.76456379e-02 2.50723934e+02] [ 7.20279867e-01 6.92637076e-01 -3.80892948e-02 8.30209370e+01] [ 5.35480341e-02 -7.72316660e-04 9.98564976e-01 1.44024747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.670385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:83.06, Z:14.40 [[ 6.92302896e-01 -7.20624865e-01 -3.76364693e-02 2.50764215e+02] [ 7.19617407e-01 6.93324817e-01 -3.80983522e-02 8.30636928e+01] [ 5.35489181e-02 -7.08258856e-04 9.98564976e-01 1.44042612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.730385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:250.80, Y:83.11, Z:14.41 [[ 6.92169245e-01 -7.20753714e-01 -3.76273976e-02 2.50803628e+02] [ 7.19745960e-01 6.93190873e-01 -3.81073096e-02 8.31056537e+01] [ 5.35489535e-02 -7.05459689e-04 9.98564976e-01 1.44073741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.84, Y:83.15, Z:14.41 [[ 6.91342720e-01 -7.21547089e-01 -3.76170441e-02 2.50843480e+02] [ 7.20539951e-01 6.92364957e-01 -3.81175273e-02 8.31480590e+01] [ 5.35483139e-02 -7.52308102e-04 9.98564976e-01 1.44127062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.88, Y:83.19, Z:14.42 [[ 6.89774973e-01 -7.23046120e-01 -3.76137742e-02 2.50883886e+02] [ 7.22041028e-01 6.90799220e-01 -3.81207536e-02 8.31906583e+01] [ 5.35466289e-02 -8.63946394e-04 9.98564976e-01 1.44159347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:250.92, Y:83.23, Z:14.42 [[ 6.87040269e-01 -7.25645612e-01 -3.76047090e-02 2.50922479e+02] [ 7.24643906e-01 6.88067828e-01 -3.81296940e-02 8.32344351e+01] [ 5.35432356e-02 -1.05338794e-03 9.98564977e-01 1.44199916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:250.96, Y:83.28, Z:14.42 [[ 6.85779679e-01 -7.26837234e-01 -3.76014292e-02 2.50960814e+02] [ 7.25837136e-01 6.86808803e-01 -3.81329281e-02 8.32784828e+01] [ 5.35414246e-02 -1.14172647e-03 9.98564977e-01 1.44233556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.00, Y:83.32, Z:14.42 [[ 6.86348920e-01 -7.26299896e-01 -3.75981508e-02 2.50998622e+02] [ 7.25298815e-01 6.87377089e-01 -3.81361603e-02 8.33231689e+01] [ 5.35423967e-02 -1.09518175e-03 9.98564977e-01 1.44236850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.04, Y:83.37, Z:14.42 [[ 6.87739877e-01 -7.24983205e-01 -3.75927547e-02 2.51036395e+02] [ 7.23979865e-01 6.88765840e-01 -3.81414787e-02 8.33679502e+01] [ 5.35445368e-02 -9.84981643e-04 9.98564977e-01 1.44240521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:83.41, Z:14.43 [[ 6.89188387e-01 -7.23606853e-01 -3.75830950e-02 2.51075735e+02] [ 7.22600946e-01 6.90211834e-01 -3.81509947e-02 8.34113833e+01] [ 5.35466181e-02 -8.64357477e-04 9.98564977e-01 1.44291937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:251.11, Y:83.46, Z:14.43 [[ 6.89182849e-01 -7.23612614e-01 -3.75737439e-02 2.51113324e+02] [ 7.22606213e-01 6.90205810e-01 -3.81602021e-02 8.34566699e+01] [ 5.35468199e-02 -8.51663994e-04 9.98564977e-01 1.44319423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.270385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:251.15, Y:83.50, Z:14.43 [[ 6.90907577e-01 -7.21966511e-01 -3.75643022e-02 2.51152582e+02] [ 7.20957168e-01 6.91927635e-01 -3.81694940e-02 8.34993776e+01] [ 5.35488752e-02 -7.10660266e-04 9.98564977e-01 1.44340390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:251.19, Y:83.54, Z:14.44 [[ 6.89759788e-01 -7.23063748e-01 -3.75533078e-02 2.51190124e+02] [ 7.22055439e-01 6.90780868e-01 -3.81803079e-02 8.35445450e+01] [ 5.35479031e-02 -7.80329037e-04 9.98564977e-01 1.44368760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.23, Y:83.59, Z:14.44 [[ 6.88066363e-01 -7.24676025e-01 -3.75411588e-02 2.51226933e+02] [ 7.23669457e-01 6.89089159e-01 -3.81922498e-02 8.35891385e+01] [ 5.35462133e-02 -8.88587607e-04 9.98564977e-01 1.44388540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.26, Y:83.64, Z:14.44 [[ 6.84336294e-01 -7.28199807e-01 -3.75350124e-02 2.51261022e+02] [ 7.27198173e-01 6.85363923e-01 -3.81982895e-02 8.36372764e+01] [ 5.35411304e-02 -1.15491652e-03 9.98564977e-01 1.44382735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.30, Y:83.68, Z:14.44 [[ 6.83469600e-01 -7.29013896e-01 -3.75239209e-02 2.51300767e+02] [ 7.28012889e-01 6.84497839e-01 -3.82091820e-02 8.36794984e+01] [ 5.35400675e-02 -1.20308372e-03 9.98564977e-01 1.44439714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:83.72, Z:14.44 [[ 6.82576340e-01 -7.29850900e-01 -3.75127178e-02 2.51338236e+02] [ 7.28850550e-01 6.83605218e-01 -3.82201778e-02 8.37226719e+01] [ 5.35389208e-02 -1.25297585e-03 9.98564977e-01 1.44432384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:83.77, Z:14.44 [[ 6.80115602e-01 -7.32145060e-01 -3.75017265e-02 2.51373624e+02] [ 7.31147586e-01 6.81147268e-01 -3.82309595e-02 8.37696406e+01] [ 5.35348067e-02 -1.41782480e-03 9.98564977e-01 1.44432537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.690385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:83.81, Z:14.45 [[ 6.81914090e-01 -7.30470726e-01 -3.74925750e-02 2.51416367e+02] [ 7.29470226e-01 6.82942821e-01 -3.82399321e-02 8.38102209e+01] [ 5.35384359e-02 -1.27336862e-03 9.98564978e-01 1.44534452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:251.45, Y:83.86, Z:14.45 [[ 6.80287201e-01 -7.31986601e-01 -3.74825158e-02 2.51450271e+02] [ 7.30987851e-01 6.81317632e-01 -3.82497895e-02 8.38581439e+01] [ 5.35358323e-02 -1.37842140e-03 9.98564978e-01 1.44542801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.810385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:251.49, Y:83.90, Z:14.46 [[ 6.81331607e-01 -7.31014855e-01 -3.74769723e-02 2.51486320e+02] [ 7.30014336e-01 6.82360320e-01 -3.82552203e-02 8.39044792e+01] [ 5.35379331e-02 -1.29423636e-03 9.98564978e-01 1.44567771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:83.95, Z:14.46 [[ 6.81428694e-01 -7.30924924e-01 -3.74658588e-02 2.51524264e+02] [ 7.29923672e-01 6.82456694e-01 -3.82661013e-02 8.39468532e+01] [ 5.35384733e-02 -1.27159777e-03 9.98564978e-01 1.44575441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.56, Y:83.99, Z:14.46 [[ 6.82094901e-01 -7.30303607e-01 -3.74591448e-02 2.51561819e+02] [ 7.29301058e-01 6.83121636e-01 -3.82726727e-02 8.39917494e+01] [ 5.35398232e-02 -1.21339898e-03 9.98564978e-01 1.44614356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.990385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:84.04, Z:14.46 [[ 6.83294703e-01 -7.29181685e-01 -3.74488745e-02 2.51597261e+02] [ 7.28176900e-01 6.84319250e-01 -3.82827193e-02 8.40379298e+01] [ 5.35420434e-02 -1.11102598e-03 9.98564978e-01 1.44647151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.63, Y:84.09, Z:14.47 [[ 6.83450121e-01 -7.29036558e-01 -3.74383418e-02 2.51630246e+02] [ 7.28030991e-01 6.84473901e-01 -3.82930169e-02 8.40867615e+01] [ 5.35425771e-02 -1.08490610e-03 9.98564978e-01 1.44656033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.67, Y:84.13, Z:14.47 [[ 6.84862377e-01 -7.27710606e-01 -3.74272480e-02 2.51670007e+02] [ 7.26702465e-01 6.85883621e-01 -3.83038568e-02 8.41295392e+01] [ 5.35448592e-02 -9.65602965e-04 9.98564978e-01 1.44695878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.71, Y:84.17, Z:14.47 [[ 6.85484069e-01 -7.27125584e-01 -3.74162546e-02 2.51708307e+02] [ 7.26115986e-01 6.86503873e-01 -3.83145925e-02 8.41729984e+01] [ 5.35459241e-02 -9.04497779e-04 9.98564978e-01 1.44722320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.75, Y:84.21, Z:14.48 [[ 6.86766434e-01 -7.25915082e-01 -3.74053355e-02 2.51748534e+02] [ 7.24903106e-01 6.87783877e-01 -3.83252495e-02 8.42144794e+01] [ 5.35476633e-02 -7.94748951e-04 9.98564978e-01 1.44754457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.79, Y:84.25, Z:14.48 [[ 6.89857365e-01 -7.22978900e-01 -3.73941918e-02 2.51791295e+02] [ 7.21962004e-01 6.90869891e-01 -3.83361194e-02 8.42536403e+01] [ 5.35507267e-02 -5.50731305e-04 9.98564979e-01 1.44849831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.83, Y:84.30, Z:14.48 [[ 6.89053424e-01 -7.23745653e-01 -3.73846010e-02 2.51830238e+02] [ 7.22729376e-01 6.90066572e-01 -3.83454698e-02 8.42988654e+01] [ 5.35502306e-02 -5.96872092e-04 9.98564979e-01 1.44781600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.87, Y:84.34, Z:14.48 [[ 6.87997072e-01 -7.24750378e-01 -3.73753708e-02 2.51873736e+02] [ 7.23735093e-01 6.89011212e-01 -3.83544645e-02 8.43375293e+01] [ 5.35494622e-02 -6.62108213e-04 9.98564979e-01 1.44810126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.91, Y:84.38, Z:14.48 [[ 6.86611689e-01 -7.26063514e-01 -3.73652481e-02 2.51913709e+02] [ 7.25049632e-01 6.87627232e-01 -3.83643235e-02 8.43790599e+01] [ 5.35482977e-02 -7.50266459e-04 9.98564979e-01 1.44849459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.95, Y:84.42, Z:14.49 [[ 6.85402184e-01 -7.27205954e-01 -3.73543391e-02 2.51954086e+02] [ 7.26193185e-01 6.86418838e-01 -3.83749424e-02 8.44211175e+01] [ 5.35472086e-02 -8.24197163e-04 9.98564979e-01 1.44936949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.00, Y:84.46, Z:14.49 [[ 6.85187577e-01 -7.27408666e-01 -3.73445699e-02 2.51998248e+02] [ 7.26395681e-01 6.86204015e-01 -3.83844469e-02 8.44596286e+01] [ 5.35471732e-02 -8.26388116e-04 9.98564979e-01 1.44935026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.04, Y:84.50, Z:14.50 [[ 6.85669004e-01 -7.26955057e-01 -3.73411612e-02 2.52036523e+02] [ 7.25941218e-01 6.86684591e-01 -3.83877627e-02 8.45014224e+01] [ 5.35477782e-02 -7.86188996e-04 9.98564979e-01 1.44955281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.08, Y:84.54, Z:14.50 [[ 6.87013402e-01 -7.25684959e-01 -3.73353113e-02 2.52080490e+02] [ 7.24668934e-01 6.88026801e-01 -3.83934514e-02 8.45406697e+01] [ 5.35492450e-02 -6.78924646e-04 9.98564979e-01 1.45018005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.770385723 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:252.12, Y:84.58, Z:14.50 [[ 6.85864453e-01 -7.26771473e-01 -3.73253109e-02 2.52122971e+02] [ 7.25756524e-01 6.86878930e-01 -3.84031711e-02 8.45816443e+01] [ 5.35482989e-02 -7.49717939e-04 9.98564979e-01 1.45026840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.830385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:252.16, Y:84.62, Z:14.50 [[ 6.86143271e-01 -7.26508745e-01 -3.73156197e-02 2.52161664e+02] [ 7.25492896e-01 6.87156846e-01 -3.84125855e-02 8.46248805e+01] [ 5.35487629e-02 -7.15679941e-04 9.98564979e-01 1.44993740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.20, Y:84.66, Z:14.50 [[ 6.87254987e-01 -7.25457360e-01 -3.73122177e-02 2.52204685e+02] [ 7.24439781e-01 6.88266825e-01 -3.84158898e-02 8.46637315e+01] [ 5.35498517e-02 -6.28942970e-04 9.98564979e-01 1.45038560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.950385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:252.25, Y:84.70, Z:14.51 [[ 6.86929430e-01 -7.25766174e-01 -3.73017310e-02 2.52247449e+02] [ 7.24748497e-01 6.87941170e-01 -3.84260697e-02 8.47029580e+01] [ 5.35497381e-02 -6.38375292e-04 9.98564979e-01 1.45063037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.29, Y:84.74, Z:14.51 [[ 6.86970885e-01 -7.25727490e-01 -3.72909388e-02 2.52287978e+02] [ 7.24709187e-01 6.87981995e-01 -3.84365403e-02 8.47445917e+01] [ 5.35499484e-02 -6.20301885e-04 9.98564979e-01 1.45113005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.070385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:252.33, Y:84.78, Z:14.52 [[ 6.86911673e-01 -7.25784086e-01 -3.72802207e-02 2.52331198e+02] [ 7.24765303e-01 6.87922299e-01 -3.84469331e-02 8.47834437e+01] [ 5.35500673e-02 -6.09763292e-04 9.98564980e-01 1.45153529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.130385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:84.82, Z:14.52 [[ 6.88441025e-01 -7.24334161e-01 -3.72690077e-02 2.52373848e+02] [ 7.23312661e-01 6.89448904e-01 -3.84577995e-02 8.48209573e+01] [ 5.35513745e-02 -4.81218221e-04 9.98564980e-01 1.45189047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.190385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:252.41, Y:84.86, Z:14.52 [[ 6.88046176e-01 -7.24709486e-01 -3.72642019e-02 2.52414705e+02] [ 7.23688284e-01 6.89054358e-01 -3.84624556e-02 8.48603762e+01] [ 5.35511671e-02 -5.03720852e-04 9.98564980e-01 1.45218673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:84.90, Z:14.52 [[ 6.84901795e-01 -7.27682180e-01 -3.72582418e-02 2.52456032e+02] [ 7.26665039e-01 6.85914073e-01 -3.84682282e-02 8.49027950e+01] [ 5.35485966e-02 -7.27303264e-04 9.98564980e-01 1.45219725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:84.94, Z:14.53 [[ 6.86531806e-01 -7.26145042e-01 -3.72485918e-02 2.52501742e+02] [ 7.25125128e-01 6.87541290e-01 -3.84775701e-02 8.49389398e+01] [ 5.35502416e-02 -5.93814228e-04 9.98564980e-01 1.45299577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.370385723 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:252.54, Y:84.98, Z:14.53 [[ 6.85854815e-01 -7.26784678e-01 -3.72452023e-02 2.52544248e+02] [ 7.25765527e-01 6.86865070e-01 -3.84808507e-02 8.49793695e+01] [ 5.35497211e-02 -6.39007161e-04 9.98564980e-01 1.45281416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43038572300003 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:252.59, Y:85.02, Z:14.53 [[ 6.86447593e-01 -7.26225295e-01 -3.72360308e-02 2.52586278e+02] [ 7.25204840e-01 6.87456530e-01 -3.84897234e-02 8.50187328e+01] [ 5.35503633e-02 -5.82571778e-04 9.98564980e-01 1.45332681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.490385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:252.63, Y:85.06, Z:14.54 [[ 6.86442965e-01 -7.26230221e-01 -3.72252927e-02 2.52627686e+02] [ 7.25209210e-01 6.87451339e-01 -3.85001060e-02 8.50596224e+01] [ 5.35505178e-02 -5.67998137e-04 9.98564980e-01 1.45354260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.550385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:252.67, Y:85.10, Z:14.54 [[ 6.88245089e-01 -7.24523160e-01 -3.72140896e-02 2.52670758e+02] [ 7.23499062e-01 6.89250328e-01 -3.85109318e-02 8.51003102e+01] [ 5.35518855e-02 -4.19399227e-04 9.98564980e-01 1.45375912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.72, Y:85.14, Z:14.55 [[ 6.91379431e-01 -7.21533311e-01 -3.72043511e-02 2.52715712e+02] [ 7.20504359e-01 6.92379702e-01 -3.85203376e-02 8.51384280e+01] [ 5.35532443e-02 -1.73728076e-04 9.98564980e-01 1.45450923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:252.76, Y:85.18, Z:14.55 [[ 6.91563613e-01 -7.21357293e-01 -3.71944326e-02 2.52757984e+02] [ 7.20327572e-01 6.92563091e-01 -3.85299124e-02 8.51784781e+01] [ 5.35533245e-02 -1.46289949e-04 9.98564980e-01 1.45481146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:252.80, Y:85.22, Z:14.55 [[ 6.91162366e-01 -7.21742322e-01 -3.71833977e-02 2.52798768e+02] [ 7.20712585e-01 6.92161827e-01 -3.85405587e-02 8.52193256e+01] [ 5.35532808e-02 -1.60759018e-04 9.98564981e-01 1.45490562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.790385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:85.26, Z:14.55 [[ 6.90135732e-01 -7.22724308e-01 -3.71785863e-02 2.52841893e+02] [ 7.21695743e-01 6.91136399e-01 -3.85451995e-02 8.52584205e+01] [ 5.35530269e-02 -2.30208048e-04 9.98564981e-01 1.45508551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.88, Y:85.30, Z:14.56 [[ 6.90589628e-01 -7.22291094e-01 -3.71690820e-02 2.52883965e+02] [ 7.21261409e-01 6.91589142e-01 -3.85543623e-02 8.52996997e+01] [ 5.35532061e-02 -1.83381764e-04 9.98564981e-01 1.45586832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.93, Y:85.34, Z:14.56 [[ 6.92360376e-01 -7.20594378e-01 -3.71598197e-02 2.52927127e+02] [ 7.19561764e-01 6.93356864e-01 -3.85632875e-02 8.53373665e+01] [ 5.35535043e-02 -3.90931546e-05 9.98564981e-01 1.45611880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:252.97, Y:85.38, Z:14.56 [[ 6.93223344e-01 -7.19764505e-01 -3.71544322e-02 2.52970673e+02] [ 7.18730420e-01 6.94218306e-01 -3.85684775e-02 8.53774521e+01] [ 5.35535081e-02 3.25482607e-05 9.98564981e-01 1.45645624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:253.01, Y:85.42, Z:14.57 [[ 6.93925484e-01 -7.19088067e-01 -3.71453196e-02 2.53012525e+02] [ 7.18052542e-01 6.94918946e-01 -3.85772518e-02 8.54174786e+01] [ 5.35534279e-02 9.74469278e-05 9.98564981e-01 1.45686496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:85.46, Z:14.57 [[ 6.92496727e-01 -7.20464620e-01 -3.71350950e-02 2.53056165e+02] [ 7.19430542e-01 6.93491695e-01 -3.85870917e-02 8.54554202e+01] [ 5.35535144e-02 5.31319743e-06 9.98564981e-01 1.45738598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.10, Y:85.49, Z:14.58 [[ 6.90505318e-01 -7.22374022e-01 -3.71238226e-02 2.53099990e+02] [ 7.21342112e-01 6.91502536e-01 -3.85979337e-02 8.54938837e+01] [ 5.35533620e-02 -1.26898133e-04 9.98564981e-01 1.45768614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.15, Y:85.53, Z:14.58 [[ 6.86594560e-01 -7.26092353e-01 -3.71187993e-02 2.53145911e+02] [ 7.25065582e-01 6.87597068e-01 -3.86027638e-02 8.55305337e+01] [ 5.35519492e-02 -4.09116222e-04 9.98564981e-01 1.45826908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:85.57, Z:14.59 [[ 6.83549533e-01 -7.28960161e-01 -3.71095729e-02 2.53187210e+02] [ 7.27937115e-01 6.84555841e-01 -3.86116313e-02 8.55719951e+01] [ 5.35499159e-02 -6.20472852e-04 9.98564981e-01 1.45876650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.23, Y:85.61, Z:14.59 [[ 6.81868014e-01 -7.30533785e-01 -3.70998780e-02 2.53229887e+02] [ 7.29512554e-01 6.82876164e-01 -3.86209444e-02 8.56123083e+01] [ 5.35485271e-02 -7.30440096e-04 9.98564981e-01 1.45877230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:85.65, Z:14.59 [[ 6.81596143e-01 -7.30788019e-01 -3.70886582e-02 2.53276265e+02] [ 7.29766579e-01 6.82604081e-01 -3.86317161e-02 8.56497343e+01] [ 5.35484647e-02 -7.34834554e-04 9.98564981e-01 1.45921017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.32, Y:85.69, Z:14.59 [[ 6.81895002e-01 -7.30509662e-01 -3.70788509e-02 2.53317964e+02] [ 7.29487298e-01 6.82902003e-01 -3.86411268e-02 8.56900696e+01] [ 5.35489380e-02 -6.99359513e-04 9.98564981e-01 1.45912953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.36, Y:85.73, Z:14.59 [[ 6.82527225e-01 -7.29919261e-01 -3.70737166e-02 2.53361938e+02] [ 7.28895758e-01 6.83533069e-01 -3.86460523e-02 8.57286328e+01] [ 5.35496092e-02 -6.45891947e-04 9.98564981e-01 1.45921115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.41, Y:85.77, Z:14.60 [[ 6.83904391e-01 -7.28629239e-01 -3.70704163e-02 2.53405414e+02] [ 7.27603668e-01 6.84908126e-01 -3.86492177e-02 8.57675322e+01] [ 5.35507795e-02 -5.40201148e-04 9.98564981e-01 1.45969835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.44, Y:85.81, Z:14.60 [[ 6.85729896e-01 -7.26911994e-01 -3.70602491e-02 2.53444253e+02] [ 7.25883383e-01 6.86730514e-01 -3.86589645e-02 8.58112073e+01] [ 5.35520689e-02 -3.91811239e-04 9.98564982e-01 1.46003928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.49, Y:85.85, Z:14.60 [[ 6.86982065e-01 -7.25729196e-01 -3.70510060e-02 2.53485125e+02] [ 7.24698384e-01 6.87980416e-01 -3.86678211e-02 8.58525974e+01] [ 5.35527332e-02 -2.86704595e-04 9.98564982e-01 1.46041295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.53, Y:85.89, Z:14.61 [[ 6.86516991e-01 -7.26169701e-01 -3.70403318e-02 2.53526446e+02] [ 7.25138978e-01 6.87515434e-01 -3.86780434e-02 8.58936198e+01] [ 5.35526230e-02 -3.06254393e-04 9.98564982e-01 1.46084244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.56, Y:85.94, Z:14.61 [[ 6.84187330e-01 -7.28365646e-01 -3.70294769e-02 2.53564352e+02] [ 7.27337565e-01 6.85188493e-01 -3.86884329e-02 8.59388745e+01] [ 5.35514969e-02 -4.62793955e-04 9.98564982e-01 1.46079429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.60, Y:85.98, Z:14.61 [[ 6.81945970e-01 -7.30465028e-01 -3.70207523e-02 2.53604065e+02] [ 7.29439576e-01 6.82949825e-01 -3.86967796e-02 8.59824176e+01] [ 5.35499605e-02 -6.15288955e-04 9.98564982e-01 1.46138823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:253.64, Y:86.03, Z:14.62 [[ 6.79485045e-01 -7.32755235e-01 -3.70113387e-02 2.53643389e+02] [ 7.31732676e-01 6.80491847e-01 -3.87057810e-02 8.60251770e+01] [ 5.35477779e-02 -7.82406525e-04 9.98564982e-01 1.46166708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:253.68, Y:86.07, Z:14.62 [[ 6.76121877e-01 -7.35860143e-01 -3.70007791e-02 2.53682360e+02] [ 7.34841655e-01 6.77132796e-01 -3.87158729e-02 8.60685939e+01] [ 5.35439088e-02 -1.01306511e-03 9.98564982e-01 1.46190202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.050385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:86.11, Z:14.62 [[ 6.75675168e-01 -7.36270879e-01 -3.69899948e-02 2.53720028e+02] [ 7.35252442e-01 6.76686138e-01 -3.87261737e-02 8.61110788e+01] [ 5.35435707e-02 -1.03067015e-03 9.98564982e-01 1.46219475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:253.76, Y:86.15, Z:14.63 [[ 6.77354698e-01 -7.34726327e-01 -3.69842976e-02 2.53757892e+02] [ 7.33705287e-01 6.78363040e-01 -3.87316139e-02 8.61538802e+01] [ 5.35459169e-02 -9.00534030e-04 9.98564982e-01 1.46253573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.170385723 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:253.80, Y:86.20, Z:14.62 [[ 6.76591076e-01 -7.35429943e-01 -3.69772204e-02 2.53795883e+02] [ 7.34409583e-01 6.77600106e-01 -3.87383693e-02 8.61989342e+01] [ 5.35451252e-02 -9.46390069e-04 9.98564982e-01 1.46246567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.230385723 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:86.24, Z:14.63 [[ 6.80394769e-01 -7.31912809e-01 -3.69675291e-02 2.53836644e+02] [ 7.30886730e-01 6.81397982e-01 -3.87476154e-02 8.62396799e+01] [ 5.35494758e-02 -6.55401673e-04 9.98564982e-01 1.46324341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.290385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:253.87, Y:86.28, Z:14.63 [[ 6.83436265e-01 -7.29073747e-01 -3.69640788e-02 2.53873807e+02] [ 7.28043322e-01 6.84435014e-01 -3.87509066e-02 8.62835194e+01] [ 5.35517785e-02 -4.27675823e-04 9.98564982e-01 1.46345997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.350385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:253.92, Y:86.32, Z:14.64 [[ 6.84395337e-01 -7.28173810e-01 -3.69584299e-02 2.53915218e+02] [ 7.27141780e-01 6.85392428e-01 -3.87562935e-02 8.63246155e+01] [ 5.35523459e-02 -3.49391982e-04 9.98564982e-01 1.46399121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.95, Y:86.37, Z:14.64 [[ 6.83930740e-01 -7.28610731e-01 -3.69478753e-02 2.53953899e+02] [ 7.27578795e-01 6.84927928e-01 -3.87663530e-02 8.63676470e+01] [ 5.35522125e-02 -3.68990068e-04 9.98564983e-01 1.46435533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.99, Y:86.41, Z:14.65 [[ 6.80613129e-01 -7.31711293e-01 -3.69371250e-02 2.53993638e+02] [ 7.30683344e-01 6.81614426e-01 -3.87765933e-02 8.64093135e+01] [ 5.35501485e-02 -5.97483549e-04 9.98564983e-01 1.46455891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:254.04, Y:86.45, Z:14.65 [[ 6.74128552e-01 -7.37690035e-01 -3.69338289e-02 2.54035344e+02] [ 7.36670791e-01 6.75138710e-01 -3.87797326e-02 8.64502709e+01] [ 5.35428798e-02 -1.06554795e-03 9.98564983e-01 1.46489458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.08, Y:86.49, Z:14.65 [[ 6.70679801e-01 -7.40827418e-01 -3.69234359e-02 2.54075335e+02] [ 7.39812356e-01 6.71694159e-01 -3.87896256e-02 8.64920345e+01] [ 5.35376744e-02 -1.30099570e-03 9.98564983e-01 1.46524413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:254.12, Y:86.53, Z:14.66 [[ 6.68994840e-01 -7.42349877e-01 -3.69129428e-02 2.54115273e+02] [ 7.41336572e-01 6.70010954e-01 -3.87996084e-02 8.65342932e+01] [ 5.35349605e-02 -1.40817666e-03 9.98564983e-01 1.46563579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.710385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:86.58, Z:14.66 [[ 6.70058167e-01 -7.41390775e-01 -3.69021807e-02 2.54152747e+02] [ 7.40375453e-01 6.71072265e-01 -3.88098415e-02 8.65779274e+01] [ 5.35372885e-02 -1.31661755e-03 9.98564983e-01 1.46580592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.770385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:254.19, Y:86.62, Z:14.66 [[ 6.71713771e-01 -7.39891374e-01 -3.68966637e-02 2.54192002e+02] [ 7.38873500e-01 6.72725308e-01 -3.88150858e-02 8.66210671e+01] [ 5.35402666e-02 -1.18933939e-03 9.98564983e-01 1.46620069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:254.23, Y:86.67, Z:14.67 [[ 6.73604328e-01 -7.38171132e-01 -3.68861699e-02 2.54229570e+02] [ 7.37150129e-01 6.74612706e-01 -3.88250556e-02 8.66654290e+01] [ 5.35434141e-02 -1.03791936e-03 9.98564983e-01 1.46658495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.890385723 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:254.26, Y:86.71, Z:14.66 [[ 6.72104362e-01 -7.39537377e-01 -3.68808124e-02 2.54262978e+02] [ 7.38518145e-01 6.73114530e-01 -3.88301441e-02 8.67141636e+01] [ 5.35413536e-02 -1.13923990e-03 9.98564983e-01 1.46588161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:254.30, Y:86.75, Z:14.67 [[ 6.75312854e-01 -7.36609307e-01 -3.68683779e-02 2.54303229e+02] [ 7.35585050e-01 6.76317926e-01 -3.88419469e-02 8.67549572e+01] [ 5.35460844e-02 -8.89361591e-04 9.98564983e-01 1.46660131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:254.34, Y:86.80, Z:14.68 [[ 6.77403374e-01 -7.34687556e-01 -3.68627787e-02 2.54341448e+02] [ 7.33660158e-01 6.78405235e-01 -3.88472600e-02 8.67968942e+01] [ 5.35485006e-02 -7.29487018e-04 9.98564983e-01 1.46754657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:254.38, Y:86.84, Z:14.68 [[ 6.78941992e-01 -7.33266318e-01 -3.68548389e-02 2.54380136e+02] [ 7.32236414e-01 6.79941277e-01 -3.88547912e-02 8.68407556e+01] [ 5.35500358e-02 -6.06305711e-04 9.98564983e-01 1.46779187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.130385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:254.42, Y:86.88, Z:14.68 [[ 6.80156318e-01 -7.32140612e-01 -3.68443613e-02 2.54418737e+02] [ 7.31108516e-01 6.81153339e-01 -3.88647241e-02 8.68838767e+01] [ 5.35511026e-02 -5.03138663e-04 9.98564984e-01 1.46795581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:254.46, Y:86.93, Z:14.68 [[ 6.78471932e-01 -7.33702328e-01 -3.68338379e-02 2.54456201e+02] [ 7.32671986e-01 6.79470764e-01 -3.88746950e-02 8.69288645e+01] [ 5.35499702e-02 -6.11731790e-04 9.98564984e-01 1.46820184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.250385723 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:254.50, Y:86.97, Z:14.68 [[ 6.77213872e-01 -7.34864238e-01 -3.68228691e-02 2.54498100e+02] [ 7.33835044e-01 6.78213888e-01 -3.88850821e-02 8.69690828e+01] [ 5.35490375e-02 -6.88394791e-04 9.98564984e-01 1.46795155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.310385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:254.53, Y:87.01, Z:14.69 [[ 6.71747794e-01 -7.39864787e-01 -3.68103090e-02 2.54534185e+02] [ 7.38842384e-01 6.72754752e-01 -3.88969684e-02 8.70147440e+01] [ 5.35428076e-02 -1.06806373e-03 9.98564984e-01 1.46856687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.370385723 meters Centerline goodness : 0.994079 with order 1 Centerline is valid? [True, True] Translation: X:254.57, Y:87.06, Z:14.69 [[ 6.67341919e-01 -7.43841844e-01 -3.67977521e-02 2.54569615e+02] [ 7.42824787e-01 6.68354276e-01 -3.89088440e-02 8.70601486e+01] [ 5.35359612e-02 -1.36877974e-03 9.98564984e-01 1.46856540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.61, Y:87.10, Z:14.69 [[ 6.66643810e-01 -7.44468040e-01 -3.67881478e-02 2.54607171e+02] [ 7.43451433e-01 6.67656619e-01 -3.89179227e-02 8.71043510e+01] [ 5.35350001e-02 -1.40580894e-03 9.98564984e-01 1.46937719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.65, Y:87.15, Z:14.69 [[ 6.65294006e-01 -7.45675168e-01 -3.67754081e-02 2.54645293e+02] [ 7.44659734e-01 6.66307991e-01 -3.89299574e-02 8.71496982e+01] [ 5.35328508e-02 -1.48529833e-03 9.98564984e-01 1.46923297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:254.68, Y:87.20, Z:14.70 [[ 6.67371437e-01 -7.43816923e-01 -3.67661505e-02 2.54681166e+02] [ 7.42798185e-01 6.68382102e-01 -3.89386985e-02 8.71956213e+01] [ 5.35370998e-02 -1.32325472e-03 9.98564984e-01 1.46953246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.72, Y:87.24, Z:14.70 [[ 6.69856742e-01 -7.41580104e-01 -3.67545132e-02 2.54717652e+02] [ 7.40557389e-01 6.70863381e-01 -3.89496800e-02 8.72403721e+01] [ 5.35415647e-02 -1.12812056e-03 9.98564984e-01 1.46968466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.75, Y:87.29, Z:14.70 [[ 6.72250555e-01 -7.39411281e-01 -3.67443679e-02 2.54754765e+02] [ 7.38384795e-01 6.73253349e-01 -3.89592485e-02 8.72857372e+01] [ 5.35451766e-02 -9.41106177e-04 9.98564985e-01 1.47011246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.79, Y:87.33, Z:14.70 [[ 6.74503680e-01 -7.37357043e-01 -3.67338648e-02 2.54789336e+02] [ 7.36326963e-01 6.75502782e-01 -3.89691491e-02 8.73321320e+01] [ 5.35480044e-02 -7.63300667e-04 9.98564985e-01 1.47037028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.790385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:87.37, Z:14.71 [[ 6.76030419e-01 -7.35957787e-01 -3.67288497e-02 2.54829633e+02] [ 7.34925382e-01 6.77027119e-01 -3.89738754e-02 8.73740109e+01] [ 5.35495543e-02 -6.45438570e-04 9.98564985e-01 1.47118764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.86, Y:87.42, Z:14.71 [[ 6.74246613e-01 -7.37592894e-01 -3.67182195e-02 2.54864900e+02] [ 7.36562361e-01 6.75245248e-01 -3.89838877e-02 8.74191092e+01] [ 5.35480418e-02 -7.60504136e-04 9.98564985e-01 1.47124333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.910385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:87.46, Z:14.72 [[ 6.71048511e-01 -7.40503954e-01 -3.67122563e-02 2.54904851e+02] [ 7.39477446e-01 6.72051282e-01 -3.89895027e-02 8.74614165e+01] [ 5.35443998e-02 -9.84037782e-04 9.98564985e-01 1.47174985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.94, Y:87.51, Z:14.72 [[ 6.66011420e-01 -7.45038090e-01 -3.67019519e-02 2.54943186e+02] [ 7.44017872e-01 6.67020591e-01 -3.89992000e-02 8.75053009e+01] [ 5.35368471e-02 -1.33299557e-03 9.98564985e-01 1.47214340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.98, Y:87.55, Z:14.72 [[ 6.64199284e-01 -7.46654623e-01 -3.66903879e-02 2.54981848e+02] [ 7.45636262e-01 6.65210327e-01 -3.90100764e-02 8.75488220e+01] [ 5.35338789e-02 -1.44721888e-03 9.98564985e-01 1.47237875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:255.02, Y:87.59, Z:14.73 [[ 6.62400634e-01 -7.48250944e-01 -3.66868581e-02 2.55021455e+02] [ 7.47234835e-01 6.63413940e-01 -3.90133957e-02 8.75900542e+01] [ 5.35303833e-02 -1.57120037e-03 9.98564985e-01 1.47250565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.06, Y:87.63, Z:14.73 [[ 6.61941561e-01 -7.48657536e-01 -3.66778380e-02 2.55059312e+02] [ 7.47641580e-01 6.62955022e-01 -3.90218740e-02 8.76337000e+01] [ 5.35297769e-02 -1.59167653e-03 9.98564985e-01 1.47298434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.10, Y:87.67, Z:14.75 [[ 6.66454295e-01 -7.44643673e-01 -3.66670571e-02 2.55100210e+02] [ 7.43621055e-01 6.67461032e-01 -3.90320017e-02 8.76735432e+01] [ 5.35387649e-02 -1.25335050e-03 9.98564985e-01 1.47451657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.270385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:255.13, Y:87.72, Z:14.73 [[ 6.64970880e-01 -7.45968851e-01 -3.66633720e-02 2.55133435e+02] [ 7.44948048e-01 6.65979458e-01 -3.90354629e-02 8.77220855e+01] [ 5.35362920e-02 -1.35486134e-03 9.98564985e-01 1.47325126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.330385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.18, Y:87.76, Z:14.76 [[ 6.72577501e-01 -7.39118465e-01 -3.66524097e-02 2.55176086e+02] [ 7.38086825e-01 6.73574991e-01 -3.90457532e-02 8.77607019e+01] [ 5.35475837e-02 -7.91365608e-04 9.98564985e-01 1.47586188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.390385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:255.21, Y:87.81, Z:14.74 [[ 6.67825229e-01 -7.43415738e-01 -3.66401920e-02 2.55206479e+02] [ 7.42389887e-01 6.68828670e-01 -3.90572149e-02 8.78125897e+01] [ 5.35417591e-02 -1.11791451e-03 9.98564986e-01 1.47382279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.25, Y:87.85, Z:14.76 [[ 6.73134693e-01 -7.38611895e-01 -3.66354034e-02 2.55250950e+02] [ 7.37578636e-01 6.74130505e-01 -3.90617061e-02 8.78498172e+01] [ 5.35484837e-02 -7.27701325e-04 9.98564986e-01 1.47622743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.28, Y:87.90, Z:14.75 [[ 6.69168511e-01 -7.42207683e-01 -3.66232061e-02 2.55280707e+02] [ 7.41179149e-01 6.70169202e-01 -3.90731385e-02 8.79029810e+01] [ 5.35441284e-02 -9.97842817e-04 9.98564986e-01 1.47465715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.570385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:255.33, Y:87.94, Z:14.77 [[ 6.75414274e-01 -7.36529060e-01 -3.66128794e-02 2.55326673e+02] [ 7.35491585e-01 6.76405693e-01 -3.90828126e-02 8.79394735e+01] [ 5.35507873e-02 -5.31375240e-04 9.98564986e-01 1.47680363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.630385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:255.37, Y:87.98, Z:14.77 [[ 6.74764918e-01 -7.37124541e-01 -3.66021351e-02 2.55369207e+02] [ 7.36087396e-01 6.75756681e-01 -3.90928724e-02 8.79798809e+01] [ 5.35504530e-02 -5.63871531e-04 9.98564986e-01 1.47689240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.690385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:255.41, Y:88.03, Z:14.76 [[ 6.74571073e-01 -7.37302084e-01 -3.65992418e-02 2.55407498e+02] [ 7.36265053e-01 6.75562956e-01 -3.90955809e-02 8.80261530e+01] [ 5.35503453e-02 -5.73994734e-04 9.98564986e-01 1.47646109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.44, Y:88.07, Z:14.76 [[ 6.73170070e-01 -7.38581901e-01 -3.65900618e-02 2.55442873e+02] [ 7.37546289e-01 6.74163434e-01 -3.91041707e-02 8.80730206e+01] [ 5.35493145e-02 -6.63106967e-04 9.98564986e-01 1.47592357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.810385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:88.11, Z:14.77 [[ 6.78578308e-01 -7.33616397e-01 -3.65850099e-02 2.55489519e+02] [ 7.32573260e-01 6.79563767e-01 -3.91088966e-02 8.81100151e+01] [ 5.35527750e-02 -2.62751074e-04 9.98564986e-01 1.47671888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.870385723 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:255.53, Y:88.16, Z:14.76 [[ 6.77970150e-01 -7.34178957e-01 -3.65750678e-02 2.55527187e+02] [ 7.33136136e-01 6.78955944e-01 -3.91181924e-02 8.81564847e+01] [ 5.35526133e-02 -2.93537084e-04 9.98564986e-01 1.47605374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93038572300003 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:255.57, Y:88.20, Z:14.76 [[ 6.79263684e-01 -7.32982840e-01 -3.65650749e-02 2.55568069e+02] [ 7.31937780e-01 6.80247104e-01 -3.91275309e-02 8.81960870e+01] [ 5.35530950e-02 -1.85448967e-04 9.98564986e-01 1.47600338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.990385723 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:255.61, Y:88.23, Z:14.76 [[ 6.79351753e-01 -7.32901461e-01 -3.65601566e-02 2.55614080e+02] [ 7.31856036e-01 6.80334785e-01 -3.91321259e-02 8.82330473e+01] [ 5.35531385e-02 -1.72292947e-04 9.98564986e-01 1.47637262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.050385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:255.66, Y:88.27, Z:14.78 [[ 6.75422366e-01 -7.36524861e-01 -3.65480014e-02 2.55655585e+02] [ 7.35484095e-01 6.76410330e-01 -3.91434751e-02 8.82727487e+01] [ 5.35515882e-02 -4.42095202e-04 9.98564986e-01 1.47756260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.110385723 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:255.70, Y:88.31, Z:14.78 [[ 6.70743714e-01 -7.40788370e-01 -3.65439571e-02 2.55697809e+02] [ 7.39753678e-01 6.71738036e-01 -3.91472505e-02 8.83122230e+01] [ 5.35477938e-02 -7.75754413e-04 9.98564986e-01 1.47773649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.170385723 meters Centerline goodness : 0.996065 with order 1 Centerline is valid? [True, True] Translation: X:255.74, Y:88.35, Z:14.77 [[ 6.69060160e-01 -7.42309788e-01 -3.65332909e-02 2.55741440e+02] [ 7.41276813e-01 6.70056266e-01 -3.91572019e-02 8.83521367e+01] [ 5.35461348e-02 -8.82757701e-04 9.98564986e-01 1.47733934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.230385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:255.78, Y:88.39, Z:14.77 [[ 6.67334512e-01 -7.43862076e-01 -3.65220669e-02 2.55782421e+02] [ 7.42830846e-01 6.68332423e-01 -3.91676678e-02 8.83924210e+01] [ 5.35442242e-02 -9.91781425e-04 9.98564987e-01 1.47725124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.83, Y:88.43, Z:14.78 [[ 6.70876147e-01 -7.40670136e-01 -3.65095167e-02 2.55827307e+02] [ 7.39633521e-01 6.71868463e-01 -3.91793628e-02 8.84297236e+01] [ 5.35485769e-02 -7.19162424e-04 9.98564987e-01 1.47767570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.350385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:255.87, Y:88.47, Z:14.79 [[ 6.77755077e-01 -7.34381334e-01 -3.64981071e-02 2.55868588e+02] [ 7.33334937e-01 6.78737073e-01 -3.91899887e-02 8.84685534e+01] [ 5.35530146e-02 -2.04123241e-04 9.98564987e-01 1.47884046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.410385723 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:255.91, Y:88.51, Z:14.78 [[ 6.84373816e-01 -7.28217560e-01 -3.64919850e-02 2.55913487e+02] [ 7.27162015e-01 6.85345973e-01 -3.91956885e-02 8.85069578e+01] [ 5.35526236e-02 2.88917575e-04 9.98564987e-01 1.47813855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.470385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:255.95, Y:88.55, Z:14.79 [[ 6.88865752e-01 -7.23970496e-01 -3.64787245e-02 2.55954034e+02] [ 7.22908305e-01 6.89830641e-01 -3.92080260e-02 8.85474028e+01] [ 5.35495959e-02 6.38293423e-04 9.98564987e-01 1.47868059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.00, Y:88.59, Z:14.79 [[ 6.91451452e-01 -7.21501952e-01 -3.64667323e-02 2.55999935e+02] [ 7.20435728e-01 6.92411884e-01 -3.92191765e-02 8.85856867e+01] [ 5.35467113e-02 8.46219721e-04 9.98564987e-01 1.47870433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.04, Y:88.62, Z:14.80 [[ 6.91751834e-01 -7.21214419e-01 -3.64576721e-02 2.56043936e+02] [ 7.20147353e-01 6.92711330e-01 -3.92275970e-02 8.86229435e+01] [ 5.35461511e-02 8.80866061e-04 9.98564987e-01 1.47985553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.09, Y:88.66, Z:14.80 [[ 6.92801072e-01 -7.20207101e-01 -3.64473204e-02 2.56087053e+02] [ 7.19138134e-01 6.93758449e-01 -3.92372127e-02 8.86608881e+01] [ 5.35445556e-02 9.72925068e-04 9.98564987e-01 1.47999791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.13, Y:88.70, Z:14.80 [[ 6.90461190e-01 -7.22450991e-01 -3.64405191e-02 2.56134730e+02] [ 7.21384802e-01 6.91421661e-01 -3.92435282e-02 8.86951780e+01] [ 5.35472900e-02 8.08496460e-04 9.98564987e-01 1.48019180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:88.73, Z:14.80 [[ 6.85444639e-01 -7.27212799e-01 -3.64306401e-02 2.56181100e+02] [ 7.26152797e-01 6.86411932e-01 -3.92526970e-02 8.87330129e+01] [ 5.35514897e-02 4.51339532e-04 9.98564988e-01 1.48003450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.22, Y:88.77, Z:14.81 [[ 6.84923404e-01 -7.27704216e-01 -3.64212203e-02 2.56224800e+02] [ 7.26644443e-01 6.85890948e-01 -3.92614353e-02 8.87721805e+01] [ 5.35516973e-02 4.25798509e-04 9.98564988e-01 1.48053842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.890385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:256.27, Y:88.81, Z:14.81 [[ 6.83330031e-01 -7.29201100e-01 -3.64118679e-02 2.56269083e+02] [ 7.28142985e-01 6.84299388e-01 -3.92701071e-02 8.88086629e+01] [ 5.35524241e-02 3.21397324e-04 9.98564988e-01 1.48071941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.950385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:88.85, Z:14.81 [[ 6.82045018e-01 -7.30403677e-01 -3.64013967e-02 2.56307985e+02] [ 7.29346753e-01 6.83015674e-01 -3.92798109e-02 8.88501590e+01] [ 5.35528428e-02 2.41358892e-04 9.98564988e-01 1.48113036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.010385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:88.89, Z:14.82 [[ 6.79978618e-01 -7.32328288e-01 -3.63917331e-02 2.56347180e+02] [ 7.31273632e-01 6.80951737e-01 -3.92887620e-02 8.88934690e+01] [ 5.35532856e-02 1.03203263e-04 9.98564988e-01 1.48224610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.070385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:256.38, Y:88.94, Z:14.82 [[ 6.78819902e-01 -7.33402752e-01 -3.63860465e-02 2.56383813e+02] [ 7.32349354e-01 6.79794383e-01 -3.92940277e-02 8.89399027e+01] [ 5.35533781e-02 2.62704494e-05 9.98564988e-01 1.48205542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.130385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:88.98, Z:14.83 [[ 6.76722125e-01 -7.35339354e-01 -3.63758257e-02 2.56421696e+02] [ 7.34288236e-01 6.77699065e-01 -3.93034872e-02 8.89830768e+01] [ 5.35532639e-02 -1.12801483e-04 9.98564988e-01 1.48310083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.190385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:256.46, Y:89.03, Z:14.84 [[ 6.72754600e-01 -7.38971118e-01 -3.63721819e-02 2.56459795e+02] [ 7.37925091e-01 6.73736989e-01 -3.93068589e-02 8.90282024e+01] [ 5.35519178e-02 -3.96075502e-04 9.98564988e-01 1.48358796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.250385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:256.50, Y:89.07, Z:14.84 [[ 6.69627608e-01 -7.41806359e-01 -3.63619630e-02 2.56495680e+02] [ 7.40763979e-01 6.70613865e-01 -3.93163100e-02 8.90721767e+01] [ 5.35499253e-02 -6.08345761e-04 9.98564988e-01 1.48393347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.53, Y:89.12, Z:14.84 [[ 6.67631620e-01 -7.43603556e-01 -3.63561862e-02 2.56530751e+02] [ 7.42563539e-01 6.68620369e-01 -3.93216511e-02 8.91204721e+01] [ 5.35482062e-02 -7.44400668e-04 9.98564988e-01 1.48363580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.370385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:256.57, Y:89.17, Z:14.84 [[ 6.67851745e-01 -7.43406335e-01 -3.63464956e-02 2.56565894e+02] [ 7.42365540e-01 6.68839674e-01 -3.93306064e-02 8.91673547e+01] [ 5.35486003e-02 -7.15371688e-04 9.98564988e-01 1.48405875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:89.21, Z:14.86 [[ 6.70493899e-01 -7.41024757e-01 -3.63351270e-02 2.56607733e+02] [ 7.39979883e-01 6.71477513e-01 -3.93411064e-02 8.92072822e+01] [ 5.35509545e-02 -5.09291195e-04 9.98564988e-01 1.48584981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.65, Y:89.25, Z:14.87 [[ 6.71381979e-01 -7.40220751e-01 -3.63246291e-02 2.56648350e+02] [ 7.39174174e-01 6.72363782e-01 -3.93507970e-02 8.92486153e+01] [ 5.35516415e-02 -4.30811776e-04 9.98564988e-01 1.48670040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.69, Y:89.29, Z:14.87 [[ 6.68572590e-01 -7.42759705e-01 -3.63140739e-02 2.56686922e+02] [ 7.41716328e-01 6.69557792e-01 -3.93605353e-02 8.92906990e+01] [ 5.35497907e-02 -6.19366514e-04 9.98564989e-01 1.48713190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.610385723 meters Centerline goodness : 0.993723 with order 1 Centerline is valid? [True, True] Translation: X:256.72, Y:89.34, Z:14.86 [[ 6.65483406e-01 -7.45529049e-01 -3.63080179e-02 2.56721916e+02] [ 7.44489467e-01 6.66472611e-01 -3.93661208e-02 8.93383103e+01] [ 5.35468861e-02 -8.33436696e-04 9.98564989e-01 1.48559307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:89.38, Z:14.88 [[ 6.66276447e-01 -7.44820863e-01 -3.62984555e-02 2.56760862e+02] [ 7.43779750e-01 6.67264040e-01 -3.93749361e-02 8.93796597e+01] [ 5.35479279e-02 -7.63463618e-04 9.98564989e-01 1.48802768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.730385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:89.43, Z:14.87 [[ 6.58953398e-01 -7.51307830e-01 -3.62899980e-02 2.56794619e+02] [ 7.50276006e-01 6.59950692e-01 -3.93827294e-02 8.94280624e+01] [ 5.35381623e-02 -1.27613136e-03 9.98564989e-01 1.48676611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:256.83, Y:89.47, Z:14.86 [[ 6.57561935e-01 -7.52526243e-01 -3.62843618e-02 2.56831817e+02] [ 7.51495981e-01 6.58560842e-01 -3.93879215e-02 8.94731217e+01] [ 5.35359045e-02 -1.36755414e-03 9.98564989e-01 1.48581958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.850385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:256.87, Y:89.52, Z:14.86 [[ 6.57918155e-01 -7.52215009e-01 -3.62805921e-02 2.56867037e+02] [ 7.51184083e-01 6.58916377e-01 -3.93913935e-02 8.95191064e+01] [ 5.35366737e-02 -1.33709036e-03 9.98564989e-01 1.48605869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.910385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:256.90, Y:89.57, Z:14.86 [[ 6.51458139e-01 -7.57817122e-01 -3.62698507e-02 2.56901714e+02] [ 7.56794226e-01 6.52464588e-01 -3.94012813e-02 8.95681634e+01] [ 5.35237588e-02 -1.78052816e-03 9.98564989e-01 1.48570926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.970385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:256.94, Y:89.61, Z:14.86 [[ 6.51734344e-01 -7.57580086e-01 -3.62595878e-02 2.56938107e+02] [ 7.56556299e-01 6.52739888e-01 -3.94107235e-02 8.96125290e+01] [ 5.35248586e-02 -1.74709756e-03 9.98564989e-01 1.48581742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.030385723 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:256.98, Y:89.66, Z:14.86 [[ 6.54389839e-01 -7.55287861e-01 -3.62516956e-02 2.56975139e+02] [ 7.54260150e-01 6.55391371e-01 -3.94179818e-02 8.96565328e+01] [ 5.35309716e-02 -1.54848264e-03 9.98564989e-01 1.48599930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.090385723 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:257.01, Y:89.70, Z:14.87 [[ 6.59682728e-01 -7.50669675e-01 -3.62454991e-02 2.57014232e+02] [ 7.49634637e-01 6.60676687e-01 -3.94236788e-02 8.96982965e+01] [ 5.35407164e-02 -1.16376152e-03 9.98564989e-01 1.48659823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.150385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:257.05, Y:89.74, Z:14.87 [[ 6.63385498e-01 -7.47399750e-01 -3.62393968e-02 2.57052557e+02] [ 7.46359506e-01 6.64374006e-01 -3.94292874e-02 8.97422662e+01] [ 5.35459528e-02 -8.90800760e-04 9.98564989e-01 1.48688451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.09, Y:89.78, Z:14.87 [[ 6.69511687e-01 -7.41917514e-01 -3.62284863e-02 2.57092328e+02] [ 7.40868631e-01 6.70491024e-01 -3.94393096e-02 8.97849631e+01] [ 5.35515894e-02 -4.35470351e-04 9.98564989e-01 1.48738311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.270385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:257.13, Y:89.83, Z:14.88 [[ 6.73508338e-01 -7.38291826e-01 -3.62173623e-02 2.57134318e+02] [ 7.37237121e-01 6.74481402e-01 -3.94495223e-02 8.98253563e+01] [ 5.35531971e-02 -1.31201755e-04 9.98564989e-01 1.48815882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.330385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:257.18, Y:89.86, Z:14.89 [[ 6.74394876e-01 -7.37482659e-01 -3.62060642e-02 2.57177007e+02] [ 7.36426230e-01 6.75366067e-01 -3.94598887e-02 8.98642228e+01] [ 5.35533309e-02 -5.15485992e-05 9.98564989e-01 1.48891411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.390385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:89.91, Z:14.89 [[ 6.70384896e-01 -7.41129856e-01 -3.62025850e-02 2.57216639e+02] [ 7.40078538e-01 6.71361618e-01 -3.94630805e-02 8.99064850e+01] [ 5.35522932e-02 -3.37303044e-04 9.98564989e-01 1.48931891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:89.95, Z:14.90 [[ 6.65154001e-01 -7.45828614e-01 -3.61916363e-02 2.57259463e+02] [ 7.44783648e-01 6.66137516e-01 -3.94731190e-02 8.99468378e+01] [ 5.35487883e-02 -6.99235969e-04 9.98564990e-01 1.48974938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.30, Y:89.99, Z:14.90 [[ 6.59164902e-01 -7.51127473e-01 -3.61821844e-02 2.57299497e+02] [ 7.50089937e-01 6.60156251e-01 -3.94817810e-02 8.99885708e+01] [ 5.35417456e-02 -1.11488806e-03 9.98564990e-01 1.49000409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.34, Y:90.03, Z:14.89 [[ 6.55233000e-01 -7.54560369e-01 -3.61713258e-02 2.57338927e+02] [ 7.53527477e-01 6.56229186e-01 -3.94917266e-02 9.00333732e+01] [ 5.35355715e-02 -1.37980541e-03 9.98564990e-01 1.48931349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:257.38, Y:90.07, Z:14.91 [[ 6.57238915e-01 -7.52814262e-01 -3.61620723e-02 2.57382629e+02] [ 7.51778257e-01 6.58231864e-01 -3.95001982e-02 9.00719781e+01] [ 5.35393408e-02 -1.22479229e-03 9.98564990e-01 1.49062786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.690385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:90.12, Z:14.90 [[ 6.58450989e-01 -7.51754832e-01 -3.61520065e-02 2.57420352e+02] [ 7.50716724e-01 6.59441739e-01 -3.95094085e-02 9.01177163e+01] [ 5.35415308e-02 -1.12490677e-03 9.98564990e-01 1.48979381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.750385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:257.46, Y:90.16, Z:14.91 [[ 6.60476197e-01 -7.49976627e-01 -3.61421145e-02 2.57462334e+02] [ 7.48935356e-01 6.61463623e-01 -3.95184554e-02 9.01581954e+01] [ 5.35446119e-02 -9.67108241e-04 9.98564990e-01 1.49052714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:257.51, Y:90.20, Z:14.91 [[ 6.62241712e-01 -7.48418647e-01 -3.61309249e-02 2.57506478e+02] [ 7.47374495e-01 6.63226091e-01 -3.95286833e-02 9.01965558e+01] [ 5.35469757e-02 -8.25788836e-04 9.98564990e-01 1.49124848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:257.55, Y:90.24, Z:14.92 [[ 6.61363359e-01 -7.49195535e-01 -3.61186571e-02 2.57547561e+02] [ 7.48151928e-01 6.62348315e-01 -3.95398895e-02 9.02375000e+01] [ 5.35462404e-02 -8.72008768e-04 9.98564990e-01 1.49188658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93038572300003 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:257.59, Y:90.28, Z:14.92 [[ 6.56830582e-01 -7.53173246e-01 -3.61060715e-02 2.57585484e+02] [ 7.52134971e-01 6.57821157e-01 -3.95513788e-02 9.02810544e+01] [ 5.35403781e-02 -1.17808388e-03 9.98564990e-01 1.49187748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.990385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:257.63, Y:90.32, Z:14.92 [[ 6.57833084e-01 -7.52298288e-01 -3.60959844e-02 2.57628691e+02] [ 7.51258191e-01 6.58821745e-01 -3.95605825e-02 9.03202791e+01] [ 5.35421779e-02 -1.09314390e-03 9.98564990e-01 1.49216117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.050385723 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:257.67, Y:90.36, Z:14.92 [[ 6.56677236e-01 -7.53307945e-01 -3.60852808e-02 2.57667236e+02] [ 7.52268832e-01 6.57666931e-01 -3.95703434e-02 9.03643358e+01] [ 5.35407500e-02 -1.16088827e-03 9.98564991e-01 1.49225109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:257.71, Y:90.41, Z:14.92 [[ 6.56583090e-01 -7.53390647e-01 -3.60718640e-02 2.57705350e+02] [ 7.52350988e-01 6.57572210e-01 -3.95825703e-02 9.04082037e+01] [ 5.35409936e-02 -1.14945616e-03 9.98564991e-01 1.49236743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.170385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:90.45, Z:14.93 [[ 6.56631922e-01 -7.53348764e-01 -3.60577081e-02 2.57743662e+02] [ 7.52308334e-01 6.57620232e-01 -3.95954614e-02 9.04495600e+01] [ 5.35414703e-02 -1.12687045e-03 9.98564991e-01 1.49323504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.78, Y:90.49, Z:14.93 [[ 6.54502441e-01 -7.55200115e-01 -3.60463791e-02 2.57780538e+02] [ 7.54161913e-01 6.55493091e-01 -3.96057723e-02 9.04929908e+01] [ 5.35384362e-02 -1.26273160e-03 9.98564991e-01 1.49322323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.290385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:257.82, Y:90.54, Z:14.94 [[ 6.54496494e-01 -7.55205845e-01 -3.60343015e-02 2.57821276e+02] [ 7.54167047e-01 6.55486520e-01 -3.96167577e-02 9.05351384e+01] [ 5.35388059e-02 -1.24685375e-03 9.98564991e-01 1.49399994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.86, Y:90.58, Z:14.94 [[ 6.54092438e-01 -7.55556344e-01 -3.60235024e-02 2.57860353e+02] [ 7.54517537e-01 6.55082453e-01 -3.96265749e-02 9.05775133e+01] [ 5.35384744e-02 -1.26092127e-03 9.98564991e-01 1.49427861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.90, Y:90.62, Z:14.94 [[ 6.54923042e-01 -7.54837007e-01 -3.60125202e-02 2.57896872e+02] [ 7.53796564e-01 6.55911338e-01 -3.96365530e-02 9.06218446e+01] [ 5.35401573e-02 -1.18722217e-03 9.98564991e-01 1.49426191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.94, Y:90.66, Z:14.95 [[ 6.55473512e-01 -7.54359337e-01 -3.60064783e-02 2.57937006e+02] [ 7.53317873e-01 6.56460731e-01 -3.96420408e-02 9.06638339e+01] [ 5.35411827e-02 -1.14001600e-03 9.98564991e-01 1.49464214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.98, Y:90.71, Z:14.95 [[ 6.55110052e-01 -7.54675505e-01 -3.59958594e-02 2.57975482e+02] [ 7.53633988e-01 6.56097215e-01 -3.96516807e-02 9.07068858e+01] [ 5.35409353e-02 -1.15148846e-03 9.98564992e-01 1.49501708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.01, Y:90.75, Z:14.95 [[ 6.54921960e-01 -7.54839245e-01 -3.59852942e-02 2.58014385e+02] [ 7.53797448e-01 6.55908828e-01 -3.96612666e-02 9.07503802e+01] [ 5.35409527e-02 -1.15058852e-03 9.98564992e-01 1.49528732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:90.79, Z:14.96 [[ 6.54571749e-01 -7.55143457e-01 -3.59747776e-02 2.58054195e+02] [ 7.54101596e-01 6.55558549e-01 -3.96708035e-02 9.07926667e+01] [ 5.35407207e-02 -1.16124993e-03 9.98564992e-01 1.49576818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.09, Y:90.84, Z:14.96 [[ 6.54615787e-01 -7.55105777e-01 -3.59643921e-02 2.58091462e+02] [ 7.54063342e-01 6.55601981e-01 -3.96802164e-02 9.08374016e+01] [ 5.35410873e-02 -1.14413356e-03 9.98564992e-01 1.49594801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.13, Y:90.88, Z:14.96 [[ 6.55189450e-01 -7.54608571e-01 -3.59539975e-02 2.58130719e+02] [ 7.53564871e-01 6.56174305e-01 -3.96896326e-02 9.08785999e+01] [ 5.35422263e-02 -1.08944096e-03 9.98564992e-01 1.49634041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.17, Y:90.92, Z:14.97 [[ 6.57737489e-01 -7.52389130e-01 -3.59443094e-02 2.58168433e+02] [ 7.51341627e-01 6.58718298e-01 -3.96984046e-02 9.09224664e+01] [ 5.35458224e-02 -8.95326941e-04 9.98564992e-01 1.49664616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.21, Y:90.97, Z:14.97 [[ 6.61165215e-01 -7.49379301e-01 -3.59335881e-02 2.58205191e+02] [ 7.48326805e-01 6.62140664e-01 -3.97081068e-02 9.09679430e+01] [ 5.35495232e-02 -6.36448283e-04 9.98564992e-01 1.49691897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.24, Y:91.01, Z:14.97 [[ 6.62566491e-01 -7.48141160e-01 -3.59228442e-02 2.58242527e+02] [ 7.47086315e-01 6.63539398e-01 -3.97178241e-02 9.10125760e+01] [ 5.35507614e-02 -5.21765923e-04 9.98564992e-01 1.49708185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.28, Y:91.06, Z:14.97 [[ 6.62136842e-01 -7.48521981e-01 -3.59116595e-02 2.58280028e+02] [ 7.47467147e-01 6.63109761e-01 -3.97279345e-02 9.10566507e+01] [ 5.35506041e-02 -5.37456573e-04 9.98564992e-01 1.49713051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.32, Y:91.10, Z:14.97 [[ 6.59886573e-01 -7.50506772e-01 -3.59067625e-02 2.58317829e+02] [ 7.49454624e-01 6.60862396e-01 -3.97323600e-02 9.11004438e+01] [ 5.35488343e-02 -6.91638310e-04 9.98564992e-01 1.49743968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.130385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:258.35, Y:91.15, Z:14.98 [[ 6.57293317e-01 -7.52779499e-01 -3.58959728e-02 2.58354210e+02] [ 7.51730192e-01 6.58272195e-01 -3.97421055e-02 9.11453144e+01] [ 5.35463630e-02 -8.61866167e-04 9.98564992e-01 1.49763588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:91.19, Z:14.98 [[ 6.57057712e-01 -7.52985673e-01 -3.58850933e-02 2.58391391e+02] [ 7.51936137e-01 6.58036344e-01 -3.97519266e-02 9.11885217e+01] [ 5.35463268e-02 -8.63988503e-04 9.98564993e-01 1.49812586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.250385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:258.43, Y:91.23, Z:14.99 [[ 6.58773018e-01 -7.51485727e-01 -3.58791302e-02 2.58430462e+02] [ 7.50433670e-01 6.59748939e-01 -3.97573080e-02 9.12324516e+01] [ 5.35482677e-02 -7.33865567e-04 9.98564993e-01 1.49901055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.47, Y:91.28, Z:15.00 [[ 6.60469970e-01 -7.49995194e-01 -3.58695958e-02 2.58467949e+02] [ 7.48940467e-01 6.61443005e-01 -3.97659083e-02 9.12775111e+01] [ 5.35499333e-02 -6.00003519e-04 9.98564993e-01 1.49962213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.370385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:258.51, Y:91.32, Z:15.00 [[ 6.61483171e-01 -7.49102169e-01 -3.58602205e-02 2.58507371e+02] [ 7.48045670e-01 6.62454282e-01 -3.97743610e-02 9.13197913e+01] [ 5.35508167e-02 -5.15012265e-04 9.98564993e-01 1.50033402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43038572300003 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:258.54, Y:91.37, Z:15.01 [[ 6.62317924e-01 -7.48364382e-01 -3.58569205e-02 2.58542913e+02] [ 7.47306641e-01 6.63287681e-01 -3.97773357e-02 9.13658966e+01] [ 5.35513950e-02 -4.50872422e-04 9.98564993e-01 1.50054778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.490385723 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:258.58, Y:91.41, Z:15.01 [[ 6.62140643e-01 -7.48521743e-01 -3.58464763e-02 2.58580065e+02] [ 7.47463722e-01 6.63110095e-01 -3.97867456e-02 9.14110087e+01] [ 5.35514045e-02 -4.49519335e-04 9.98564993e-01 1.50060244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.550385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:258.61, Y:91.46, Z:15.00 [[ 6.59308618e-01 -7.51017908e-01 -3.58364122e-02 2.58612567e+02] [ 7.49963065e-01 6.60281527e-01 -3.97958084e-02 9.14601676e+01] [ 5.35494857e-02 -6.38266119e-04 9.98564993e-01 1.49969168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.610385723 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:258.65, Y:91.50, Z:15.00 [[ 6.57928247e-01 -7.52227727e-01 -3.58311137e-02 2.58649620e+02] [ 7.51174413e-01 6.58902812e-01 -3.98005785e-02 9.15040553e+01] [ 5.35483202e-02 -7.29490948e-04 9.98564993e-01 1.49987865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.670385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:258.69, Y:91.55, Z:15.01 [[ 6.58479133e-01 -7.51745948e-01 -3.58226231e-02 2.58690074e+02] [ 7.50691506e-01 6.59452476e-01 -3.98082190e-02 9.15465213e+01] [ 5.35489849e-02 -6.78857357e-04 9.98564993e-01 1.50120952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.730385723 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:258.72, Y:91.59, Z:15.01 [[ 6.58497648e-01 -7.51730211e-01 -3.58125266e-02 2.58724702e+02] [ 7.50675252e-01 6.59470431e-01 -3.98173000e-02 9.15938642e+01] [ 5.35491697e-02 -6.63979050e-04 9.98564993e-01 1.50112863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.76, Y:91.64, Z:15.01 [[ 6.59000823e-01 -7.51289424e-01 -3.58066493e-02 2.58761050e+02] [ 7.50233527e-01 6.59972588e-01 -3.98225846e-02 9.16382838e+01] [ 5.35496937e-02 -6.20232759e-04 9.98564993e-01 1.50120631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.850385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:258.80, Y:91.68, Z:15.01 [[ 6.61804258e-01 -7.48821526e-01 -3.57973081e-02 2.58798591e+02] [ 7.47761551e-01 6.62771572e-01 -3.98309798e-02 9.16815059e+01] [ 5.35517333e-02 -4.07538572e-04 9.98564993e-01 1.50148272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.910385723 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:258.84, Y:91.73, Z:15.02 [[ 6.62499015e-01 -7.48207224e-01 -3.57911392e-02 2.58835197e+02] [ 7.47146053e-01 6.63465016e-01 -3.98365223e-02 9.17263634e+01] [ 5.35521425e-02 -3.49551590e-04 9.98564993e-01 1.50163895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.970385723 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:91.77, Z:15.03 [[ 6.61307474e-01 -7.49261027e-01 -3.57818225e-02 2.58874078e+02] [ 7.48200942e-01 6.62274668e-01 -3.98448890e-02 9.17693564e+01] [ 5.35516170e-02 -4.22270440e-04 9.98564993e-01 1.50250130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.030385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:258.92, Y:91.81, Z:15.03 [[ 6.62890644e-01 -7.47860891e-01 -3.57782336e-02 2.58915094e+02] [ 7.46798589e-01 6.63855403e-01 -3.98481113e-02 9.18097138e+01] [ 5.35524177e-02 -3.04194175e-04 9.98564993e-01 1.50327078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.090385723 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:258.95, Y:91.85, Z:15.03 [[ 6.64051337e-01 -7.46830631e-01 -3.57747059e-02 2.58952791e+02] [ 7.45766662e-01 6.65014257e-01 -3.98512781e-02 9.18533514e+01] [ 5.35528447e-02 -2.16288494e-04 9.98564993e-01 1.50336895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:91.90, Z:15.03 [[ 6.59529418e-01 -7.50827117e-01 -3.57713225e-02 2.58991367e+02] [ 7.49768817e-01 6.60498565e-01 -3.98543150e-02 9.18984343e+01] [ 5.35506075e-02 -5.35129009e-04 9.98564993e-01 1.50324144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.04, Y:91.94, Z:15.04 [[ 6.62424524e-01 -7.48274589e-01 -3.57615711e-02 2.59035814e+02] [ 7.47212082e-01 6.63389056e-01 -3.98630630e-02 9.19369315e+01] [ 5.35523520e-02 -3.15207453e-04 9.98564994e-01 1.50430296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.270385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:91.98, Z:15.05 [[ 6.64217335e-01 -7.46684111e-01 -3.57515024e-02 2.59075894e+02] [ 7.45618809e-01 6.65178779e-01 -3.98720911e-02 9.19782059e+01] [ 5.35529977e-02 -1.73258549e-04 9.98564994e-01 1.50461617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.330385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:259.12, Y:92.02, Z:15.05 [[ 6.64877634e-01 -7.46096385e-01 -3.57479501e-02 2.59119057e+02] [ 7.45030062e-01 6.65837945e-01 -3.98752758e-02 9.20174905e+01] [ 5.35531408e-02 -1.21118518e-04 9.98564994e-01 1.50509220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.390385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:259.16, Y:92.06, Z:15.06 [[ 6.65452033e-01 -7.45584643e-01 -3.57369770e-02 2.59159602e+02] [ 7.44517053e-01 6.66410936e-01 -3.98851077e-02 9.20597094e+01] [ 5.35532361e-02 -6.51627302e-05 9.98564994e-01 1.50559002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.450385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:259.20, Y:92.10, Z:15.06 [[ 6.65535589e-01 -7.45510527e-01 -3.57272140e-02 2.59200282e+02] [ 7.44442361e-01 6.66493850e-01 -3.98938510e-02 9.21019023e+01] [ 5.35532543e-02 -4.60739982e-05 9.98564994e-01 1.50558026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.510385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:259.25, Y:92.14, Z:15.06 [[ 6.63559337e-01 -7.47270545e-01 -3.57174901e-02 2.59245632e+02] [ 7.46204452e-01 6.64519904e-01 -3.99025551e-02 9.21401584e+01] [ 5.35529871e-02 -1.74837079e-04 9.98564994e-01 1.50577825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.570385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:259.29, Y:92.18, Z:15.06 [[ 6.62349145e-01 -7.48343908e-01 -3.57072188e-02 2.59287029e+02] [ 7.47278876e-01 6.63310888e-01 -3.99117444e-02 9.21801926e+01] [ 5.35526977e-02 -2.47740579e-04 9.98564994e-01 1.50617054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.630385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:92.22, Z:15.06 [[ 6.61054006e-01 -7.49488523e-01 -3.57009109e-02 2.59329536e+02] [ 7.48424852e-01 6.62017253e-01 -3.99173859e-02 9.22205401e+01] [ 5.35522416e-02 -3.31901143e-04 9.98564994e-01 1.50634415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.690385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:92.26, Z:15.07 [[ 6.60835000e-01 -7.49682137e-01 -3.56902811e-02 2.59373105e+02] [ 7.48618234e-01 6.61797992e-01 -3.99268878e-02 9.22592622e+01] [ 5.35522309e-02 -3.33310363e-04 9.98564994e-01 1.50697850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.750385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:259.41, Y:92.30, Z:15.07 [[ 6.58810564e-01 -7.51462122e-01 -3.56836193e-02 2.59413882e+02] [ 7.50400499e-01 6.59776068e-01 -3.99328408e-02 9.23001930e+01] [ 5.35512153e-02 -4.68828383e-04 9.98564994e-01 1.50703342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.46, Y:92.34, Z:15.08 [[ 6.60696082e-01 -7.49805382e-01 -3.56731936e-02 2.59455737e+02] [ 7.48740835e-01 6.61658361e-01 -3.99421521e-02 9.23396498e+01] [ 5.35523075e-02 -3.20353395e-04 9.98564994e-01 1.50755496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.870385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:259.50, Y:92.38, Z:15.08 [[ 6.64501199e-01 -7.46435468e-01 -3.56685835e-02 2.59495778e+02] [ 7.45365820e-01 6.65457805e-01 -3.99462686e-02 9.23821491e+01] [ 5.35532490e-02 -4.17996037e-05 9.98564994e-01 1.50792602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93038572300003 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:259.53, Y:92.43, Z:15.08 [[ 6.66131434e-01 -7.44981462e-01 -3.56585742e-02 2.59533437e+02] [ 7.43909248e-01 6.67085162e-01 -3.99552015e-02 9.24270520e+01] [ 5.35531902e-02 8.86725370e-05 9.98564994e-01 1.50794935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.57, Y:92.47, Z:15.09 [[ 6.67044223e-01 -7.44164761e-01 -3.56484762e-02 2.59572236e+02] [ 7.43090897e-01 6.67996094e-01 -3.99642090e-02 9.24704502e+01] [ 5.35529989e-02 1.67836571e-04 9.98564994e-01 1.50858980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.61, Y:92.51, Z:15.09 [[ 6.65171521e-01 -7.45839616e-01 -3.56386635e-02 2.59609953e+02] [ 7.44767681e-01 6.66125562e-01 -3.99729578e-02 9.25142572e+01] [ 5.35532402e-02 4.63484087e-05 9.98564995e-01 1.50890528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.110385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:92.56, Z:15.09 [[ 6.60405483e-01 -7.50063522e-01 -3.56273849e-02 2.59647841e+02] [ 7.48997146e-01 6.61365734e-01 -3.99830077e-02 9.25592461e+01] [ 5.35525272e-02 -2.79812131e-04 9.98564995e-01 1.50898311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.170385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:92.60, Z:15.09 [[ 6.55290564e-01 -7.54536702e-01 -3.56179958e-02 2.59688007e+02] [ 7.53476425e-01 6.56257546e-01 -3.99913701e-02 9.26006255e+01] [ 5.35495350e-02 -6.31352683e-04 9.98564995e-01 1.50945541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.230385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:259.73, Y:92.64, Z:15.10 [[ 6.54404924e-01 -7.55305380e-01 -3.56086824e-02 2.59726134e+02] [ 7.54245788e-01 6.55372656e-01 -3.99996611e-02 9.26446338e+01] [ 5.35489160e-02 -6.81723563e-04 9.98564995e-01 1.51020877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.290385723 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:259.77, Y:92.69, Z:15.10 [[ 6.55960733e-01 -7.53955054e-01 -3.55990647e-02 2.59766092e+02] [ 7.52893006e-01 6.56925768e-01 -4.00082189e-02 9.26886559e+01] [ 5.35503417e-02 -5.58466252e-04 9.98564995e-01 1.50961953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.350385723 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:259.80, Y:92.73, Z:15.10 [[ 6.59108146e-01 -7.51205615e-01 -3.55889915e-02 2.59801914e+02] [ 7.50139056e-01 6.60068195e-01 -4.00171773e-02 9.27336423e+01] [ 5.35522897e-02 -3.21044965e-04 9.98564995e-01 1.51033779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.410385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:259.84, Y:92.78, Z:15.11 [[ 6.61633212e-01 -7.48982772e-01 -3.55851212e-02 2.59840311e+02] [ 7.47912803e-01 6.62589458e-01 -4.00206188e-02 9.27768539e+01] [ 5.35530801e-02 -1.35597174e-04 9.98564995e-01 1.51079052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.88, Y:92.82, Z:15.11 [[ 6.61227998e-01 -7.49340775e-01 -3.55800285e-02 2.59879401e+02] [ 7.48271080e-01 6.62184550e-01 -4.00251458e-02 9.28199866e+01] [ 5.35530190e-02 -1.57759330e-04 9.98564995e-01 1.51134467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.92, Y:92.86, Z:15.12 [[ 6.60151996e-01 -7.50289126e-01 -3.55748412e-02 2.59921294e+02] [ 7.49220557e-01 6.61109806e-01 -4.00297558e-02 9.28610425e+01] [ 5.35527669e-02 -2.27679179e-04 9.98564995e-01 1.51188435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.96, Y:92.90, Z:15.12 [[ 6.59388004e-01 -7.50961108e-01 -3.55650755e-02 2.59961732e+02] [ 7.49893047e-01 6.60346381e-01 -4.00384304e-02 9.29038292e+01] [ 5.35525730e-02 -2.69142116e-04 9.98564995e-01 1.51223274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:260.00, Y:92.95, Z:15.13 [[ 6.60460455e-01 -7.50018532e-01 -3.55554401e-02 2.59999799e+02] [ 7.48948643e-01 6.61416789e-01 -4.00469852e-02 9.29483231e+01] [ 5.35529461e-02 -1.79748528e-04 9.98564995e-01 1.51267612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.04, Y:92.99, Z:15.13 [[ 6.61923812e-01 -7.48727830e-01 -3.55457814e-02 2.60038552e+02] [ 7.47655616e-01 6.62877539e-01 -4.00555564e-02 9.29920132e+01] [ 5.35532100e-02 -6.22764670e-05 9.98564995e-01 1.51293335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.08, Y:93.04, Z:15.13 [[ 6.60454634e-01 -7.50024633e-01 -3.55348679e-02 2.60076669e+02] [ 7.48953770e-01 6.61409878e-01 -4.00652359e-02 9.30363648e+01] [ 5.35530265e-02 -1.52702637e-04 9.98564995e-01 1.51300994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.12, Y:93.08, Z:15.13 [[ 6.57286230e-01 -7.52803332e-01 -3.55240134e-02 2.60115892e+02] [ 7.51735987e-01 6.58245403e-01 -4.00748578e-02 9.30796533e+01] [ 5.35520050e-02 -3.64027130e-04 9.98564996e-01 1.51333053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.890385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:260.15, Y:93.12, Z:15.14 [[ 6.54626959e-01 -7.55117435e-01 -3.55134204e-02 2.60153346e+02] [ 7.54052972e-01 6.55589329e-01 -4.00842429e-02 9.31240239e+01] [ 5.35505301e-02 -5.38774140e-04 9.98564996e-01 1.51350216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:93.17, Z:15.14 [[ 6.52056959e-01 -7.57338289e-01 -3.55026555e-02 2.60191639e+02] [ 7.56276584e-01 6.53022371e-01 -4.00937751e-02 9.31675121e+01] [ 5.35485793e-02 -7.06401966e-04 9.98564996e-01 1.51367766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:93.21, Z:15.14 [[ 6.48684324e-01 -7.60229616e-01 -3.54905615e-02 2.60227317e+02] [ 7.59171628e-01 6.49653808e-01 -4.01044777e-02 9.32114253e+01] [ 5.35451901e-02 -9.28281358e-04 9.98564996e-01 1.51444005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.26, Y:93.26, Z:15.15 [[ 6.43338420e-01 -7.64759393e-01 -3.54788374e-02 2.60263570e+02] [ 7.63707659e-01 6.44314683e-01 -4.01148469e-02 9.32573954e+01] [ 5.35377419e-02 -1.28803760e-03 9.98564996e-01 1.51480073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.30, Y:93.30, Z:15.15 [[ 6.38508643e-01 -7.68796917e-01 -3.54684930e-02 2.60299416e+02] [ 7.67750846e-01 6.39490973e-01 -4.01239911e-02 9.33028568e+01] [ 5.35289817e-02 -1.61145043e-03 9.98564996e-01 1.51521904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.34, Y:93.35, Z:15.15 [[ 6.36500083e-01 -7.70461148e-01 -3.54579056e-02 2.60336097e+02] [ 7.69417125e-01 6.37484589e-01 -4.01333451e-02 9.33484121e+01] [ 5.35250515e-02 -1.73704227e-03 9.98564996e-01 1.51529232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:93.40, Z:15.16 [[ 6.36174018e-01 -7.70730635e-01 -3.54528788e-02 2.60370830e+02] [ 7.69686783e-01 6.37158705e-01 -4.01377851e-02 9.33969133e+01] [ 5.35245310e-02 -1.75299621e-03 9.98564996e-01 1.51556523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.41, Y:93.44, Z:15.16 [[ 6.40032865e-01 -7.67529586e-01 -3.54438414e-02 2.60405051e+02] [ 7.66480366e-01 6.41011830e-01 -4.01457641e-02 9.34444518e+01] [ 5.35329833e-02 -1.47240009e-03 9.98564996e-01 1.51583824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:260.44, Y:93.49, Z:15.16 [[ 6.44326522e-01 -7.63929213e-01 -3.54328969e-02 2.60438973e+02] [ 7.62873990e-01 6.45299014e-01 -4.01554214e-02 9.34925064e+01] [ 5.35407129e-02 -1.15763245e-03 9.98564996e-01 1.51613932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43038572300003 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:260.47, Y:93.54, Z:15.16 [[ 6.46688791e-01 -7.61931034e-01 -3.54218414e-02 2.60471643e+02] [ 7.60872273e-01 6.47657428e-01 -4.01651714e-02 9.35390488e+01] [ 5.35443092e-02 -9.77130868e-04 9.98564996e-01 1.51645535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.51, Y:93.59, Z:15.17 [[ 6.46514699e-01 -7.62079006e-01 -3.54165487e-02 2.60508147e+02] [ 7.61020210e-01 6.47483300e-01 -4.01698378e-02 9.35850887e+01] [ 5.35442139e-02 -9.82318748e-04 9.98564996e-01 1.51712132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.550385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:260.54, Y:93.63, Z:15.17 [[ 6.44217753e-01 -7.64022140e-01 -3.54070068e-02 2.60541825e+02] [ 7.62965804e-01 6.45189035e-01 -4.01782466e-02 9.36337480e+01] [ 5.35412825e-02 -1.13079565e-03 9.98564997e-01 1.51714813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.610385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:260.58, Y:93.68, Z:15.17 [[ 6.46584593e-01 -7.62020606e-01 -3.53971831e-02 2.60576190e+02] [ 7.60960789e-01 6.47552075e-01 -4.01868995e-02 9.36791974e+01] [ 5.35447648e-02 -9.51638349e-04 9.98564997e-01 1.51737816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.61, Y:93.73, Z:15.17 [[ 6.45579337e-01 -7.62872705e-01 -3.53914611e-02 2.60606752e+02] [ 7.61813889e-01 6.46547915e-01 -4.01919380e-02 9.37309192e+01] [ 5.35436078e-02 -1.01462197e-03 9.98564997e-01 1.51737693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:260.65, Y:93.77, Z:15.18 [[ 6.47533248e-01 -7.61215415e-01 -3.53805700e-02 2.60646127e+02] [ 7.60153597e-01 6.48498533e-01 -4.02015230e-02 9.37729834e+01] [ 5.35462668e-02 -8.62844815e-04 9.98564997e-01 1.51767424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.68, Y:93.82, Z:15.18 [[ 6.45442487e-01 -7.62989272e-01 -3.53746618e-02 2.60681853e+02] [ 7.61929821e-01 6.46410371e-01 -4.02067211e-02 9.38173533e+01] [ 5.35438452e-02 -1.00188368e-03 9.98564997e-01 1.51812414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.71, Y:93.87, Z:15.18 [[ 6.41266328e-01 -7.66502813e-01 -3.53685582e-02 2.60714805e+02] [ 7.65448368e-01 6.42239663e-01 -4.02120896e-02 9.38672518e+01] [ 5.35377707e-02 -1.28614610e-03 9.98564997e-01 1.51822912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:93.91, Z:15.19 [[ 6.41510038e-01 -7.66299334e-01 -3.53581776e-02 2.60756396e+02] [ 7.65244078e-01 6.42482493e-01 -4.02212151e-02 9.39082304e+01] [ 5.35385005e-02 -1.25532276e-03 9.98564997e-01 1.51866176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.79, Y:93.96, Z:15.19 [[ 6.38952644e-01 -7.68433494e-01 -3.53480441e-02 2.60790663e+02] [ 7.67380993e-01 6.39928081e-01 -4.02301189e-02 9.39565938e+01] [ 5.35343768e-02 -1.42027639e-03 9.98564997e-01 1.51886281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.83, Y:94.00, Z:15.19 [[ 6.41142412e-01 -7.66607874e-01 -3.53380026e-02 2.60827984e+02] [ 7.65552111e-01 6.42114315e-01 -4.02389374e-02 9.40025842e+01] [ 5.35385236e-02 -1.25419315e-03 9.98564997e-01 1.51900286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.090385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:260.87, Y:94.05, Z:15.19 [[ 6.44277726e-01 -7.63975234e-01 -3.53278064e-02 2.60867738e+02] [ 7.62915008e-01 6.45244759e-01 -4.02478872e-02 9.40461071e+01] [ 5.35434709e-02 -1.02129647e-03 9.98564997e-01 1.51931279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.91, Y:94.09, Z:15.20 [[ 6.46026610e-01 -7.62497408e-01 -3.53174409e-02 2.60905236e+02] [ 7.61434472e-01 6.46990665e-01 -4.02569808e-02 9.40911721e+01] [ 5.35458981e-02 -8.84836074e-04 9.98564997e-01 1.51958575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.94, Y:94.13, Z:15.20 [[ 6.50479858e-01 -7.58702417e-01 -3.53071881e-02 2.60944953e+02] [ 7.57633368e-01 6.51437128e-01 -4.02659710e-02 9.41316330e+01] [ 5.35503027e-02 -5.57700777e-04 9.98564997e-01 1.52013487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.270385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:260.99, Y:94.17, Z:15.21 [[ 6.53409990e-01 -7.56180762e-01 -3.52992844e-02 2.60987479e+02] [ 7.55107644e-01 6.54362697e-01 -4.02728986e-02 9.41701650e+01] [ 5.35521261e-02 -3.40045190e-04 9.98564997e-01 1.52070983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.03, Y:94.21, Z:15.21 [[ 6.53245861e-01 -7.56322831e-01 -3.52933399e-02 2.61029822e+02] [ 7.55249639e-01 6.54198484e-01 -4.02781074e-02 9.42108853e+01] [ 5.35521017e-02 -3.43775199e-04 9.98564998e-01 1.52136265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.390385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:261.07, Y:94.25, Z:15.22 [[ 6.51589114e-01 -7.57751090e-01 -3.52833091e-02 2.61073111e+02] [ 7.56679510e-01 6.52543550e-01 -4.02868924e-02 9.42518504e+01] [ 5.35513324e-02 -4.47656519e-04 9.98564998e-01 1.52150157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.12, Y:94.29, Z:15.22 [[ 6.51739380e-01 -7.57622279e-01 -3.52741062e-02 2.61119317e+02] [ 7.56550075e-01 6.52693114e-01 -4.02949486e-02 9.42890784e+01] [ 5.35515171e-02 -4.24822838e-04 9.98564998e-01 1.52227820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.510385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:261.16, Y:94.33, Z:15.23 [[ 6.52380191e-01 -7.57071042e-01 -3.52636207e-02 2.61161419e+02] [ 7.55997536e-01 6.53332460e-01 -4.03041228e-02 9.43292625e+01] [ 5.35519523e-02 -3.65598990e-04 9.98564998e-01 1.52279142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.21, Y:94.37, Z:15.24 [[ 6.52526865e-01 -7.56944798e-01 -3.52599434e-02 2.61209273e+02] [ 7.55870933e-01 6.53478730e-01 -4.03073397e-02 9.43657596e+01] [ 5.35520541e-02 -3.50344305e-04 9.98564998e-01 1.52353997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.630385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:261.25, Y:94.41, Z:15.23 [[ 6.50358871e-01 -7.58808749e-01 -3.52508197e-02 2.61251441e+02] [ 7.57737181e-01 6.51313320e-01 -4.03153172e-02 9.44064484e+01] [ 5.35509438e-02 -4.91432503e-04 9.98564998e-01 1.52321027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.29, Y:94.45, Z:15.24 [[ 6.48638490e-01 -7.60280153e-01 -3.52448393e-02 2.61292987e+02] [ 7.59210465e-01 6.49595046e-01 -4.03205448e-02 9.44477792e+01] [ 5.35497829e-02 -6.04793551e-04 9.98564998e-01 1.52354661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.34, Y:94.48, Z:15.24 [[ 6.46248556e-01 -7.62313130e-01 -3.52348589e-02 2.61341822e+02] [ 7.61245976e-01 6.47207938e-01 -4.03292644e-02 9.44832155e+01] [ 5.35478082e-02 -7.59665668e-04 9.98564998e-01 1.52390055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.38, Y:94.53, Z:15.24 [[ 6.41265940e-01 -7.66509545e-01 -3.52294298e-02 2.61380975e+02] [ 7.65448407e-01 6.42231971e-01 -4.03340064e-02 9.45254856e+01] [ 5.35418670e-02 -1.10148637e-03 9.98564998e-01 1.52388896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.42, Y:94.57, Z:15.24 [[ 6.39134972e-01 -7.68287469e-01 -3.52257375e-02 2.61421563e+02] [ 7.67228840e-01 6.40103753e-01 -4.03372308e-02 9.45684079e+01] [ 5.35387158e-02 -1.24526682e-03 9.98564998e-01 1.52352262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.46, Y:94.61, Z:15.23 [[ 6.41208410e-01 -7.66558281e-01 -3.52161455e-02 2.61458624e+02] [ 7.65496580e-01 6.42173823e-01 -4.03456034e-02 9.46137060e+01] [ 5.35421431e-02 -1.08789870e-03 9.98564998e-01 1.52345697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.49, Y:94.66, Z:15.23 [[ 6.43886596e-01 -7.64310308e-01 -3.52108510e-02 2.61492875e+02] [ 7.63244984e-01 6.44848009e-01 -4.03502235e-02 9.46620600e+01] [ 5.35457389e-02 -8.93537295e-04 9.98564998e-01 1.52324484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.53, Y:94.71, Z:15.23 [[ 6.46019167e-01 -7.62509092e-01 -3.52011511e-02 2.61525975e+02] [ 7.61440626e-01 6.46977086e-01 -4.03586838e-02 9.47098697e+01] [ 5.35482015e-02 -7.31103229e-04 9.98564998e-01 1.52278357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.56, Y:94.76, Z:15.23 [[ 6.46423336e-01 -7.62166791e-01 -3.51945121e-02 2.61562010e+02] [ 7.61097502e-01 6.47380338e-01 -4.03644725e-02 9.47553260e+01] [ 5.35486956e-02 -6.93918326e-04 9.98564998e-01 1.52278713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:94.80, Z:15.22 [[ 6.46213037e-01 -7.62345595e-01 -3.51838726e-02 2.61595110e+02] [ 7.61276067e-01 6.47169770e-01 -4.03737443e-02 9.48042594e+01] [ 5.35486849e-02 -6.94600254e-04 9.98564998e-01 1.52239863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.63, Y:94.85, Z:15.22 [[ 6.49190167e-01 -7.59812506e-01 -3.51721793e-02 2.61629367e+02] [ 7.58738693e-01 6.50142088e-01 -4.03839285e-02 9.48512182e+01] [ 5.35511281e-02 -4.69644037e-04 9.98564998e-01 1.52165786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:94.90, Z:15.21 [[ 6.53249263e-01 -7.56325704e-01 -3.51685829e-02 2.61664146e+02] [ 7.55246641e-01 6.54195229e-01 -4.03870602e-02 9.48994617e+01] [ 5.35528909e-02 -1.78136770e-04 9.98564998e-01 1.52126387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.350385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:261.70, Y:94.95, Z:15.20 [[ 6.55787475e-01 -7.54126413e-01 -3.51587908e-02 2.61698053e+02] [ 7.53043720e-01 6.56729284e-01 -4.03955829e-02 9.49464906e+01] [ 5.35531836e-02 1.48107307e-05 9.98564999e-01 1.52032832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.73, Y:94.99, Z:15.21 [[ 6.59758992e-01 -7.50654535e-01 -3.51545298e-02 2.61734101e+02] [ 7.49566689e-01 6.60694844e-01 -4.03992907e-02 9.49928289e+01] [ 5.35523274e-02 3.03130822e-04 9.98564999e-01 1.52085241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.77, Y:95.04, Z:15.21 [[ 6.62758624e-01 -7.48007919e-01 -3.51448288e-02 2.61769872e+02] [ 7.46915888e-01 6.63689590e-01 -4.04077283e-02 9.50398006e+01] [ 5.35505578e-02 5.30339370e-04 9.98564999e-01 1.52095071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.530385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:261.80, Y:95.09, Z:15.21 [[ 6.63588279e-01 -7.47272457e-01 -3.51350382e-02 2.61803613e+02] [ 7.46178944e-01 6.64517503e-01 -4.04162396e-02 9.50876007e+01] [ 5.35497905e-02 6.02717200e-04 9.98564999e-01 1.52061337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.590385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:95.13, Z:15.21 [[ 6.61529057e-01 -7.49096174e-01 -3.51315982e-02 2.61841838e+02] [ 7.48005063e-01 6.62461101e-01 -4.04192295e-02 9.51327375e+01] [ 5.35512074e-02 4.59881483e-04 9.98564999e-01 1.52122171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.88, Y:95.18, Z:15.22 [[ 6.58055345e-01 -7.52149801e-01 -3.51260705e-02 2.61875931e+02] [ 7.51062759e-01 6.58992131e-01 -4.04240327e-02 9.51787653e+01] [ 5.35527323e-02 2.19367343e-04 9.98564999e-01 1.52174011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.710385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:261.91, Y:95.23, Z:15.22 [[ 6.54742530e-01 -7.55035539e-01 -3.51219839e-02 2.61911020e+02] [ 7.53952436e-01 6.55683868e-01 -4.04275830e-02 9.52267194e+01] [ 5.35531802e-02 -1.06473629e-05 9.98564999e-01 1.52181944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:95.27, Z:15.23 [[ 6.53443192e-01 -7.56160782e-01 -3.51121928e-02 2.61950666e+02] [ 7.55078843e-01 6.54385867e-01 -4.04360851e-02 9.52701378e+01] [ 5.35531044e-02 -8.97894161e-05 9.98564999e-01 1.52275573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:261.99, Y:95.32, Z:15.23 [[ 6.53830506e-01 -7.55826366e-01 -3.51023302e-02 2.61985360e+02] [ 7.54743485e-01 6.54772099e-01 -4.04446449e-02 9.53169225e+01] [ 5.35531554e-02 -4.93123788e-05 9.98564999e-01 1.52285945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:262.02, Y:95.36, Z:15.24 [[ 6.57707917e-01 -7.52454892e-01 -3.50988681e-02 2.62023039e+02] [ 7.51367025e-01 6.58643744e-01 -4.04476492e-02 9.53611585e+01] [ 5.35526814e-02 2.30607044e-04 9.98564999e-01 1.52365323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.06, Y:95.41, Z:15.25 [[ 6.63188983e-01 -7.47628910e-01 -3.50911026e-02 2.62059892e+02] [ 7.46533877e-01 6.64116415e-01 -4.04543852e-02 9.54059507e+01] [ 5.35494452e-02 6.32205673e-04 9.98564999e-01 1.52455206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.10, Y:95.45, Z:15.25 [[ 6.67415005e-01 -7.43858907e-01 -3.50875831e-02 2.62098604e+02] [ 7.42758476e-01 6.68336025e-01 -4.04574376e-02 9.54500145e+01] [ 5.35449211e-02 9.40301163e-04 9.98564999e-01 1.52513385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.14, Y:95.49, Z:15.26 [[ 6.67243117e-01 -7.44013558e-01 -3.50777523e-02 2.62137057e+02] [ 7.42912892e-01 6.68163857e-01 -4.04659593e-02 9.54927599e+01] [ 5.35449087e-02 9.40918418e-04 9.98564999e-01 1.52583105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.18, Y:95.53, Z:15.26 [[ 6.64018020e-01 -7.46893476e-01 -3.50742761e-02 2.62177312e+02] [ 7.45796646e-01 6.64943325e-01 -4.04689721e-02 9.55335903e+01] [ 5.35484171e-02 7.13849225e-04 9.98564999e-01 1.52635715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.22, Y:95.58, Z:15.27 [[ 6.60529515e-01 -7.49980601e-01 -3.50693265e-02 2.62217193e+02] [ 7.48887868e-01 6.61459655e-01 -4.04732609e-02 9.55760906e+01] [ 5.35511052e-02 4.70790177e-04 9.98564999e-01 1.52684904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.26, Y:95.62, Z:15.27 [[ 6.58337179e-01 -7.51906343e-01 -3.50572512e-02 2.62257665e+02] [ 7.50815774e-01 6.59269856e-01 -4.04837176e-02 9.56160325e+01] [ 5.35521530e-02 3.30399315e-04 9.98564999e-01 1.52735446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.30, Y:95.66, Z:15.28 [[ 6.55825185e-01 -7.54098662e-01 -3.50504721e-02 2.62295841e+02] [ 7.53010897e-01 6.56761131e-01 -4.04895860e-02 9.56603606e+01] [ 5.35529303e-02 1.60702828e-04 9.98564999e-01 1.52769255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:262.34, Y:95.70, Z:15.28 [[ 6.55510650e-01 -7.54372567e-01 -3.50402476e-02 2.62338926e+02] [ 7.53284720e-01 6.56446500e-01 -4.04984325e-02 9.56994811e+01] [ 5.35529544e-02 1.51870681e-04 9.98564999e-01 1.52815102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.38, Y:95.74, Z:15.29 [[ 6.51769795e-01 -7.57607132e-01 -3.50366609e-02 2.62379614e+02] [ 7.56523763e-01 6.52710825e-01 -4.05015353e-02 9.57418324e+01] [ 5.35530598e-02 -1.08389190e-04 9.98564999e-01 1.52867483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.42, Y:95.79, Z:15.29 [[ 6.46674239e-01 -7.61961643e-01 -3.50268841e-02 2.62417807e+02] [ 7.60884152e-01 6.47621995e-01 -4.05099887e-02 9.57867103e+01] [ 5.35512382e-02 -4.54634887e-04 9.98564999e-01 1.52928738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.46, Y:95.83, Z:15.30 [[ 6.42370704e-01 -7.65593671e-01 -3.50172614e-02 2.62457973e+02] [ 7.64521085e-01 6.43324007e-01 -4.05183050e-02 9.58287099e+01] [ 5.35480028e-02 -7.43662579e-04 9.98565000e-01 1.52997865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.49, Y:95.87, Z:15.30 [[ 6.41006969e-01 -7.66736068e-01 -3.50123934e-02 2.62494766e+02] [ 7.65664951e-01 6.41961921e-01 -4.05225111e-02 9.58736278e+01] [ 5.35466942e-02 -8.32550484e-04 9.98565000e-01 1.53025075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:262.53, Y:95.92, Z:15.31 [[ 6.42044533e-01 -7.65867939e-01 -3.50016805e-02 2.62528095e+02] [ 7.64795027e-01 6.42997468e-01 -4.05317623e-02 9.59218267e+01] [ 5.35479692e-02 -7.45914804e-04 9.98565000e-01 1.53055045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.730385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:262.56, Y:95.97, Z:15.31 [[ 6.43483254e-01 -7.64660049e-01 -3.49901613e-02 2.62564132e+02] [ 7.63584807e-01 6.44433559e-01 -4.05417042e-02 9.59677672e+01] [ 5.35494557e-02 -6.30047830e-04 9.98565000e-01 1.53098138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.60, Y:96.02, Z:15.31 [[ 6.44729029e-01 -7.63610480e-01 -3.49787572e-02 2.62595358e+02] [ 7.62533158e-01 6.45676975e-01 -4.05515411e-02 9.60176400e+01] [ 5.35505599e-02 -5.27706428e-04 9.98565000e-01 1.53146519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.63, Y:96.06, Z:15.32 [[ 6.48914568e-01 -7.60057329e-01 -3.49677047e-02 2.62629045e+02] [ 7.58974302e-01 6.49855991e-01 -4.05610694e-02 9.60636710e+01] [ 5.35527105e-02 -2.18920433e-04 9.98565000e-01 1.53188563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.66, Y:96.11, Z:15.32 [[ 6.51305235e-01 -7.58010094e-01 -3.49598115e-02 2.62664220e+02] [ 7.56923742e-01 6.52242820e-01 -4.05678716e-02 9.61103596e+01] [ 5.35531421e-02 -3.98442003e-05 9.98565000e-01 1.53231341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.70, Y:96.16, Z:15.33 [[ 6.50996105e-01 -7.58276129e-01 -3.49482877e-02 2.62698277e+02] [ 7.57189628e-01 6.51933516e-01 -4.05777966e-02 9.61575161e+01] [ 5.35531346e-02 -4.64934089e-05 9.98565000e-01 1.53265293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.73, Y:96.21, Z:15.33 [[ 6.49935409e-01 -7.59186000e-01 -3.49368301e-02 2.62731222e+02] [ 7.58100280e-01 6.50873726e-01 -4.05876590e-02 9.62061739e+01] [ 5.35530473e-02 -1.06263958e-04 9.98565000e-01 1.53299039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.76, Y:96.25, Z:15.33 [[ 6.48691997e-01 -7.60249240e-01 -3.49254464e-02 2.62764341e+02] [ 7.59164531e-01 6.49631481e-01 -4.05974523e-02 9.62532140e+01] [ 5.35528517e-02 -1.78917806e-04 9.98565000e-01 1.53321432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.80, Y:96.30, Z:15.33 [[ 6.45627287e-01 -7.62853873e-01 -3.49195581e-02 2.62795373e+02] [ 7.61772680e-01 6.46570815e-01 -4.06025164e-02 9.63042891e+01] [ 5.35517540e-02 -3.86672906e-04 9.98565000e-01 1.53327046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.83, Y:96.35, Z:15.34 [[ 6.44704377e-01 -7.63634446e-01 -3.49098591e-02 2.62827488e+02] [ 7.62553945e-01 6.45648697e-01 -4.06108539e-02 9.63545330e+01] [ 5.35513519e-02 -4.38655482e-04 9.98565001e-01 1.53358690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.86, Y:96.41, Z:15.34 [[ 6.48506907e-01 -7.60408298e-01 -3.49000214e-02 2.62856597e+02] [ 7.59322644e-01 6.49445298e-01 -4.06193064e-02 9.64057424e+01] [ 5.35529125e-02 -1.58475796e-04 9.98565001e-01 1.53400520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.89, Y:96.46, Z:15.34 [[ 6.55400785e-01 -7.54475053e-01 -3.48884744e-02 2.62886208e+02] [ 7.53380376e-01 6.56328634e-01 -4.06292218e-02 9.64572589e+01] [ 5.35520391e-02 3.44131916e-04 9.98565001e-01 1.53426440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.92, Y:96.51, Z:15.35 [[ 6.61127351e-01 -7.49462623e-01 -3.48769558e-02 2.62919302e+02] [ 7.48360391e-01 6.62046213e-01 -4.06391072e-02 9.65055356e+01] [ 5.35476484e-02 7.67092981e-04 9.98565001e-01 1.53460921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.450385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:262.95, Y:96.55, Z:15.35 [[ 6.63864396e-01 -7.47039804e-01 -3.48653904e-02 2.62953182e+02] [ 7.45933698e-01 6.64778591e-01 -4.06490271e-02 9.65524850e+01] [ 5.35442063e-02 9.78172201e-04 9.98565001e-01 1.53469692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.510385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:262.99, Y:96.60, Z:15.35 [[ 6.65503349e-01 -7.45580274e-01 -3.48618333e-02 2.62988711e+02] [ 7.44472004e-01 6.66414918e-01 -4.06520776e-02 9.65980723e+01] [ 5.35418329e-02 1.10043489e-03 9.98565001e-01 1.53520569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.570385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:263.02, Y:96.64, Z:15.36 [[ 6.65953916e-01 -7.45178403e-01 -3.48501109e-02 2.63024980e+02] [ 7.44069057e-01 6.66864177e-01 -4.06621244e-02 9.66419735e+01] [ 5.35408275e-02 1.14821183e-03 9.98565001e-01 1.53552598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.630385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:96.68, Z:15.36 [[ 6.65881834e-01 -7.45243040e-01 -3.48452825e-02 2.63064318e+02] [ 7.44133567e-01 6.66791939e-01 -4.06662618e-02 9.66844656e+01] [ 5.35408020e-02 1.14938065e-03 9.98565001e-01 1.53574451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.690385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:263.10, Y:96.73, Z:15.36 [[ 6.65312293e-01 -7.45751814e-01 -3.48394317e-02 2.63104358e+02] [ 7.44642774e-01 6.66222926e-01 -4.06712736e-02 9.67270659e+01] [ 5.35415041e-02 1.11616719e-03 9.98565001e-01 1.53601306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.15, Y:96.77, Z:15.37 [[ 6.64641791e-01 -7.46349883e-01 -3.48301887e-02 2.63146971e+02] [ 7.45241248e-01 6.65552917e-01 -4.06791876e-02 9.67679884e+01] [ 5.35422406e-02 1.08019482e-03 9.98565001e-01 1.53676228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.19, Y:96.80, Z:15.38 [[ 6.65828846e-01 -7.45291568e-01 -3.48199258e-02 2.63193653e+02] [ 7.44181026e-01 6.66737647e-01 -4.06879704e-02 9.68047439e+01] [ 5.35401566e-02 1.17889624e-03 9.98565001e-01 1.53791043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.23, Y:96.85, Z:15.38 [[ 6.62207955e-01 -7.48511163e-01 -3.48089569e-02 2.63232526e+02] [ 7.47404548e-01 6.63121533e-01 -4.06973522e-02 9.68475773e+01] [ 5.35449913e-02 9.33737608e-04 9.98565001e-01 1.53753710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.28, Y:96.89, Z:15.38 [[ 6.61811418e-01 -7.48861963e-01 -3.48052827e-02 2.63276246e+02] [ 7.47755667e-01 6.62725382e-01 -4.07004942e-02 9.68867653e+01] [ 5.35453963e-02 9.10204402e-04 9.98565001e-01 1.53779663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.990385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:263.32, Y:96.93, Z:15.38 [[ 6.60683491e-01 -7.49857424e-01 -3.48018613e-02 2.63321174e+02] [ 7.48752351e-01 6.61598933e-01 -4.07034196e-02 9.69264686e+01] [ 5.35466356e-02 8.34101881e-04 9.98565001e-01 1.53780502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.050385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:263.36, Y:96.97, Z:15.39 [[ 6.59589622e-01 -7.50820274e-01 -3.47914858e-02 2.63362127e+02] [ 7.49716070e-01 6.60506112e-01 -4.07122861e-02 9.69677529e+01] [ 5.35475989e-02 7.69665422e-04 9.98565002e-01 1.53876926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.110385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:97.00, Z:15.39 [[ 6.58743327e-01 -7.51563410e-01 -3.47803079e-02 2.63406376e+02] [ 7.50459736e-01 6.59660455e-01 -4.07218331e-02 9.70041496e+01] [ 5.35482335e-02 7.24015122e-04 9.98565002e-01 1.53923185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.170385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:263.45, Y:97.04, Z:15.40 [[ 6.58909324e-01 -7.51418178e-01 -3.47739144e-02 2.63449748e+02] [ 7.50314014e-01 6.59825862e-01 -4.07272921e-02 9.70429646e+01] [ 5.35479556e-02 7.44237181e-04 9.98565002e-01 1.53954909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.230385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:263.50, Y:97.08, Z:15.40 [[ 6.61117819e-01 -7.49476046e-01 -3.47690450e-02 2.63495891e+02] [ 7.48368971e-01 6.62030839e-01 -4.07314487e-02 9.70807715e+01] [ 5.35454251e-02 9.08212052e-04 9.98565002e-01 1.54009738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:263.54, Y:97.12, Z:15.40 [[ 6.64443028e-01 -7.46530129e-01 -3.47595861e-02 2.63542304e+02] [ 7.45418586e-01 6.65350602e-01 -4.07395192e-02 9.71183913e+01] [ 5.35405900e-02 1.15864801e-03 9.98565002e-01 1.54016302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.59, Y:97.16, Z:15.41 [[ 6.67036030e-01 -7.44214653e-01 -3.47488903e-02 2.63586618e+02] [ 7.43099485e-01 6.67939147e-01 -4.07486402e-02 9.71570970e+01] [ 5.35358792e-02 1.35892871e-03 9.98565002e-01 1.54058852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:97.19, Z:15.41 [[ 6.67198902e-01 -7.44069219e-01 -3.47364753e-02 2.63635132e+02] [ 7.42953304e-01 6.68101095e-01 -4.07592207e-02 9.71921945e+01] [ 5.35351587e-02 1.38692814e-03 9.98565002e-01 1.54112188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.470385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:263.68, Y:97.23, Z:15.42 [[ 6.67742627e-01 -7.43581473e-01 -3.47329541e-02 2.63681923e+02] [ 7.42464743e-01 6.68643812e-01 -4.07622211e-02 9.72296827e+01] [ 5.35340072e-02 1.43067873e-03 9.98565002e-01 1.54152051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.73, Y:97.27, Z:15.42 [[ 6.67257412e-01 -7.44017380e-01 -3.47229722e-02 2.63726585e+02] [ 7.42900797e-01 6.68158779e-01 -4.07707223e-02 9.72687741e+01] [ 5.35345847e-02 1.40884294e-03 9.98565002e-01 1.54162978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.77, Y:97.31, Z:15.42 [[ 6.60509090e-01 -7.50015161e-01 -3.47131175e-02 2.63773189e+02] [ 7.48906327e-01 6.61419971e-01 -4.07791111e-02 9.73056545e+01] [ 5.35449007e-02 9.38100217e-04 9.98565002e-01 1.54192308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.650385723 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:263.82, Y:97.35, Z:15.42 [[ 6.56641855e-01 -7.53403743e-01 -3.47026578e-02 2.63815563e+02] [ 7.52299139e-01 6.57557863e-01 -4.07880102e-02 9.73456831e+01] [ 5.35488451e-02 6.76335133e-04 9.98565002e-01 1.54205857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.85, Y:97.39, Z:15.42 [[ 6.52311126e-01 -7.57157058e-01 -3.46898160e-02 2.63849839e+02] [ 7.56057146e-01 6.53232761e-01 -4.07989292e-02 9.73908109e+01] [ 5.35517215e-02 3.86112164e-04 9.98565002e-01 1.54241011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.770385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:263.88, Y:97.44, Z:15.42 [[ 6.50851017e-01 -7.58413158e-01 -3.46761546e-02 2.63881712e+02] [ 7.57314406e-01 6.51774034e-01 -4.08105371e-02 9.74403799e+01] [ 5.35522655e-02 3.00828180e-04 9.98565003e-01 1.54232890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.830385723 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:97.48, Z:15.42 [[ 6.49853493e-01 -7.59268566e-01 -3.46653059e-02 2.63921964e+02] [ 7.58170537e-01 6.50777370e-01 -4.08197501e-02 9.74827674e+01] [ 5.35525497e-02 2.44643623e-04 9.98565003e-01 1.54220140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.96, Y:97.53, Z:15.43 [[ 6.49025820e-01 -7.59976715e-01 -3.46536801e-02 2.63960243e+02] [ 7.58879167e-01 6.49950269e-01 -4.08296174e-02 9.75260087e+01] [ 5.35527272e-02 2.01519962e-04 9.98565003e-01 1.54286327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.00, Y:97.57, Z:15.43 [[ 6.45355886e-01 -7.63096147e-01 -3.46417478e-02 2.63997565e+02] [ 7.62002525e-01 6.46284974e-01 -4.08397388e-02 9.75717716e+01] [ 5.35530884e-02 -4.09335232e-05 9.98565003e-01 1.54262055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.03, Y:97.62, Z:15.43 [[ 6.44533343e-01 -7.63791474e-01 -3.46316842e-02 2.64033987e+02] [ 7.62698395e-01 6.45463072e-01 -4.08482708e-02 9.76175687e+01] [ 5.35530343e-02 -8.54574385e-05 9.98565003e-01 1.54349750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.07, Y:97.66, Z:15.44 [[ 6.45828183e-01 -7.62697410e-01 -3.46210798e-02 2.64072417e+02] [ 7.61602274e-01 6.46755487e-01 -4.08572567e-02 9.76599911e+01] [ 5.35530972e-02 1.92746841e-05 9.98565003e-01 1.54395369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.11, Y:97.71, Z:15.44 [[ 6.47729727e-01 -7.61083473e-01 -3.46142785e-02 2.64108030e+02] [ 7.59985719e-01 6.48653930e-01 -4.08630179e-02 9.77059302e+01] [ 5.35528554e-02 1.61834125e-04 9.98565003e-01 1.54429214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.14, Y:97.75, Z:15.44 [[ 6.50888892e-01 -7.58383991e-01 -3.46030724e-02 2.64142726e+02] [ 7.57281899e-01 6.51807919e-01 -4.08725052e-02 9.77528819e+01] [ 5.35516102e-02 3.99179244e-04 9.98565003e-01 1.54432005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.18, Y:97.79, Z:15.45 [[ 6.51550862e-01 -7.57815853e-01 -3.45920239e-02 2.64182601e+02] [ 7.56712463e-01 6.52468330e-01 -4.08818538e-02 9.77948260e+01] [ 5.35511169e-02 4.60391453e-04 9.98565003e-01 1.54467147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.22, Y:97.84, Z:15.45 [[ 6.50298283e-01 -7.58891494e-01 -3.45809701e-02 2.64222148e+02] [ 7.57789125e-01 6.51216977e-01 -4.08912018e-02 9.78361780e+01] [ 5.35517000e-02 3.86395245e-04 9.98565003e-01 1.54524109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.26, Y:97.88, Z:15.45 [[ 6.48034021e-01 -7.60826390e-01 -3.45703958e-02 2.64259177e+02] [ 7.59726287e-01 6.48955427e-01 -4.09001396e-02 9.78804304e+01] [ 5.35525515e-02 2.40643459e-04 9.98565004e-01 1.54530889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.30, Y:97.92, Z:15.46 [[ 6.46249271e-01 -7.62343449e-01 -3.45593073e-02 2.64298335e+02] [ 7.61245008e-01 6.47172658e-01 -4.09095069e-02 9.79231665e+01] [ 5.35529333e-02 1.29638776e-04 9.98565004e-01 1.54573206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.33, Y:97.97, Z:15.46 [[ 6.43407101e-01 -7.64744234e-01 -3.45479248e-02 2.64334500e+02] [ 7.63648723e-01 6.44333962e-01 -4.09191172e-02 9.79689693e+01] [ 5.35530601e-02 -5.48280565e-05 9.98565004e-01 1.54613609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:98.01, Z:15.46 [[ 6.43953940e-01 -7.64284309e-01 -3.45372125e-02 2.64371504e+02] [ 7.63187651e-01 6.44879443e-01 -4.09281567e-02 9.80119897e+01] [ 5.35530863e-02 -2.52631712e-06 9.98565004e-01 1.54644198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.41, Y:98.06, Z:15.47 [[ 6.41209195e-01 -7.66588820e-01 -3.45304241e-02 2.64406703e+02] [ 7.65495180e-01 6.42138262e-01 -4.09338832e-02 9.80586126e+01] [ 5.35527637e-02 -1.85690860e-04 9.98565004e-01 1.54684289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.44, Y:98.10, Z:15.47 [[ 6.41249210e-01 -7.66555893e-01 -3.45182945e-02 2.64442222e+02] [ 7.65461655e-01 6.42177572e-01 -4.09441092e-02 9.81031349e+01] [ 5.35528227e-02 -1.67053115e-04 9.98565004e-01 1.54690265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:98.15, Z:15.47 [[ 6.40657454e-01 -7.67050839e-01 -3.45114031e-02 2.64478185e+02] [ 7.65957005e-01 6.41586292e-01 -4.09499170e-02 9.81476302e+01] [ 5.35527114e-02 -1.99381433e-04 9.98565004e-01 1.54713967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.52, Y:98.19, Z:15.47 [[ 6.40708752e-01 -7.67008439e-01 -3.45014503e-02 2.64515640e+02] [ 7.65914092e-01 6.41636986e-01 -4.09583009e-02 9.81925567e+01] [ 5.35527689e-02 -1.82805122e-04 9.98565004e-01 1.54746937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.55, Y:98.24, Z:15.48 [[ 6.41038184e-01 -7.66733623e-01 -3.44905598e-02 2.64553268e+02] [ 7.65638384e-01 6.41965366e-01 -4.09674696e-02 9.82368384e+01] [ 5.35528812e-02 -1.45584199e-04 9.98565004e-01 1.54757353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.910385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:264.59, Y:98.28, Z:15.48 [[ 6.42102259e-01 -7.65843207e-01 -3.44800144e-02 2.64588691e+02] [ 7.64746206e-01 6.43027355e-01 -4.09763431e-02 9.82818939e+01] [ 5.35530465e-02 -5.74576454e-05 9.98565004e-01 1.54764848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.63, Y:98.33, Z:15.48 [[ 6.43790736e-01 -7.64424830e-01 -3.44698049e-02 2.64626942e+02] [ 7.63325332e-01 6.44712861e-01 -4.09849296e-02 9.83250998e+01] [ 5.35530245e-02 7.40427062e-05 9.98565004e-01 1.54826914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.66, Y:98.37, Z:15.49 [[ 6.43300595e-01 -7.64837863e-01 -3.44584914e-02 2.64662055e+02] [ 7.63738447e-01 6.44222819e-01 -4.09944394e-02 9.83709520e+01] [ 5.35530459e-02 5.44725070e-05 9.98565005e-01 1.54874363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:98.41, Z:15.49 [[ 6.43949205e-01 -7.64292352e-01 -3.44473893e-02 2.64701160e+02] [ 7.63191656e-01 6.44869900e-01 -4.10037663e-02 9.84127430e+01] [ 5.35529495e-02 1.14382683e-04 9.98565005e-01 1.54907955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.150385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:264.74, Y:98.46, Z:15.50 [[ 6.42326726e-01 -7.65656730e-01 -3.44405217e-02 2.64738660e+02] [ 7.64557680e-01 6.43249385e-01 -4.10095338e-02 9.84557391e+01] [ 5.35530700e-02 9.75419073e-06 9.98565005e-01 1.54959406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.77, Y:98.50, Z:15.50 [[ 6.39973548e-01 -7.67625061e-01 -3.44328878e-02 2.64774359e+02] [ 7.66528504e-01 6.40899169e-01 -4.10159425e-02 9.85013208e+01] [ 5.35528746e-02 -1.44671740e-04 9.98565005e-01 1.54971602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:98.55, Z:15.50 [[ 6.35628611e-01 -7.71227210e-01 -3.44217966e-02 2.64810986e+02] [ 7.70135394e-01 6.36559820e-01 -4.10252485e-02 9.85461307e+01] [ 5.35513206e-02 -4.32622207e-04 9.98565005e-01 1.55004065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.85, Y:98.59, Z:15.50 [[ 6.35603316e-01 -7.71248554e-01 -3.44106454e-02 2.64847338e+02] [ 7.70156263e-01 6.36533968e-01 -4.10345996e-02 9.85899540e+01] [ 5.35514203e-02 -4.19846509e-04 9.98565005e-01 1.55012174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.88, Y:98.64, Z:15.50 [[ 6.35432654e-01 -7.71389466e-01 -3.44039878e-02 2.64882598e+02] [ 7.70297079e-01 6.36363193e-01 -4.10401807e-02 9.86354299e+01] [ 5.35513946e-02 -4.23020385e-04 9.98565005e-01 1.55027633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.450385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:98.68, Z:15.51 [[ 6.35945862e-01 -7.70966879e-01 -3.43937890e-02 2.64922332e+02] [ 7.69873412e-01 6.36875131e-01 -4.10487260e-02 9.86778665e+01] [ 5.35517571e-02 -3.74096272e-04 9.98565005e-01 1.55086357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:264.96, Y:98.73, Z:15.51 [[ 6.34186129e-01 -7.72415554e-01 -3.43826250e-02 2.64955210e+02] [ 7.71323703e-01 6.35117296e-01 -4.10580750e-02 9.87256755e+01] [ 5.35508955e-02 -4.81671975e-04 9.98565005e-01 1.55099912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.99, Y:98.77, Z:15.51 [[ 6.40986186e-01 -7.66782469e-01 -3.43708474e-02 2.64992099e+02] [ 7.65681905e-01 6.41907038e-01 -4.10679319e-02 9.87686301e+01] [ 5.35530591e-02 6.84115170e-06 9.98565005e-01 1.55141533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.02, Y:98.82, Z:15.52 [[ 6.39800644e-01 -7.67772245e-01 -3.43644521e-02 2.65024913e+02] [ 7.66672818e-01 6.40722854e-01 -4.10732827e-02 9.88163685e+01] [ 5.35530162e-02 -6.75786045e-05 9.98565005e-01 1.55165717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.06, Y:98.86, Z:15.52 [[ 6.42658967e-01 -7.65381837e-01 -3.43525098e-02 2.65060429e+02] [ 7.64278446e-01 6.43576430e-01 -4.10832684e-02 9.88609629e+01] [ 5.35528531e-02 1.47648021e-04 9.98565005e-01 1.55208882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.09, Y:98.91, Z:15.53 [[ 6.39639109e-01 -7.67907659e-01 -3.43458563e-02 2.65093905e+02] [ 7.66807592e-01 6.40560555e-01 -4.10888301e-02 9.89086607e+01] [ 5.35530281e-02 -5.46406868e-05 9.98565006e-01 1.55250844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:98.95, Z:15.53 [[ 6.37767282e-01 -7.69463480e-01 -3.43343406e-02 2.65131036e+02] [ 7.68365143e-01 6.38690789e-01 -4.10984505e-02 9.89535608e+01] [ 5.35527838e-02 -1.70063433e-04 9.98565006e-01 1.55310883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.17, Y:99.00, Z:15.53 [[ 6.35345987e-01 -7.71464487e-01 -3.43223380e-02 2.65166342e+02] [ 7.70368517e-01 6.36272301e-01 -4.11084717e-02 9.89995447e+01] [ 5.35520790e-02 -3.22746146e-04 9.98565006e-01 1.55305395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.20, Y:99.05, Z:15.53 [[ 6.33081734e-01 -7.73324185e-01 -3.43106946e-02 2.65200437e+02] [ 7.72230410e-01 6.34010638e-01 -4.11181874e-02 9.90464701e+01] [ 5.35510342e-02 -4.64588381e-04 9.98565006e-01 1.55316899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:99.09, Z:15.54 [[ 6.32444149e-01 -7.73846259e-01 -3.42981810e-02 2.65239775e+02] [ 7.72752685e-01 6.33373290e-01 -4.11286228e-02 9.90890035e+01] [ 5.35507827e-02 -4.92454560e-04 9.98565006e-01 1.55377243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.27, Y:99.14, Z:15.54 [[ 6.31183222e-01 -7.74875344e-01 -3.42920077e-02 2.65273622e+02] [ 7.73783005e-01 6.32113814e-01 -4.11337694e-02 9.91367534e+01] [ 5.35499955e-02 -5.71627683e-04 9.98565006e-01 1.55411825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.31, Y:99.18, Z:15.54 [[ 6.30977695e-01 -7.75043226e-01 -3.42804174e-02 2.65307535e+02] [ 7.73950610e-01 6.31907962e-01 -4.11434263e-02 9.91836477e+01] [ 5.35500025e-02 -5.70765695e-04 9.98565006e-01 1.55431423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.34, Y:99.23, Z:15.55 [[ 6.30180425e-01 -7.75692125e-01 -3.42689240e-02 2.65342800e+02] [ 7.74599947e-01 6.31111205e-01 -4.11529971e-02 9.92284394e+01] [ 5.35495577e-02 -6.10893578e-04 9.98565006e-01 1.55487431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.37, Y:99.28, Z:15.55 [[ 6.29434064e-01 -7.76298167e-01 -3.42624342e-02 2.65374854e+02] [ 7.75206591e-01 6.30365551e-01 -4.11583996e-02 9.92778546e+01] [ 5.35490484e-02 -6.53966099e-04 9.98565006e-01 1.55498953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:99.33, Z:15.55 [[ 6.30577582e-01 -7.75370083e-01 -3.42512430e-02 2.65407335e+02] [ 7.74276629e-01 6.31506865e-01 -4.11677106e-02 9.93266733e+01] [ 5.35501062e-02 -5.60501547e-04 9.98565006e-01 1.55475326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.350385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:265.44, Y:99.37, Z:15.55 [[ 6.34800315e-01 -7.71917193e-01 -3.42404265e-02 2.65443430e+02] [ 7.70818200e-01 6.35723039e-01 -4.11767050e-02 9.93703799e+01] [ 5.35524346e-02 -2.54158592e-04 9.98565006e-01 1.55514677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.410385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:265.47, Y:99.42, Z:15.56 [[ 6.37899196e-01 -7.69358749e-01 -3.42305570e-02 2.65473592e+02] [ 7.68255614e-01 6.38816965e-01 -4.11849080e-02 9.94202290e+01] [ 5.35530298e-02 -2.59978501e-05 9.98565007e-01 1.55565428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.470385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:99.46, Z:15.56 [[ 6.38979874e-01 -7.68461930e-01 -3.42196290e-02 2.65509643e+02] [ 7.67357021e-01 6.39895505e-01 -4.11939858e-02 9.94647383e+01] [ 5.35529967e-02 6.34552615e-05 9.98565007e-01 1.55606732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.530385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:265.55, Y:99.51, Z:15.57 [[ 6.39043643e-01 -7.68409134e-01 -3.42143876e-02 2.65545975e+02] [ 7.67303917e-01 6.39958902e-01 -4.11983387e-02 9.95092471e+01] [ 5.35529817e-02 7.47029013e-05 9.98565007e-01 1.55679406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.58, Y:99.56, Z:15.56 [[ 6.35025530e-01 -7.71733580e-01 -3.42031683e-02 2.65576928e+02] [ 7.70632652e-01 6.35945945e-01 -4.12076510e-02 9.95600655e+01] [ 5.35526942e-02 -1.90167846e-04 9.98565007e-01 1.55634248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:99.60, Z:15.57 [[ 6.30567724e-01 -7.75380684e-01 -3.41927074e-02 2.65615299e+02] [ 7.74284608e-01 6.31493911e-01 -4.12163293e-02 9.96033621e+01] [ 5.35508321e-02 -4.85200098e-04 9.98565007e-01 1.55664585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.710385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:265.65, Y:99.65, Z:15.56 [[ 6.22525409e-01 -7.81852781e-01 -3.41810611e-02 2.65650098e+02] [ 7.80765801e-01 6.23462254e-01 -4.12259854e-02 9.96500546e+01] [ 5.35432527e-02 -1.02318015e-03 9.98565007e-01 1.55640191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:265.69, Y:99.69, Z:15.57 [[ 6.23760473e-01 -7.80868360e-01 -3.41683571e-02 2.65688823e+02] [ 7.79779325e-01 6.24694929e-01 -4.12365119e-02 9.96938194e+01] [ 5.35450868e-02 -9.22072303e-04 9.98565007e-01 1.55714614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.72, Y:99.74, Z:15.57 [[ 6.26064926e-01 -7.79022464e-01 -3.41571255e-02 2.65723762e+02] [ 7.77930166e-01 6.26995566e-01 -4.12458131e-02 9.97385226e+01] [ 5.35477812e-02 -7.49301362e-04 9.98565007e-01 1.55732517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.890385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:265.76, Y:99.78, Z:15.58 [[ 6.30376041e-01 -7.75538401e-01 -3.41501967e-02 2.65760809e+02] [ 7.74440648e-01 6.31300240e-01 -4.12515492e-02 9.97845454e+01] [ 5.35511878e-02 -4.43312178e-04 9.98565007e-01 1.55815374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:99.83, Z:15.59 [[ 6.33032863e-01 -7.73371717e-01 -3.41406325e-02 2.65799392e+02] [ 7.72270374e-01 6.33952780e-01 -4.12594632e-02 9.98273501e+01] [ 5.35524507e-02 -2.47202886e-04 9.98565007e-01 1.55870761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.010385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:265.84, Y:99.87, Z:15.59 [[ 6.36170716e-01 -7.70792870e-01 -3.41346085e-02 2.65840535e+02] [ 7.69687530e-01 6.37085827e-01 -4.12644463e-02 9.98689283e+01] [ 5.35530163e-02 -2.17501362e-05 9.98565007e-01 1.55915382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.070385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:99.91, Z:15.59 [[ 6.37864234e-01 -7.69392496e-01 -3.41234095e-02 2.65877860e+02] [ 7.68284651e-01 6.38776311e-01 -4.12737052e-02 9.99139521e+01] [ 5.35529047e-02 1.10528589e-04 9.98565007e-01 1.55932692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:99.95, Z:15.60 [[ 6.40113804e-01 -7.67522430e-01 -3.41121323e-02 2.65919781e+02] [ 7.66411424e-01 6.41022028e-01 -4.12830235e-02 9.99538890e+01] [ 5.35522748e-02 2.81905305e-04 9.98565008e-01 1.55986280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.96, Y:99.99, Z:15.60 [[ 6.39589477e-01 -7.67959927e-01 -3.41006125e-02 2.65960499e+02] [ 7.66849036e-01 6.40497840e-01 -4.12925369e-02 9.99938500e+01] [ 5.35523823e-02 2.60250283e-04 9.98565008e-01 1.56019735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:100.04, Z:15.61 [[ 6.38819052e-01 -7.68601209e-01 -3.40939903e-02 2.66001868e+02] [ 7.67490938e-01 6.39728173e-01 -4.12980040e-02 1.00035364e+02] [ 5.35525819e-02 2.15123173e-04 9.98565008e-01 1.56070590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.04, Y:100.08, Z:15.61 [[ 6.37821037e-01 -7.69430116e-01 -3.40825781e-02 2.66043395e+02] [ 7.68320523e-01 6.38730985e-01 -4.13074201e-02 1.00077526e+02] [ 5.35527718e-02 1.60397264e-04 9.98565008e-01 1.56090745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:100.12, Z:15.61 [[ 6.37456920e-01 -7.69732243e-01 -3.40727172e-02 2.66089563e+02] [ 7.68622646e-01 6.38366864e-01 -4.13155524e-02 1.00115219e+02] [ 5.35528064e-02 1.47822755e-04 9.98565008e-01 1.56138024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43038572300003 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:266.12, Y:100.16, Z:15.61 [[ 6.26164745e-01 -7.78946207e-01 -3.40663835e-02 2.66124792e+02] [ 7.77849714e-01 6.27090436e-01 -4.13207742e-02 1.00163270e+02] [ 5.35493636e-02 -6.24914640e-04 9.98565008e-01 1.56057127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:266.17, Y:100.20, Z:15.62 [[ 6.29247174e-01 -7.76458792e-01 -3.40549271e-02 2.66174147e+02] [ 7.75358129e-01 6.30167903e-01 -4.13302139e-02 1.00198461e+02] [ 5.35515299e-02 -3.97844316e-04 9.98565008e-01 1.56166237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.550385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:266.22, Y:100.24, Z:15.62 [[ 6.26096982e-01 -7.79001635e-01 -3.40444150e-02 2.66215653e+02] [ 7.77904240e-01 6.27021603e-01 -4.13388711e-02 1.00239848e+02] [ 5.35496318e-02 -6.01152391e-04 9.98565008e-01 1.56208422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.610385723 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:266.26, Y:100.28, Z:15.62 [[ 6.24623609e-01 -7.80183978e-01 -3.40339007e-02 2.66257393e+02] [ 7.79087862e-01 6.25549747e-01 -4.13475256e-02 1.00282113e+02] [ 5.35485750e-02 -6.88758234e-04 9.98565008e-01 1.56239533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.670385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:266.30, Y:100.32, Z:15.63 [[ 6.24450499e-01 -7.80323026e-01 -3.40227870e-02 2.66298493e+02] [ 7.79226617e-01 6.25376291e-01 -4.13566685e-02 1.00323455e+02] [ 5.35486050e-02 -6.86268928e-04 9.98565008e-01 1.56339505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.730385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:266.34, Y:100.37, Z:15.63 [[ 6.25949528e-01 -7.79121591e-01 -3.40108142e-02 2.66337045e+02] [ 7.78022871e-01 6.26872574e-01 -4.13665123e-02 1.00367001e+02] [ 5.35499895e-02 -5.67842464e-04 9.98565008e-01 1.56345194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.790385723 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:266.37, Y:100.41, Z:15.64 [[ 6.29964166e-01 -7.75879611e-01 -3.39996824e-02 2.66371313e+02] [ 7.74775646e-01 6.30880934e-01 -4.13756597e-02 1.00414006e+02] [ 5.35522821e-02 -2.76942991e-04 9.98565009e-01 1.56356413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.41, Y:100.46, Z:15.64 [[ 6.32463809e-01 -7.73843914e-01 -3.39871665e-02 2.66406758e+02] [ 7.72736446e-01 6.33376341e-01 -4.13859381e-02 1.00460507e+02] [ 5.35529234e-02 -8.80141780e-05 9.98565009e-01 1.56436469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.45, Y:100.50, Z:15.65 [[ 6.30515703e-01 -7.75432532e-01 -3.39755368e-02 2.66445334e+02] [ 7.74326848e-01 6.31430397e-01 -4.13954832e-02 1.00504259e+02] [ 5.35525910e-02 -2.07668078e-04 9.98565009e-01 1.56495569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.970385723 meters Centerline goodness : 0.997480 with order 1 Centerline is valid? [True, True] Translation: X:266.48, Y:100.55, Z:15.64 [[ 6.25942321e-01 -7.79129418e-01 -3.39641100e-02 2.66480675e+02] [ 7.78028628e-01 6.26862897e-01 -4.14048565e-02 1.00551190e+02] [ 5.35505822e-02 -5.07997882e-04 9.98565009e-01 1.56442365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:266.51, Y:100.60, Z:15.65 [[ 6.22532934e-01 -7.81856831e-01 -3.39505802e-02 2.66513822e+02] [ 7.80759469e-01 6.23457593e-01 -4.14159476e-02 1.00597378e+02] [ 5.35480885e-02 -7.24445592e-04 9.98565009e-01 1.56523816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.090385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:266.55, Y:100.64, Z:15.66 [[ 6.17253878e-01 -7.86031598e-01 -3.39407975e-02 2.66551118e+02] [ 7.84940047e-01 6.18185391e-01 -4.14239630e-02 1.00640012e+02] [ 5.35422490e-02 -1.07238940e-03 9.98565009e-01 1.56577615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.150385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:266.59, Y:100.69, Z:15.65 [[ 6.13711702e-01 -7.88800765e-01 -3.39308176e-02 2.66586279e+02] [ 7.87712965e-01 6.14647592e-01 -4.14321361e-02 1.00687110e+02] [ 5.35371959e-02 -1.30035814e-03 9.98565009e-01 1.56542166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.210385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:266.62, Y:100.74, Z:15.66 [[ 6.16959831e-01 -7.86263344e-01 -3.39193391e-02 2.66619258e+02] [ 7.85171178e-01 6.17890622e-01 -4.14415311e-02 1.00735012e+02] [ 5.35423983e-02 -1.06472745e-03 9.98565009e-01 1.56594909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.270385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:266.65, Y:100.78, Z:15.66 [[ 6.21139535e-01 -7.82966133e-01 -3.39074139e-02 2.66654684e+02] [ 7.81868493e-01 6.22063863e-01 -4.14512860e-02 1.00781587e+02] [ 5.35475300e-02 -7.64106160e-04 9.98565009e-01 1.56636560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.330385723 meters Centerline goodness : 0.994992 with order 1 Centerline is valid? [True, True] Translation: X:266.69, Y:100.83, Z:15.66 [[ 6.24507370e-01 -7.80282971e-01 -3.38973595e-02 2.66691025e+02] [ 7.79180913e-01 6.25426426e-01 -4.14595065e-02 1.00827814e+02] [ 5.35504513e-02 -5.20408157e-04 9.98565010e-01 1.56578816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.390385723 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:100.88, Z:15.67 [[ 6.26901080e-01 -7.78361653e-01 -3.38847053e-02 2.66722805e+02] [ 7.77256219e-01 6.27816073e-01 -4.14698461e-02 1.00875241e+02] [ 5.35519006e-02 -3.39606659e-04 9.98565010e-01 1.56694066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.450385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:266.76, Y:100.92, Z:15.67 [[ 6.29359522e-01 -7.76375615e-01 -3.38747253e-02 2.66759536e+02] [ 7.75266855e-01 6.30270481e-01 -4.14779967e-02 1.00920336e+02] [ 5.35527446e-02 -1.57379603e-04 9.98565010e-01 1.56746551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.510385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:100.97, Z:15.68 [[ 6.31200682e-01 -7.74879954e-01 -3.38637870e-02 2.66795319e+02] [ 7.73768556e-01 6.32108422e-01 -4.14869252e-02 1.00966773e+02] [ 5.35529716e-02 -1.61580984e-05 9.98565010e-01 1.56754364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.570385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:266.83, Y:101.01, Z:15.68 [[ 6.31743837e-01 -7.74437670e-01 -3.38529214e-02 2.66830654e+02] [ 7.73325161e-01 6.32650215e-01 -4.14957894e-02 1.01012006e+02] [ 5.35529605e-02 3.53932808e-05 9.98565010e-01 1.56785135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:266.87, Y:101.06, Z:15.69 [[ 6.30963284e-01 -7.75073961e-01 -3.38480393e-02 2.66868314e+02] [ 7.73962153e-01 6.31870521e-01 -4.14997714e-02 1.01055735e+02] [ 5.35529704e-02 -1.22693349e-05 9.98565010e-01 1.56852961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.690385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:101.10, Z:15.68 [[ 6.25960533e-01 -7.79120334e-01 -3.38366261e-02 2.66902502e+02] [ 7.78013887e-01 6.26874300e-01 -4.15090750e-02 1.01104444e+02] [ 5.35518757e-02 -3.42322278e-04 9.98565010e-01 1.56849423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.94, Y:101.15, Z:15.69 [[ 6.25445984e-01 -7.79533899e-01 -3.38263308e-02 2.66940935e+02] [ 7.78427603e-01 6.26359934e-01 -4.15174631e-02 1.01147730e+02] [ 5.35517282e-02 -3.64419075e-04 9.98565010e-01 1.56918478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.810385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:266.98, Y:101.19, Z:15.69 [[ 6.22134207e-01 -7.82180023e-01 -3.38147820e-02 2.66975395e+02] [ 7.81077103e-01 6.23052228e-01 -4.15268672e-02 1.01192917e+02] [ 5.35498612e-02 -5.76667376e-04 9.98565010e-01 1.56931872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.870385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:267.01, Y:101.24, Z:15.70 [[ 6.19759388e-01 -7.84063383e-01 -3.38069785e-02 2.67011378e+02] [ 7.82962906e-01 6.20680336e-01 -4.15332190e-02 1.01237829e+02] [ 5.35480030e-02 -7.29007751e-04 9.98565010e-01 1.56977986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93038572300003 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:267.04, Y:101.29, Z:15.70 [[ 6.12876648e-01 -7.89455546e-01 -3.37957726e-02 2.67042980e+02] [ 7.88362666e-01 6.13806599e-01 -4.15423353e-02 1.01287893e+02] [ 5.35398953e-02 -1.18299815e-03 9.98565010e-01 1.57039159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.990385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:267.08, Y:101.34, Z:15.71 [[ 6.11983134e-01 -7.90148850e-01 -3.37851662e-02 2.67077200e+02] [ 7.89056548e-01 6.12913764e-01 -4.15509594e-02 1.01336333e+02] [ 5.35388362e-02 -1.22992025e-03 9.98565011e-01 1.57078235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.050385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:267.11, Y:101.39, Z:15.71 [[ 6.12526222e-01 -7.89728370e-01 -3.37746906e-02 2.67109525e+02] [ 7.88634960e-01 6.13455549e-01 -4.15594727e-02 1.01385990e+02] [ 5.35399660e-02 -1.17963501e-03 9.98565011e-01 1.57086061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:267.15, Y:101.43, Z:15.71 [[ 6.15276795e-01 -7.87587749e-01 -3.37639321e-02 2.67146537e+02] [ 7.86490626e-01 6.16201736e-01 -4.15682114e-02 1.01430348e+02] [ 5.35440076e-02 -9.79060234e-04 9.98565011e-01 1.57094527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.170385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:267.18, Y:101.48, Z:15.71 [[ 6.13477755e-01 -7.88990371e-01 -3.37526001e-02 2.67177528e+02] [ 7.87894857e-01 6.14404601e-01 -4.15774108e-02 1.01479588e+02] [ 5.35419295e-02 -1.08668338e-03 9.98565011e-01 1.57141784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.230385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:267.20, Y:101.53, Z:15.71 [[ 6.10245468e-01 -7.91493555e-01 -3.37404901e-02 2.67204619e+02] [ 7.90401300e-01 6.11176151e-01 -4.15872358e-02 1.01532914e+02] [ 5.35374120e-02 -1.29010506e-03 9.98565011e-01 1.57141636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:101.58, Z:15.72 [[ 6.15986437e-01 -7.87034015e-01 -3.37367463e-02 2.67239242e+02] [ 7.85934853e-01 6.16908953e-01 -4.15902727e-02 1.01579107e+02] [ 5.35454601e-02 -8.95840805e-04 9.98565011e-01 1.57212251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.27, Y:101.63, Z:15.72 [[ 6.17779235e-01 -7.85627709e-01 -3.37330709e-02 2.67270170e+02] [ 7.84526283e-01 6.18699048e-01 -4.15932535e-02 1.01628543e+02] [ 5.35474313e-02 -7.69032378e-04 9.98565011e-01 1.57241221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.30, Y:101.68, Z:15.73 [[ 6.18378700e-01 -7.85156449e-01 -3.37214266e-02 2.67299834e+02] [ 7.84053808e-01 6.19297055e-01 -4.16026919e-02 1.01679479e+02] [ 5.35482020e-02 -7.13194408e-04 9.98565011e-01 1.57307231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:101.73, Z:15.73 [[ 6.20332008e-01 -7.83614560e-01 -3.37108460e-02 2.67331314e+02] [ 7.82509171e-01 6.21247053e-01 -4.16112637e-02 1.01729851e+02] [ 5.35499558e-02 -5.66247380e-04 9.98565011e-01 1.57349271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.530385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.36, Y:101.78, Z:15.74 [[ 6.21821050e-01 -7.82433945e-01 -3.37002056e-02 2.67364887e+02] [ 7.81326351e-01 6.22733425e-01 -4.16198793e-02 1.01776599e+02] [ 5.35510508e-02 -4.50741634e-04 9.98565011e-01 1.57378291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.40, Y:101.83, Z:15.74 [[ 6.19249840e-01 -7.84470713e-01 -3.36947360e-02 2.67398773e+02] [ 7.83365879e-01 6.20165555e-01 -4.16243069e-02 1.01825176e+02] [ 5.35493644e-02 -6.19461113e-04 9.98565011e-01 1.57397793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.650385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:101.87, Z:15.75 [[ 6.18537833e-01 -7.85032691e-01 -3.36841816e-02 2.67434412e+02] [ 7.83928224e-01 6.19453990e-01 -4.16328463e-02 1.01870398e+02] [ 5.35489460e-02 -6.54490162e-04 9.98565011e-01 1.57459390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.710385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:267.47, Y:101.92, Z:15.75 [[ 6.17057186e-01 -7.86197210e-01 -3.36805040e-02 2.67467963e+02] [ 7.85094309e-01 6.17975229e-01 -4.16358212e-02 1.01916878e+02] [ 5.35476836e-02 -7.50689336e-04 9.98565011e-01 1.57488379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.770385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.51, Y:101.96, Z:15.75 [[ 6.18859007e-01 -7.84779944e-01 -3.36744573e-02 2.67505048e+02] [ 7.83674675e-01 6.19774197e-01 -4.16407111e-02 1.01963233e+02] [ 5.35493547e-02 -6.20090281e-04 9.98565011e-01 1.57462657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.830385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:267.54, Y:102.01, Z:15.75 [[ 6.23365236e-01 -7.81205793e-01 -3.36643990e-02 2.67537827e+02] [ 7.80094837e-01 6.24273513e-01 -4.16488411e-02 1.02011439e+02] [ 5.35521086e-02 -2.98984229e-04 9.98565012e-01 1.57470198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.58, Y:102.05, Z:15.75 [[ 6.21129422e-01 -7.82984867e-01 -3.36591643e-02 2.67577766e+02] [ 7.81876283e-01 6.22040593e-01 -4.16530713e-02 1.02054658e+02] [ 5.35510910e-02 -4.45354203e-04 9.98565012e-01 1.57491503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.62, Y:102.10, Z:15.75 [[ 6.21200789e-01 -7.82928682e-01 -3.36490587e-02 2.67615460e+02] [ 7.81819573e-01 6.22111322e-01 -4.16612333e-02 1.02099498e+02] [ 5.35512349e-02 -4.27501697e-04 9.98565012e-01 1.57531094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.010385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:267.65, Y:102.14, Z:15.75 [[ 6.22536821e-01 -7.81867206e-01 -3.36389323e-02 2.67650180e+02] [ 7.80756104e-01 6.23444919e-01 -4.16694082e-02 1.02144502e+02] [ 5.35519652e-02 -3.23060844e-04 9.98565012e-01 1.57546089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.070385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:267.69, Y:102.19, Z:15.76 [[ 6.24085651e-01 -7.80631754e-01 -3.36327937e-02 2.67692529e+02] [ 7.79518587e-01 6.24991216e-01 -4.16743623e-02 1.02185013e+02] [ 5.35525312e-02 -2.09016293e-04 9.98565012e-01 1.57595392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.73, Y:102.23, Z:15.76 [[ 6.24973818e-01 -7.79921366e-01 -3.36212568e-02 2.67729345e+02] [ 7.78806669e-01 6.25877500e-01 -4.16836677e-02 1.02229707e+02] [ 5.35527713e-02 -1.33258041e-04 9.98565012e-01 1.57628020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.77, Y:102.27, Z:15.76 [[ 6.27149985e-01 -7.78172696e-01 -3.36177136e-02 2.67767173e+02] [ 7.77055326e-01 6.28050360e-01 -4.16865252e-02 1.02274370e+02] [ 5.35529328e-02 2.08802667e-05 9.98565012e-01 1.57649267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.250385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:267.81, Y:102.32, Z:15.77 [[ 6.29794507e-01 -7.76034471e-01 -3.36062450e-02 2.67807934e+02] [ 7.74913550e-01 6.30690457e-01 -4.16957687e-02 1.02315381e+02] [ 5.35524918e-02 2.17831450e-04 9.98565012e-01 1.57692786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.310385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:267.85, Y:102.36, Z:15.77 [[ 6.30385635e-01 -7.75554876e-01 -3.35944373e-02 2.67846788e+02] [ 7.74432767e-01 6.31280096e-01 -4.17052801e-02 1.02359735e+02] [ 5.35522329e-02 2.73776445e-04 9.98565012e-01 1.57726808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.370385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.89, Y:102.40, Z:15.78 [[ 6.31693824e-01 -7.74490164e-01 -3.35842131e-02 2.67886257e+02] [ 7.73366109e-01 6.32585839e-01 -4.17135117e-02 1.02402759e+02] [ 5.35516021e-02 3.77275435e-04 9.98565012e-01 1.57755227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:267.93, Y:102.44, Z:15.78 [[ 6.31999801e-01 -7.74241012e-01 -3.35724221e-02 2.67926608e+02] [ 7.73116102e-01 6.32890737e-01 -4.17229993e-02 1.02443399e+02] [ 5.35513322e-02 4.13547110e-04 9.98565012e-01 1.57787134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.490385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:267.97, Y:102.49, Z:15.78 [[ 6.31784518e-01 -7.74416975e-01 -3.35659247e-02 2.67966883e+02] [ 7.73292035e-01 6.32675417e-01 -4.17282258e-02 1.02485745e+02] [ 5.35513818e-02 4.06984761e-04 9.98565012e-01 1.57796861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.01, Y:102.53, Z:15.78 [[ 6.32087421e-01 -7.74170259e-01 -3.35544815e-02 2.68009549e+02] [ 7.73044483e-01 6.32977262e-01 -4.17374255e-02 1.02525584e+02] [ 5.35510973e-02 4.42594848e-04 9.98565012e-01 1.57812550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.05, Y:102.57, Z:15.78 [[ 6.32971059e-01 -7.73448426e-01 -3.35435789e-02 2.68048977e+02] [ 7.72321171e-01 6.33859026e-01 -4.17461859e-02 1.02568356e+02] [ 5.35504220e-02 5.17711300e-04 9.98565013e-01 1.57844235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.09, Y:102.61, Z:15.79 [[ 6.34019775e-01 -7.72589505e-01 -3.35317845e-02 2.68090223e+02] [ 7.71460547e-01 6.34905575e-01 -4.17556573e-02 1.02609571e+02] [ 5.35494996e-02 6.05463670e-04 9.98565013e-01 1.57872278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.13, Y:102.65, Z:15.79 [[ 6.32920122e-01 -7.73490846e-01 -3.35265471e-02 2.68130719e+02] [ 7.72362927e-01 6.33807244e-01 -4.17598622e-02 1.02651300e+02] [ 5.35502396e-02 5.35995026e-04 9.98565013e-01 1.57917434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.17, Y:102.69, Z:15.80 [[ 6.31011527e-01 -7.75049163e-01 -3.35148971e-02 2.68170584e+02] [ 7.73922937e-01 6.31900799e-01 -4.17692099e-02 1.02694232e+02] [ 5.35512814e-02 4.18905292e-04 9.98565013e-01 1.57951344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.21, Y:102.73, Z:15.80 [[ 6.25967798e-01 -7.79128900e-01 -3.35033215e-02 2.68212519e+02] [ 7.78007974e-01 6.26863741e-01 -4.17784927e-02 1.02733484e+02] [ 5.35528485e-02 8.61397569e-05 9.98565013e-01 1.57979047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.26, Y:102.77, Z:15.80 [[ 6.19925428e-01 -7.83945470e-01 -3.34957402e-02 2.68255524e+02] [ 7.82831176e-01 6.20829606e-01 -4.17845701e-02 1.02774294e+02] [ 5.35519716e-02 -3.18192199e-04 9.98565013e-01 1.58019148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.29, Y:102.82, Z:15.80 [[ 6.15687336e-01 -7.87278743e-01 -3.34855951e-02 2.68293615e+02] [ 7.86168902e-01 6.16596974e-01 -4.17926987e-02 1.02816693e+02] [ 5.35496199e-02 -5.94098172e-04 9.98565013e-01 1.58016446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:102.86, Z:15.81 [[ 6.12305431e-01 -7.89912311e-01 -3.34753521e-02 2.68336612e+02] [ 7.88805934e-01 6.13219278e-01 -4.18009016e-02 1.02857603e+02] [ 5.35467780e-02 -8.10637238e-04 9.98565013e-01 1.58082450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:102.90, Z:15.81 [[ 6.11125848e-01 -7.90825697e-01 -3.34651376e-02 2.68375846e+02] [ 7.89720237e-01 6.12040806e-01 -4.18090775e-02 1.02899726e+02] [ 5.35457227e-02 -8.77488482e-04 9.98565013e-01 1.58113659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.41, Y:102.94, Z:15.81 [[ 6.13091474e-01 -7.89303256e-01 -3.34546655e-02 2.68413524e+02] [ 7.88195068e-01 6.14003123e-01 -4.18174554e-02 1.02943673e+02] [ 5.35479228e-02 -7.30876931e-04 9.98565013e-01 1.58135393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:102.99, Z:15.82 [[ 6.14475500e-01 -7.88226742e-01 -3.34434327e-02 2.68451340e+02] [ 7.87116467e-01 6.15384608e-01 -4.18264369e-02 1.02987625e+02] [ 5.35492898e-02 -6.22555928e-04 9.98565013e-01 1.58172152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:103.03, Z:15.82 [[ 6.16476531e-01 -7.86663174e-01 -3.34325855e-02 2.68488281e+02] [ 7.85550123e-01 6.17382238e-01 -4.18351055e-02 1.03032296e+02] [ 5.35508213e-02 -4.72610995e-04 9.98565014e-01 1.58218159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.53, Y:103.08, Z:15.82 [[ 6.17493592e-01 -7.85865558e-01 -3.34213818e-02 2.68525693e+02] [ 7.84750853e-01 6.18397262e-01 -4.18440541e-02 1.03077222e+02] [ 5.35514918e-02 -3.89022617e-04 9.98565014e-01 1.58244314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:103.13, Z:15.83 [[ 6.14806361e-01 -7.87970128e-01 -3.34098188e-02 2.68558101e+02] [ 7.86858015e-01 6.15713218e-01 -4.18532843e-02 1.03126375e+02] [ 5.35500048e-02 -5.57118296e-04 9.98565014e-01 1.58250989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.60, Y:103.17, Z:15.83 [[ 6.17970461e-01 -7.85491518e-01 -3.34003577e-02 2.68598018e+02] [ 7.84375360e-01 6.18872334e-01 -4.18608332e-02 1.03167567e+02] [ 5.35518868e-02 -3.29659218e-04 9.98565014e-01 1.58301010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:103.21, Z:15.83 [[ 6.19269814e-01 -7.84467983e-01 -3.33898462e-02 2.68634678e+02] [ 7.83349881e-01 6.20169277e-01 -4.18692159e-02 1.03212508e+02] [ 5.35524162e-02 -2.27590503e-04 9.98565014e-01 1.58318597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.67, Y:103.26, Z:15.83 [[ 6.19711621e-01 -7.84119463e-01 -3.33792539e-02 2.68669836e+02] [ 7.83000401e-01 6.20609888e-01 -4.18776587e-02 1.03258087e+02] [ 5.35525823e-02 -1.83897455e-04 9.98565014e-01 1.58343502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.70, Y:103.30, Z:15.84 [[ 6.22109145e-01 -7.82219152e-01 -3.33677847e-02 2.68704418e+02] [ 7.81096856e-01 6.23003369e-01 -4.18867953e-02 1.03304898e+02] [ 5.35528958e-02 -5.31328475e-06 9.98565014e-01 1.58355060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.74, Y:103.35, Z:15.84 [[ 6.22942305e-01 -7.81556279e-01 -3.33566693e-02 2.68740115e+02] [ 7.80432558e-01 6.23834736e-01 -4.18956452e-02 1.03349656e+02] [ 5.35528536e-02 6.59390313e-05 9.98565014e-01 1.58386438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.78, Y:103.39, Z:15.84 [[ 6.20975363e-01 -7.83120425e-01 -3.33466514e-02 2.68776920e+02] [ 7.81998523e-01 6.21870081e-01 -4.19036174e-02 1.03394857e+02] [ 5.35528635e-02 -5.59181563e-05 9.98565014e-01 1.58428462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:103.44, Z:15.85 [[ 6.19214141e-01 -7.84514225e-01 -3.33358363e-02 2.68812798e+02] [ 7.83393874e-01 6.20110800e-01 -4.19122195e-02 1.03439855e+02] [ 5.35526445e-02 -1.62450964e-04 9.98565014e-01 1.58462760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.870385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:268.85, Y:103.49, Z:15.85 [[ 6.16334748e-01 -7.86778821e-01 -3.33251504e-02 2.68847982e+02] [ 7.85661305e-01 6.17234938e-01 -4.19207142e-02 1.03486061e+02] [ 5.35517773e-02 -3.45088322e-04 9.98565014e-01 1.58515506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93038572300003 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:268.88, Y:103.53, Z:15.86 [[ 6.13361584e-01 -7.89099342e-01 -3.33135946e-02 2.68883680e+02] [ 7.87984732e-01 6.14265370e-01 -4.19298954e-02 1.03531419e+02] [ 5.35502404e-02 -5.32416861e-04 9.98565015e-01 1.58551563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.990385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:268.92, Y:103.58, Z:15.86 [[ 6.10405864e-01 -7.91388435e-01 -3.33020356e-02 2.68917799e+02] [ 7.90276714e-01 6.11313201e-01 -4.19390739e-02 1.03577243e+02] [ 5.35480721e-02 -7.17966614e-04 9.98565015e-01 1.58576704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.050385723 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:268.95, Y:103.62, Z:15.86 [[ 6.08822195e-01 -7.92607739e-01 -3.32942561e-02 2.68952381e+02] [ 7.91497497e-01 6.09731341e-01 -4.19452490e-02 1.03623867e+02] [ 5.35466804e-02 -8.15121874e-04 9.98565015e-01 1.58619166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.110385723 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:268.99, Y:103.67, Z:15.87 [[ 6.09219383e-01 -7.92302973e-01 -3.32827616e-02 2.68986514e+02] [ 7.91191779e-01 6.10127364e-01 -4.19543676e-02 1.03669734e+02] [ 5.35472939e-02 -7.73633445e-04 9.98565015e-01 1.58668245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.170385723 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:269.02, Y:103.72, Z:15.87 [[ 6.10159288e-01 -7.91579801e-01 -3.32725256e-02 2.69018579e+02] [ 7.90467088e-01 6.11065408e-01 -4.19624839e-02 1.03718333e+02] [ 5.35483441e-02 -6.97037124e-04 9.98565015e-01 1.58695771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.230385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:269.05, Y:103.77, Z:15.87 [[ 6.11946585e-01 -7.90199376e-01 -3.32614437e-02 2.69052309e+02] [ 7.89084142e-01 6.12849598e-01 -4.19712661e-02 1.03765391e+02] [ 5.35499307e-02 -5.61904774e-04 9.98565015e-01 1.58746541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.290385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:269.09, Y:103.81, Z:15.88 [[ 6.13859510e-01 -7.88714741e-01 -3.32499366e-02 2.69087078e+02] [ 7.87596829e-01 6.14759207e-01 -4.19803802e-02 1.03811690e+02] [ 5.35512493e-02 -4.17488974e-04 9.98565015e-01 1.58815202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.350385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:269.12, Y:103.86, Z:15.89 [[ 6.17300903e-01 -7.86024703e-01 -3.32379631e-02 2.69120533e+02] [ 7.84902359e-01 6.18195065e-01 -4.19898580e-02 1.03860030e+02] [ 5.35526105e-02 -1.68178397e-04 9.98565015e-01 1.58853956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:269.15, Y:103.91, Z:15.89 [[ 6.19003777e-01 -7.84684841e-01 -3.32268543e-02 2.69154840e+02] [ 7.83560090e-01 6.19894909e-01 -4.19986467e-02 1.03907205e+02] [ 5.35528592e-02 -3.79160256e-05 9.98565015e-01 1.58868904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.470385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:103.95, Z:15.89 [[ 6.17675266e-01 -7.85731495e-01 -3.32157053e-02 2.69190273e+02] [ 7.84607780e-01 6.18567704e-01 -4.20074623e-02 1.03954444e+02] [ 5.35527487e-02 -1.14330301e-04 9.98565015e-01 1.58892176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.530385723 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:269.23, Y:104.00, Z:15.90 [[ 6.12891426e-01 -7.89469121e-01 -3.32055250e-02 2.69230042e+02] [ 7.88350412e-01 6.13790131e-01 -4.20155080e-02 1.03997397e+02] [ 5.35511697e-02 -4.26644725e-04 9.98565016e-01 1.58958918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.590385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:269.26, Y:104.04, Z:15.90 [[ 6.09515606e-01 -7.92078780e-01 -3.31953696e-02 2.69263935e+02] [ 7.90963482e-01 6.10418540e-01 -4.20235300e-02 1.04044423e+02] [ 5.35490154e-02 -6.42327824e-04 9.98565016e-01 1.58982077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.650385723 meters Centerline goodness : 0.997188 with order 1 Centerline is valid? [True, True] Translation: X:269.30, Y:104.09, Z:15.90 [[ 6.07531657e-01 -7.93601983e-01 -3.31839912e-02 2.69302910e+02] [ 7.92488458e-01 6.08436777e-01 -4.20325130e-02 1.04088317e+02] [ 5.35474464e-02 -7.61847740e-04 9.98565016e-01 1.59004037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.710385723 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:269.34, Y:104.13, Z:15.90 [[ 6.04708278e-01 -7.95755989e-01 -3.31708540e-02 2.69338642e+02] [ 7.94645119e-01 6.05616654e-01 -4.20428780e-02 1.04134985e+02] [ 5.35446936e-02 -9.35380865e-04 9.98565016e-01 1.59001129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.770385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:104.19, Z:15.90 [[ 6.00944327e-01 -7.98602878e-01 -3.31565903e-02 2.69369679e+02] [ 7.97495690e-01 6.01857188e-01 -4.20541239e-02 1.04185661e+02] [ 5.35400766e-02 -1.17005073e-03 9.98565016e-01 1.59030366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.830385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:269.41, Y:104.23, Z:15.92 [[ 6.02419763e-01 -7.97491010e-01 -3.31439056e-02 2.69405461e+02] [ 7.96381588e-01 6.03329907e-01 -4.20641187e-02 1.04230608e+02] [ 5.35424659e-02 -1.05493974e-03 9.98565016e-01 1.59150749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.890385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:269.44, Y:104.28, Z:15.92 [[ 6.02376110e-01 -7.97524480e-01 -3.31319372e-02 2.69437836e+02] [ 7.96414591e-01 6.03285684e-01 -4.20735435e-02 1.04277898e+02] [ 5.35427043e-02 -1.04266076e-03 9.98565016e-01 1.59162609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.950385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:104.33, Z:15.91 [[ 6.01872239e-01 -7.97905081e-01 -3.31253669e-02 2.69470929e+02] [ 7.96795482e-01 6.02782167e-01 -4.20787158e-02 1.04327007e+02] [ 5.35422016e-02 -1.06813181e-03 9.98565016e-01 1.59060024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.51, Y:104.37, Z:15.91 [[ 6.04672895e-01 -7.95785240e-01 -3.31140747e-02 2.69505550e+02] [ 7.94671964e-01 6.05578321e-01 -4.20876004e-02 1.04373035e+02] [ 5.35458569e-02 -8.65595628e-04 9.98565016e-01 1.59106720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.54, Y:104.42, Z:15.92 [[ 6.09979166e-01 -7.91725607e-01 -3.31056075e-02 2.69539280e+02] [ 7.90605943e-01 6.10876679e-01 -4.20942595e-02 1.04420021e+02] [ 5.35505467e-02 -4.96868758e-04 9.98565016e-01 1.59169060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.130385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:269.57, Y:104.47, Z:15.93 [[ 6.12640294e-01 -7.89668781e-01 -3.30920836e-02 2.69573889e+02] [ 7.88545530e-01 6.13533313e-01 -4.21048886e-02 1.04465961e+02] [ 5.35520117e-02 -2.99463241e-04 9.98565017e-01 1.59283711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:269.61, Y:104.51, Z:15.93 [[ 6.12679032e-01 -7.89639013e-01 -3.30852327e-02 2.69609075e+02] [ 7.88515427e-01 6.13571631e-01 -4.21102712e-02 1.04513567e+02] [ 5.35520732e-02 -2.88136139e-04 9.98565017e-01 1.59326237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.250385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:269.64, Y:104.56, Z:15.94 [[ 6.13432279e-01 -7.89054420e-01 -3.30751032e-02 2.69644120e+02] [ 7.87929554e-01 6.14323264e-01 -4.21182258e-02 1.04559423e+02] [ 5.35523776e-02 -2.24172137e-04 9.98565017e-01 1.59352416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.68, Y:104.61, Z:15.94 [[ 6.15696233e-01 -7.87289620e-01 -3.30636187e-02 2.69680049e+02] [ 7.86161717e-01 6.16583369e-01 -4.21272395e-02 1.04605524e+02] [ 5.35528158e-02 -5.57685709e-05 9.98565017e-01 1.59363057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:269.71, Y:104.65, Z:15.94 [[ 6.17898640e-01 -7.85562741e-01 -3.30522472e-02 2.69714615e+02] [ 7.84431881e-01 6.18782004e-01 -4.21361594e-02 1.04652653e+02] [ 5.35527326e-02 1.08639201e-04 9.98565017e-01 1.59375683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43038572300003 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:269.75, Y:104.70, Z:15.94 [[ 6.18403111e-01 -7.85166166e-01 -3.30406550e-02 2.69750502e+02] [ 7.84034254e-01 6.19285126e-01 -4.21452474e-02 1.04698780e+02] [ 5.35526085e-02 1.57746822e-04 9.98565017e-01 1.59383214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.490385723 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:104.74, Z:15.95 [[ 6.17966566e-01 -7.85510325e-01 -3.30280619e-02 2.69786653e+02] [ 7.84378376e-01 6.18848535e-01 -4.21551140e-02 1.04742948e+02] [ 5.35526450e-02 1.43953484e-04 9.98565017e-01 1.59460900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:269.82, Y:104.79, Z:15.95 [[ 6.15237510e-01 -7.87650147e-01 -3.30159281e-02 2.69823365e+02] [ 7.86520757e-01 6.16122751e-01 -4.21646150e-02 1.04788136e+02] [ 5.35528297e-02 -2.64599708e-05 9.98565017e-01 1.59506431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.610385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:269.86, Y:104.83, Z:15.95 [[ 6.11295141e-01 -7.90713951e-01 -3.30105801e-02 2.69859282e+02] [ 7.89588771e-01 6.12185727e-01 -4.21688015e-02 1.04832507e+02] [ 5.35520657e-02 -2.87199961e-04 9.98565017e-01 1.59503255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.670385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:269.90, Y:104.88, Z:15.95 [[ 6.09498015e-01 -7.92100515e-01 -3.29991403e-02 2.69897111e+02] [ 7.90976877e-01 6.10390546e-01 -4.21777518e-02 1.04876312e+02] [ 5.35513822e-02 -3.94300946e-04 9.98565017e-01 1.59543374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.730385723 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:104.92, Z:15.95 [[ 6.08931505e-01 -7.92536606e-01 -3.29871433e-02 2.69935085e+02] [ 7.91413098e-01 6.09824200e-01 -4.21871326e-02 1.04921140e+02] [ 5.35512051e-02 -4.17383096e-04 9.98565018e-01 1.59529881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.790385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:104.96, Z:15.96 [[ 6.08309744e-01 -7.93014536e-01 -3.29727476e-02 2.69971296e+02] [ 7.91891119e-01 6.09202554e-01 -4.21983810e-02 1.04964711e+02] [ 5.35510116e-02 -4.41139665e-04 9.98565018e-01 1.59569578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.850385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:105.01, Z:15.96 [[ 6.06920517e-01 -7.94078805e-01 -3.29596404e-02 2.70010992e+02] [ 7.92956398e-01 6.07814596e-01 -4.22086161e-02 1.05007225e+02] [ 5.35503180e-02 -5.18282594e-04 9.98565018e-01 1.59622845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.910385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:105.05, Z:15.96 [[ 6.09857007e-01 -7.91826240e-01 -3.29489852e-02 2.70051137e+02] [ 7.90700082e-01 6.10746356e-01 -4.22169322e-02 1.05049360e+02] [ 5.35519473e-02 -3.06473335e-04 9.98565018e-01 1.59622239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.09, Y:105.10, Z:15.97 [[ 6.08637567e-01 -7.92764428e-01 -3.29374219e-02 2.70085500e+02] [ 7.91639152e-01 6.09528032e-01 -4.22259519e-02 1.05095666e+02] [ 5.35515146e-02 -3.74252152e-04 9.98565018e-01 1.59690828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.13, Y:105.14, Z:15.97 [[ 6.11729303e-01 -7.90381710e-01 -3.29243277e-02 2.70127016e+02] [ 7.89252417e-01 6.12614667e-01 -4.22361592e-02 1.05136983e+02] [ 5.35526138e-02 -1.48508923e-04 9.98565018e-01 1.59686801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.090385723 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:270.16, Y:105.18, Z:15.97 [[ 6.10253607e-01 -7.91522009e-01 -3.29157116e-02 2.70164741e+02] [ 7.90394008e-01 6.11140616e-01 -4.22428729e-02 1.05180356e+02] [ 5.35522919e-02 -2.37515651e-04 9.98565018e-01 1.59696327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.150385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:105.23, Z:15.97 [[ 6.09354410e-01 -7.92215014e-01 -3.29025051e-02 2.70201337e+02] [ 7.91087466e-01 6.10241995e-01 -4.22531568e-02 1.05225569e+02] [ 5.35520756e-02 -2.81611876e-04 9.98565018e-01 1.59749609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.24, Y:105.27, Z:15.98 [[ 6.08568406e-01 -7.92819577e-01 -3.28878941e-02 2.70238457e+02] [ 7.91692296e-01 6.09456330e-01 -4.22645263e-02 1.05270128e+02] [ 5.35518791e-02 -3.16236987e-04 9.98565019e-01 1.59774699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.270385723 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:270.28, Y:105.31, Z:15.98 [[ 6.08544286e-01 -7.92838632e-01 -3.28748424e-02 2.70275481e+02] [ 7.91710831e-01 6.09431548e-01 -4.22746759e-02 1.05313521e+02] [ 5.35519624e-02 -3.01356360e-04 9.98565019e-01 1.59827993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.330385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:105.36, Z:15.99 [[ 6.09101579e-01 -7.92411042e-01 -3.28634750e-02 2.70311794e+02] [ 7.91282140e-01 6.09987442e-01 -4.22835109e-02 1.05359378e+02] [ 5.35522279e-02 -2.49327623e-04 9.98565019e-01 1.59855735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.390385723 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:270.35, Y:105.40, Z:15.99 [[ 6.08629145e-01 -7.92774430e-01 -3.28521868e-02 2.70349009e+02] [ 7.91645585e-01 6.09515079e-01 -4.22922794e-02 1.05403219e+02] [ 5.35521410e-02 -2.66974748e-04 9.98565019e-01 1.59880349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.450385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:270.38, Y:105.45, Z:15.99 [[ 6.07192976e-01 -7.93875359e-01 -3.28421080e-02 2.70384712e+02] [ 7.92747697e-01 6.08080414e-01 -4.23001047e-02 1.05449169e+02] [ 5.35516535e-02 -3.51179062e-04 9.98565019e-01 1.59908213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.42, Y:105.50, Z:15.99 [[ 6.04159041e-01 -7.96187155e-01 -3.28308778e-02 2.70418718e+02] [ 7.95062415e-01 6.05050180e-01 -4.23088191e-02 1.05495367e+02] [ 5.35500669e-02 -5.41341389e-04 9.98565019e-01 1.59922656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.570385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:105.54, Z:16.00 [[ 6.03208657e-01 -7.96907840e-01 -3.28208788e-02 2.70454627e+02] [ 7.95783742e-01 6.04100607e-01 -4.23165744e-02 1.05540845e+02] [ 5.35495227e-02 -5.92597789e-04 9.98565019e-01 1.59966206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:105.59, Z:16.00 [[ 6.02674674e-01 -7.97312267e-01 -3.28083220e-02 2.70488227e+02] [ 7.96188238e-01 6.03566710e-01 -4.23263075e-02 1.05587147e+02] [ 5.35492952e-02 -6.12606551e-04 9.98565019e-01 1.59974932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.52, Y:105.63, Z:16.00 [[ 6.01988156e-01 -7.97831239e-01 -3.27959517e-02 2.70522444e+02] [ 7.96707457e-01 6.02880503e-01 -4.23358904e-02 1.05633041e+02] [ 5.35489357e-02 -6.43074694e-04 9.98565019e-01 1.60021131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.56, Y:105.68, Z:16.01 [[ 6.00947793e-01 -7.98615632e-01 -3.27844742e-02 2.70558314e+02] [ 7.97492530e-01 6.01840996e-01 -4.23447766e-02 1.05678232e+02] [ 5.35482411e-02 -6.98373249e-04 9.98565020e-01 1.60062561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.59, Y:105.73, Z:16.01 [[ 6.00764105e-01 -7.98754314e-01 -3.27724916e-02 2.70591920e+02] [ 7.97630912e-01 6.01656931e-01 -4.23540483e-02 1.05725483e+02] [ 5.35482756e-02 -6.95560473e-04 9.98565020e-01 1.60101883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.63, Y:105.77, Z:16.01 [[ 6.03851136e-01 -7.96423620e-01 -3.27600786e-02 2.70627025e+02] [ 7.95296252e-01 6.04738947e-01 -4.23636475e-02 1.05770704e+02] [ 5.35507049e-02 -4.72631067e-04 9.98565020e-01 1.60138696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:105.82, Z:16.02 [[ 6.03549171e-01 -7.96652770e-01 -3.27530420e-02 2.70661138e+02] [ 7.95525443e-01 6.04437035e-01 -4.23690870e-02 1.05817072e+02] [ 5.35506021e-02 -4.84050937e-04 9.98565020e-01 1.60175334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.70, Y:105.86, Z:16.02 [[ 6.04042839e-01 -7.96278999e-01 -3.27414863e-02 2.70697199e+02] [ 7.95150639e-01 6.04929389e-01 -4.23780150e-02 1.05861966e+02] [ 5.35510107e-02 -4.36277281e-04 9.98565020e-01 1.60217409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.73, Y:105.91, Z:16.03 [[ 6.05536562e-01 -7.95144152e-01 -3.27299377e-02 2.70729619e+02] [ 7.94013648e-01 6.06420377e-01 -4.23869325e-02 1.05909677e+02] [ 5.35518227e-02 -3.21179853e-04 9.98565020e-01 1.60252686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.76, Y:105.96, Z:16.02 [[ 6.07593855e-01 -7.93573694e-01 -3.27184989e-02 2.70762296e+02] [ 7.92440430e-01 6.08474128e-01 -4.23957603e-02 1.05958513e+02] [ 5.35525202e-02 -1.68057863e-04 9.98565020e-01 1.60242225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.80, Y:106.01, Z:16.03 [[ 6.09966023e-01 -7.91752296e-01 -3.27070751e-02 2.70796639e+02] [ 7.90615931e-01 6.10842289e-01 -4.24045716e-02 1.06005508e+02] [ 5.35527815e-02 6.61331021e-06 9.98565020e-01 1.60255254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:106.05, Z:16.03 [[ 6.10535367e-01 -7.91313834e-01 -3.26952767e-02 2.70828448e+02] [ 7.90176353e-01 6.11410183e-01 -4.24136666e-02 1.06053028e+02] [ 5.35527463e-02 6.00089767e-05 9.98565020e-01 1.60287871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:106.10, Z:16.03 [[ 6.10521729e-01 -7.91324796e-01 -3.26846480e-02 2.70862688e+02] [ 7.90186892e-01 6.11395995e-01 -4.24218556e-02 1.06100313e+02] [ 5.35527292e-02 7.24842166e-05 9.98565020e-01 1.60282752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.90, Y:106.15, Z:16.03 [[ 6.11154137e-01 -7.90836952e-01 -3.26731552e-02 2.70898734e+02] [ 7.89697877e-01 6.12026877e-01 -4.24307056e-02 1.06145307e+02] [ 5.35526190e-02 1.29779997e-04 9.98565021e-01 1.60322195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.93, Y:106.19, Z:16.04 [[ 6.09667859e-01 -7.91983790e-01 -3.26615497e-02 2.70933918e+02] [ 7.90845878e-01 6.10542115e-01 -4.24396371e-02 1.06191744e+02] [ 5.35527563e-02 4.38307645e-05 9.98565021e-01 1.60385928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.97, Y:106.24, Z:16.04 [[ 6.07703479e-01 -7.93492578e-01 -3.26498194e-02 2.70965937e+02] [ 7.92356351e-01 6.08579924e-01 -4.24486596e-02 1.06240956e+02] [ 5.35527210e-02 -7.40936724e-05 9.98565021e-01 1.60410578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.530385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:271.00, Y:106.29, Z:16.04 [[ 5.98692276e-01 -8.00313890e-01 -3.26379516e-02 2.70995883e+02] [ 7.99187150e-01 5.99580884e-01 -4.24577826e-02 1.06293219e+02] [ 5.35486450e-02 -6.64685049e-04 9.98565021e-01 1.60364428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.590385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:106.33, Z:16.05 [[ 6.00141381e-01 -7.99228056e-01 -3.26318425e-02 2.71038205e+02] [ 7.98099453e-01 6.01027621e-01 -4.24624773e-02 1.06332497e+02] [ 5.35498419e-02 -5.59965855e-04 9.98565021e-01 1.60486969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.650385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:271.06, Y:106.39, Z:16.04 [[ 5.93078148e-01 -8.04483615e-01 -3.26255097e-02 2.71063278e+02] [ 8.03362595e-01 5.93973961e-01 -4.24673425e-02 1.06386745e+02] [ 5.35429844e-02 -1.02366125e-03 9.98565021e-01 1.60412600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.710385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:271.10, Y:106.43, Z:16.05 [[ 5.92151662e-01 -8.05166307e-01 -3.26132978e-02 2.71101563e+02] [ 8.04045804e-01 5.93048121e-01 -4.24767187e-02 1.06430221e+02] [ 5.35420777e-02 -1.06992564e-03 9.98565021e-01 1.60474995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.14, Y:106.48, Z:16.05 [[ 5.91547459e-01 -8.05610816e-01 -3.26008835e-02 2.71135578e+02] [ 8.04490462e-01 5.92444104e-01 -4.24862446e-02 1.06477350e+02] [ 5.35415794e-02 -1.09446978e-03 9.98565021e-01 1.60511093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:106.53, Z:16.05 [[ 5.91845571e-01 -8.05392338e-01 -3.25883617e-02 2.71168314e+02] [ 8.04271125e-01 5.92741141e-01 -4.24958471e-02 1.06525334e+02] [ 5.35422923e-02 -1.05889945e-03 9.98565021e-01 1.60521766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.21, Y:106.57, Z:16.06 [[ 5.96015350e-01 -8.02311978e-01 -3.25759482e-02 2.71205750e+02] [ 8.01185616e-01 5.96904434e-01 -4.25053608e-02 1.06568693e+02] [ 5.35472880e-02 -7.65533632e-04 9.98565021e-01 1.60571208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:271.24, Y:106.62, Z:16.06 [[ 6.01902497e-01 -7.97905217e-01 -3.25676050e-02 2.71237397e+02] [ 7.96771998e-01 6.02782825e-01 -4.25117523e-02 1.06618189e+02] [ 5.35515419e-02 -3.61025861e-04 9.98565021e-01 1.60586679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:271.27, Y:106.66, Z:16.06 [[ 6.02285209e-01 -7.97616834e-01 -3.25563213e-02 2.71271612e+02] [ 7.96482726e-01 6.03164392e-01 -4.25203919e-02 1.06664766e+02] [ 5.35517941e-02 -3.21144453e-04 9.98565022e-01 1.60622992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.31, Y:106.71, Z:16.07 [[ 6.03603795e-01 -7.96619955e-01 -3.25439115e-02 2.71307450e+02] [ 7.95483883e-01 6.04480438e-01 -4.25298878e-02 1.06709107e+02] [ 5.35523152e-02 -2.16955429e-04 9.98565022e-01 1.60698303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.34, Y:106.76, Z:16.07 [[ 6.03255158e-01 -7.96884262e-01 -3.25374696e-02 2.71341187e+02] [ 7.95748309e-01 6.04131955e-01 -4.25348157e-02 1.06756658e+02] [ 5.35522503e-02 -2.32289463e-04 9.98565022e-01 1.60719573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.38, Y:106.80, Z:16.07 [[ 6.00116187e-01 -7.99251306e-01 -3.25255719e-02 2.71375837e+02] [ 7.98118317e-01 6.00996811e-01 -4.25439117e-02 1.06803063e+02] [ 5.35510420e-02 -4.27964710e-04 9.98565022e-01 1.60725061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:271.41, Y:106.85, Z:16.08 [[ 5.97869917e-01 -8.00933488e-01 -3.25132303e-02 2.71408526e+02] [ 7.99802465e-01 5.98753063e-01 -4.25533414e-02 1.06850625e+02] [ 5.35497924e-02 -5.62799051e-04 9.98565022e-01 1.60756930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.44, Y:106.90, Z:16.08 [[ 5.96037069e-01 -8.02298891e-01 -3.25007936e-02 2.71443079e+02] [ 8.01169373e-01 5.96922139e-01 -4.25628380e-02 1.06897024e+02] [ 5.35485610e-02 -6.69611245e-04 9.98565022e-01 1.60783722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:106.94, Z:16.09 [[ 5.95657126e-01 -8.02581489e-01 -3.24890896e-02 2.71481789e+02] [ 8.01451904e-01 5.96542111e-01 -4.25717700e-02 1.06939872e+02] [ 5.35484247e-02 -6.80264531e-04 9.98565022e-01 1.60863381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.52, Y:106.99, Z:16.09 [[ 5.94827911e-01 -8.03196407e-01 -3.24851946e-02 2.71517368e+02] [ 8.02067575e-01 5.95713855e-01 -4.25747420e-02 1.06985979e+02] [ 5.35477603e-02 -7.30676429e-04 9.98565022e-01 1.60899185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.490385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:107.03, Z:16.09 [[ 5.97347052e-01 -8.01325132e-01 -3.24735622e-02 2.71553822e+02] [ 8.00193041e-01 5.98228830e-01 -4.25836127e-02 1.07031712e+02] [ 5.35499402e-02 -5.47922975e-04 9.98565022e-01 1.60900880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.59, Y:107.08, Z:16.09 [[ 6.00373332e-01 -7.99060783e-01 -3.24611650e-02 2.71588325e+02] [ 7.97924856e-01 6.01250161e-01 -4.25930609e-02 1.07077191e+02] [ 5.35517253e-02 -3.29832560e-04 9.98565022e-01 1.60905151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.62, Y:107.12, Z:16.10 [[ 6.05166370e-01 -7.95437443e-01 -3.24490242e-02 2.71623996e+02] [ 7.94295769e-01 6.06035704e-01 -4.26023082e-02 1.07121739e+02] [ 5.35527383e-02 7.36159560e-06 9.98565023e-01 1.60969252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:271.66, Y:107.17, Z:16.10 [[ 6.07051405e-01 -7.94000175e-01 -3.24393913e-02 2.71661691e+02] [ 7.92856051e-01 6.07917512e-01 -4.26096419e-02 1.07165470e+02] [ 5.35525371e-02 1.46475310e-04 9.98565023e-01 1.61038540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.70, Y:107.21, Z:16.11 [[ 6.08232647e-01 -7.93095873e-01 -3.24342915e-02 2.71695974e+02] [ 7.91950255e-01 6.09096775e-01 -4.26135234e-02 1.07212074e+02] [ 5.35522320e-02 2.32590701e-04 9.98565023e-01 1.61077785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.790385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:271.73, Y:107.26, Z:16.11 [[ 6.08880906e-01 -7.92598763e-01 -3.24228770e-02 2.71732442e+02] [ 7.91451976e-01 6.09743484e-01 -4.26222065e-02 1.07257526e+02] [ 5.35519462e-02 2.90697629e-04 9.98565023e-01 1.61072069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.850385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:271.77, Y:107.30, Z:16.11 [[ 6.09943128e-01 -7.91782084e-01 -3.24115979e-02 2.71770810e+02] [ 7.90633687e-01 6.10803560e-01 -4.26307819e-02 1.07301634e+02] [ 5.35514087e-02 3.76651228e-04 9.98565023e-01 1.61148987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.81, Y:107.35, Z:16.12 [[ 6.06900106e-01 -7.94117395e-01 -3.24010079e-02 2.71806993e+02] [ 7.92971879e-01 6.07764370e-01 -4.26388292e-02 1.07346474e+02] [ 5.35524141e-02 1.84421793e-04 9.98565023e-01 1.61179747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:271.84, Y:107.39, Z:16.12 [[ 6.02232119e-01 -7.97663748e-01 -3.23885700e-02 2.71843850e+02] [ 7.96522814e-01 6.03102422e-01 -4.26482750e-02 1.07390680e+02] [ 5.35526079e-02 -1.14073858e-04 9.98565023e-01 1.61211625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.030385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:107.44, Z:16.12 [[ 5.99729434e-01 -7.99547346e-01 -3.23828466e-02 2.71879947e+02] [ 7.98408910e-01 6.00603003e-01 -4.26526203e-02 1.07436610e+02] [ 5.35520242e-02 -2.74721451e-04 9.98565023e-01 1.61231310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:271.92, Y:107.48, Z:16.13 [[ 5.98743814e-01 -8.00286180e-01 -3.23709059e-02 2.71917286e+02] [ 7.99148332e-01 5.99618149e-01 -4.26616807e-02 1.07479268e+02] [ 5.35517361e-02 -3.25738028e-04 9.98565023e-01 1.61272868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.95, Y:107.53, Z:16.13 [[ 5.98256906e-01 -8.00650561e-01 -3.23628607e-02 2.71952241e+02] [ 7.99512915e-01 5.99131503e-01 -4.26677829e-02 1.07526035e+02] [ 5.35515937e-02 -3.48229349e-04 9.98565023e-01 1.61331494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.99, Y:107.57, Z:16.14 [[ 5.97951533e-01 -8.00879113e-01 -3.23513570e-02 2.71987769e+02] [ 7.99741330e-01 5.98825952e-01 -4.26765033e-02 1.07572000e+02] [ 5.35515523e-02 -3.54236704e-04 9.98565023e-01 1.61361721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.270385723 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:272.02, Y:107.62, Z:16.14 [[ 5.96893342e-01 -8.01668576e-01 -3.23393485e-02 2.72023971e+02] [ 8.00531456e-01 5.97768623e-01 -4.26856012e-02 1.07617486e+02] [ 5.35511530e-02 -4.09914575e-04 9.98565023e-01 1.61377392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.330385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:107.66, Z:16.14 [[ 5.96617078e-01 -8.01874676e-01 -3.23274746e-02 2.72058740e+02] [ 8.00737372e-01 5.97492119e-01 -4.26945919e-02 1.07662994e+02] [ 5.35511234e-02 -4.13494424e-04 9.98565024e-01 1.61386105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:107.71, Z:16.14 [[ 5.96278868e-01 -8.02126633e-01 -3.23168082e-02 2.72093935e+02] [ 8.00989261e-01 5.97153821e-01 -4.27026641e-02 1.07708750e+02] [ 5.35510497e-02 -4.22720174e-04 9.98565024e-01 1.61418076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:272.13, Y:107.75, Z:16.15 [[ 5.94749133e-01 -8.03261995e-01 -3.23053552e-02 2.72132295e+02] [ 8.02125823e-01 5.95625643e-01 -4.27113267e-02 1.07752896e+02] [ 5.35502835e-02 -5.10435129e-04 9.98565024e-01 1.61459610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:272.17, Y:107.80, Z:16.15 [[ 5.93998111e-01 -8.03817927e-01 -3.22952708e-02 2.72168357e+02] [ 8.02682160e-01 5.94875147e-01 -4.27189505e-02 1.07798445e+02] [ 5.35499122e-02 -5.47861831e-04 9.98565024e-01 1.61490796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.570385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:272.20, Y:107.85, Z:16.14 [[ 5.89611027e-01 -8.07041893e-01 -3.22834223e-02 2.72199980e+02] [ 8.05910432e-01 5.90493609e-01 -4.27279028e-02 1.07847502e+02] [ 5.35463621e-02 -8.24704132e-04 9.98565024e-01 1.61428583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.630385723 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:272.24, Y:107.89, Z:16.15 [[ 5.91782993e-01 -8.05451073e-01 -3.22716292e-02 2.72237025e+02] [ 8.04316753e-01 5.92661898e-01 -4.27368080e-02 1.07890038e+02] [ 5.35485729e-02 -6.65695859e-04 9.98565024e-01 1.61505060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.690385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:272.27, Y:107.94, Z:16.15 [[ 5.89763714e-01 -8.06931086e-01 -3.22642900e-02 2.72273975e+02] [ 8.05798668e-01 5.90645069e-01 -4.27423480e-02 1.07935018e+02] [ 5.35468731e-02 -7.90636031e-04 9.98565024e-01 1.61529909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.750385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:272.31, Y:107.98, Z:16.15 [[ 5.87302877e-01 -8.08724377e-01 -3.22523373e-02 2.72306526e+02] [ 8.07594155e-01 5.88187046e-01 -4.27513654e-02 1.07983541e+02] [ 5.35444783e-02 -9.38799176e-04 9.98565024e-01 1.61541829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.810385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:108.03, Z:16.16 [[ 5.93666286e-01 -8.04065224e-01 -3.22405855e-02 2.72341798e+02] [ 8.02927581e-01 5.94540885e-01 -4.27602261e-02 1.08030307e+02] [ 5.35503570e-02 -5.01550644e-04 9.98565024e-01 1.61603652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.37, Y:108.08, Z:16.16 [[ 5.97364648e-01 -8.01321881e-01 -3.22291818e-02 2.72373814e+02] [ 8.00179756e-01 5.98233387e-01 -4.27688195e-02 1.08078883e+02] [ 5.35521635e-02 -2.40557986e-04 9.98565024e-01 1.61605534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.41, Y:108.13, Z:16.16 [[ 5.95354889e-01 -8.02816670e-01 -3.22172476e-02 2.72408354e+02] [ 8.01676240e-01 5.96225851e-01 -4.27778075e-02 1.08125722e+02] [ 5.35514928e-02 -3.59825055e-04 9.98565025e-01 1.61598849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.45, Y:108.17, Z:16.17 [[ 5.92377344e-01 -8.05016709e-01 -3.22052837e-02 2.72445212e+02] [ 8.03879025e-01 5.93251888e-01 -4.27868126e-02 1.08169294e+02] [ 5.35499445e-02 -5.43213672e-04 9.98565025e-01 1.61681261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:108.22, Z:16.17 [[ 5.90624419e-01 -8.06304136e-01 -3.21937145e-02 2.72480167e+02] [ 8.05167883e-01 5.91500823e-01 -4.27955159e-02 1.08215584e+02] [ 5.35488100e-02 -6.45268243e-04 9.98565025e-01 1.61708175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.51, Y:108.26, Z:16.17 [[ 5.90373230e-01 -8.06488542e-01 -3.21819871e-02 2.72514817e+02] [ 8.05352083e-01 5.91249365e-01 -4.28043329e-02 1.08262659e+02] [ 5.35487835e-02 -6.47298042e-04 9.98565025e-01 1.61733295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.55, Y:108.31, Z:16.18 [[ 5.90348037e-01 -8.06507451e-01 -3.21702699e-02 2.72549222e+02] [ 8.05370540e-01 5.91223586e-01 -4.28131374e-02 1.08309031e+02] [ 5.35489367e-02 -6.34335966e-04 9.98565025e-01 1.61769208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.58, Y:108.35, Z:16.18 [[ 5.90476615e-01 -8.06413781e-01 -3.21586863e-02 2.72583652e+02] [ 8.05276257e-01 5.91351368e-01 -4.28218366e-02 1.08354462e+02] [ 5.35492022e-02 -6.11333397e-04 9.98565025e-01 1.61814299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:272.62, Y:108.40, Z:16.19 [[ 5.89941002e-01 -8.06806108e-01 -3.21483823e-02 2.72616801e+02] [ 8.05668744e-01 5.90815963e-01 -4.28295709e-02 1.08400634e+02] [ 5.35489368e-02 -6.34026796e-04 9.98565025e-01 1.61868705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:108.45, Z:16.19 [[ 5.89268273e-01 -8.07297971e-01 -3.21385751e-02 2.72650301e+02] [ 8.06160937e-01 5.90143661e-01 -4.28369287e-02 1.08448262e+02] [ 5.35485421e-02 -6.66420830e-04 9.98565025e-01 1.61870380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:272.68, Y:108.50, Z:16.19 [[ 5.88365694e-01 -8.07956501e-01 -3.21263542e-02 2.72684268e+02] [ 8.06819946e-01 5.89241705e-01 -4.28460921e-02 1.08495713e+02] [ 5.35479664e-02 -7.11012691e-04 9.98565025e-01 1.61864889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.72, Y:108.54, Z:16.19 [[ 5.88173766e-01 -8.08096492e-01 -3.21197890e-02 2.72716594e+02] [ 8.06959877e-01 5.89049699e-01 -4.28510132e-02 1.08543604e+02] [ 5.35479055e-02 -7.15539098e-04 9.98565025e-01 1.61900987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.530385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:272.75, Y:108.59, Z:16.19 [[ 5.88591622e-01 -8.07792720e-01 -3.21064616e-02 2.72749918e+02] [ 8.06655108e-01 5.89466260e-01 -4.28609965e-02 1.08591501e+02] [ 5.35484768e-02 -6.71217785e-04 9.98565025e-01 1.61911114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.78, Y:108.64, Z:16.20 [[ 5.89398143e-01 -8.07204913e-01 -3.20945075e-02 2.72781971e+02] [ 8.06065942e-01 5.90271010e-01 -4.28699459e-02 1.08639561e+02] [ 5.35492883e-02 -6.02822934e-04 9.98565026e-01 1.61961560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:272.81, Y:108.69, Z:16.20 [[ 5.89660177e-01 -8.07013985e-01 -3.20827751e-02 2.72814816e+02] [ 8.05874254e-01 5.90532050e-01 -4.28787244e-02 1.08687471e+02] [ 5.35496372e-02 -5.70806268e-04 9.98565026e-01 1.61988809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.710385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:272.85, Y:108.73, Z:16.20 [[ 5.89065387e-01 -8.07448743e-01 -3.20701972e-02 2.72846513e+02] [ 8.06309143e-01 5.89937432e-01 -4.28881297e-02 1.08734775e+02] [ 5.35493762e-02 -5.94580561e-04 9.98565026e-01 1.62049850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:108.78, Z:16.21 [[ 5.88451629e-01 -8.07896482e-01 -3.20617266e-02 2.72879398e+02] [ 8.06757201e-01 5.89324091e-01 -4.28944611e-02 1.08783291e+02] [ 5.35490321e-02 -6.24713324e-04 9.98565026e-01 1.62060020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.830385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:272.91, Y:108.83, Z:16.21 [[ 5.86106379e-01 -8.09600012e-01 -3.20489132e-02 2.72908553e+02] [ 8.08462743e-01 5.86981462e-01 -4.29040326e-02 1.08833145e+02] [ 5.35472232e-02 -7.64025048e-04 9.98565026e-01 1.62064392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:108.88, Z:16.21 [[ 5.83769030e-01 -8.11287488e-01 -3.20364096e-02 2.72938472e+02] [ 8.10152236e-01 5.84646728e-01 -4.29133670e-02 1.08882870e+02] [ 5.35450598e-02 -9.02874241e-04 9.98565026e-01 1.62085122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.97, Y:108.93, Z:16.21 [[ 5.82199785e-01 -8.12414773e-01 -3.20257319e-02 2.72968551e+02] [ 8.11280783e-01 5.83079112e-01 -4.29213342e-02 1.08931049e+02] [ 5.35434613e-02 -9.93069267e-04 9.98565026e-01 1.62107119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.00, Y:108.98, Z:16.21 [[ 5.80194115e-01 -8.13848829e-01 -3.20136145e-02 2.72997324e+02] [ 8.12716514e-01 5.81075598e-01 -4.29303702e-02 1.08981642e+02] [ 5.35411617e-02 -1.11004505e-03 9.98565026e-01 1.62147167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.070385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:273.03, Y:109.03, Z:16.22 [[ 5.82056259e-01 -8.12518528e-01 -3.20023955e-02 2.73028502e+02] [ 8.11383738e-01 5.82934554e-01 -4.29387318e-02 1.09030224e+02] [ 5.35438173e-02 -9.73465738e-04 9.98565026e-01 1.62222052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:109.08, Z:16.22 [[ 5.83850025e-01 -8.11231033e-01 -3.19899878e-02 2.73055820e+02] [ 8.10093800e-01 5.84725155e-01 -4.29479737e-02 1.09082700e+02] [ 5.35460796e-02 -8.39715221e-04 9.98565027e-01 1.62235922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:273.09, Y:109.13, Z:16.23 [[ 5.84749362e-01 -8.10583486e-01 -3.19780413e-02 2.73089515e+02] [ 8.09444799e-01 5.85622597e-01 -4.29568670e-02 1.09130426e+02] [ 5.35471906e-02 -7.65458580e-04 9.98565027e-01 1.62263316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.12, Y:109.18, Z:16.22 [[ 5.83096056e-01 -8.11774082e-01 -3.19660764e-02 2.73117206e+02] [ 8.10636689e-01 5.83970976e-01 -4.29657688e-02 1.09182769e+02] [ 5.35457583e-02 -8.59704034e-04 9.98565027e-01 1.62242196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.15, Y:109.23, Z:16.23 [[ 5.83982894e-01 -8.11136826e-01 -3.19535321e-02 2.73147825e+02] [ 8.09997969e-01 5.84855907e-01 -4.29750959e-02 1.09232449e+02] [ 5.35468949e-02 -7.85575164e-04 9.98565027e-01 1.62301075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.370385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.18, Y:109.28, Z:16.23 [[ 5.84899702e-01 -8.10476475e-01 -3.19409227e-02 2.73180241e+02] [ 8.09336120e-01 5.85770757e-01 -4.29844657e-02 1.09278805e+02] [ 5.35479567e-02 -7.09341274e-04 9.98565027e-01 1.62320018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.21, Y:109.33, Z:16.23 [[ 5.80998699e-01 -8.13277764e-01 -3.19341631e-02 2.73208691e+02] [ 8.12141332e-01 5.81874867e-01 -4.29894870e-02 1.09329921e+02] [ 5.35440807e-02 -9.58217788e-04 9.98565027e-01 1.62333392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:109.38, Z:16.24 [[ 5.79159821e-01 -8.14588778e-01 -3.19221674e-02 2.73241594e+02] [ 8.13453839e-01 5.80037922e-01 -4.29983926e-02 1.09377885e+02] [ 5.35420757e-02 -1.06426825e-03 9.98565027e-01 1.62362838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.550385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.27, Y:109.43, Z:16.24 [[ 5.77538567e-01 -8.15739501e-01 -3.19103296e-02 2.73273199e+02] [ 8.14605827e-01 5.78418300e-01 -4.30071760e-02 1.09427000e+02] [ 5.35401709e-02 -1.15603761e-03 9.98565027e-01 1.62385971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.30, Y:109.48, Z:16.24 [[ 5.80174101e-01 -8.13867614e-01 -3.18986000e-02 2.73304687e+02] [ 8.12730622e-01 5.81049542e-01 -4.30158742e-02 1.09476534e+02] [ 5.35438938e-02 -9.68272894e-04 9.98565027e-01 1.62403880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.34, Y:109.53, Z:16.25 [[ 5.82581163e-01 -8.12146768e-01 -3.18875496e-02 2.73336675e+02] [ 8.11006742e-01 5.83452649e-01 -4.30240642e-02 1.09526239e+02] [ 5.35467300e-02 -7.96008343e-04 9.98565027e-01 1.62473385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.37, Y:109.58, Z:16.25 [[ 5.84665726e-01 -8.10647809e-01 -3.18766203e-02 2.73368998e+02] [ 8.09505107e-01 5.85533700e-01 -4.30321602e-02 1.09575076e+02] [ 5.35487619e-02 -6.44857745e-04 9.98565028e-01 1.62502508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.40, Y:109.62, Z:16.25 [[ 5.85031843e-01 -8.10384062e-01 -3.18655783e-02 2.73401767e+02] [ 8.09240524e-01 5.85898715e-01 -4.30403354e-02 1.09622566e+02] [ 5.35492032e-02 -6.06950554e-04 9.98565028e-01 1.62507815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:109.67, Z:16.25 [[ 5.87233274e-01 -8.08790534e-01 -3.18583355e-02 2.73439069e+02] [ 8.07644353e-01 5.88096648e-01 -4.30456958e-02 1.09668187e+02] [ 5.35507316e-02 -4.52339878e-04 9.98565028e-01 1.62535674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.47, Y:109.71, Z:16.26 [[ 5.88308178e-01 -8.08009398e-01 -3.18480709e-02 2.73474041e+02] [ 8.06861660e-01 5.89169480e-01 -4.30532889e-02 1.09713990e+02] [ 5.35513735e-02 -3.68385405e-04 9.98565028e-01 1.62561862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.970385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.51, Y:109.76, Z:16.26 [[ 5.88677500e-01 -8.07740831e-01 -3.18363259e-02 2.73507237e+02] [ 8.06592230e-01 5.89537651e-01 -4.30619722e-02 1.09759983e+02] [ 5.35516260e-02 -3.29319017e-04 9.98565028e-01 1.62583664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.54, Y:109.81, Z:16.26 [[ 5.86749030e-01 -8.09142984e-01 -3.18309313e-02 2.73541599e+02] [ 8.07996222e-01 5.87611631e-01 -4.30659594e-02 1.09807383e+02] [ 5.35507444e-02 -4.50362315e-04 9.98565028e-01 1.62598495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.090385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:273.58, Y:109.85, Z:16.26 [[ 5.84989219e-01 -8.10416665e-01 -3.18189100e-02 2.73578991e+02] [ 8.09271298e-01 5.85853671e-01 -4.30748395e-02 1.09852356e+02] [ 5.35497930e-02 -5.51813919e-04 9.98565028e-01 1.62607652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.62, Y:109.90, Z:16.27 [[ 5.83292833e-01 -8.11638889e-01 -3.18085735e-02 2.73615210e+02] [ 8.10494917e-01 5.84159131e-01 -4.30824711e-02 1.09898428e+02] [ 5.35486776e-02 -6.50990580e-04 9.98565028e-01 1.62652417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.65, Y:109.94, Z:16.27 [[ 5.83764448e-01 -8.11300164e-01 -3.17980025e-02 2.73649732e+02] [ 8.10155265e-01 5.84629520e-01 -4.30902718e-02 1.09944841e+02] [ 5.35491956e-02 -6.06750381e-04 9.98565028e-01 1.62668611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.270385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.69, Y:109.99, Z:16.27 [[ 5.85087875e-01 -8.10346737e-01 -3.17859041e-02 2.73687654e+02] [ 8.09199944e-01 5.85950434e-01 -4.30991945e-02 1.09987763e+02] [ 5.35502559e-02 -5.04335692e-04 9.98565028e-01 1.62699990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.72, Y:110.03, Z:16.27 [[ 5.85607585e-01 -8.09971494e-01 -3.17794776e-02 2.73724213e+02] [ 8.08823891e-01 5.86469066e-01 -4.31039326e-02 1.10034405e+02] [ 5.35506372e-02 -4.62010851e-04 9.98565028e-01 1.62707401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:273.76, Y:110.08, Z:16.27 [[ 5.83833406e-01 -8.11251684e-01 -3.17688301e-02 2.73762549e+02] [ 8.10105543e-01 5.84696831e-01 -4.31117786e-02 1.10077354e+02] [ 5.35496374e-02 -5.66008801e-04 9.98565028e-01 1.62743196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.450385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:110.12, Z:16.28 [[ 5.82726244e-01 -8.12047574e-01 -3.17625847e-02 2.73800562e+02] [ 8.10902361e-01 5.83590900e-01 -4.31163795e-02 1.10122195e+02] [ 5.35489068e-02 -6.31309076e-04 9.98565028e-01 1.62787020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.510385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:273.84, Y:110.17, Z:16.28 [[ 5.84476531e-01 -8.10789111e-01 -3.17522134e-02 2.73836420e+02] [ 8.09641621e-01 5.85338163e-01 -4.31240159e-02 1.10167720e+02] [ 5.35502647e-02 -5.02938334e-04 9.98565029e-01 1.62804358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.87, Y:110.21, Z:16.28 [[ 5.88503533e-01 -8.07871372e-01 -3.17401510e-02 2.73873981e+02] [ 8.06719131e-01 5.89358801e-01 -4.31328922e-02 1.10211041e+02] [ 5.35521662e-02 -2.21527573e-04 9.98565029e-01 1.62837539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:110.26, Z:16.29 [[ 5.90569667e-01 -8.06362641e-01 -3.17294885e-02 2.73910231e+02] [ 8.05207793e-01 5.91421412e-01 -4.31407344e-02 1.10257041e+02] [ 5.35525754e-02 -7.12222887e-05 9.98565029e-01 1.62881376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:273.95, Y:110.30, Z:16.29 [[ 5.90452068e-01 -8.06449170e-01 -3.17189362e-02 2.73946926e+02] [ 8.05294031e-01 5.91303417e-01 -4.31484915e-02 1.10302407e+02] [ 5.35525805e-02 -6.59539133e-05 9.98565029e-01 1.62906175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:110.35, Z:16.29 [[ 5.89146419e-01 -8.07403973e-01 -3.17068111e-02 2.73986604e+02] [ 8.06249734e-01 5.89998988e-01 -4.31573995e-02 1.10345770e+02] [ 5.35524423e-02 -1.37580681e-04 9.98565029e-01 1.62915637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.810385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:274.03, Y:110.39, Z:16.30 [[ 5.86555446e-01 -8.09288606e-01 -3.16963822e-02 2.74025691e+02] [ 8.08136693e-01 5.87411154e-01 -4.31650576e-02 1.10390141e+02] [ 5.35517977e-02 -2.96309869e-04 9.98565029e-01 1.62963942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.06, Y:110.43, Z:16.30 [[ 5.84501114e-01 -8.10773983e-01 -3.16859043e-02 2.74064765e+02] [ 8.09623827e-01 5.85359183e-01 -4.31727476e-02 1.10434064e+02] [ 5.35509756e-02 -4.19144061e-04 9.98565029e-01 1.63005037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93038572300003 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:274.10, Y:110.48, Z:16.30 [[ 5.83879745e-01 -8.11221988e-01 -3.16753792e-02 2.74102903e+02] [ 8.10072071e-01 5.84738135e-01 -4.31804684e-02 1.10478438e+02] [ 5.35507476e-02 -4.47139178e-04 9.98565029e-01 1.63026676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.990385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:274.14, Y:110.52, Z:16.31 [[ 5.79814192e-01 -8.14133248e-01 -3.16631798e-02 2.74138258e+02] [ 8.12987152e-01 5.80677677e-01 -4.31894121e-02 1.10524102e+02] [ 5.35480381e-02 -6.99924325e-04 9.98565029e-01 1.63071767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:274.17, Y:110.57, Z:16.31 [[ 5.78928129e-01 -8.14764066e-01 -3.16502545e-02 2.74174290e+02] [ 8.13618394e-01 5.79792175e-01 -4.31988820e-02 1.10569890e+02] [ 5.35474666e-02 -7.42181245e-04 9.98565029e-01 1.63102568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.21, Y:110.61, Z:16.31 [[ 5.80070203e-01 -8.13951869e-01 -3.16372368e-02 2.74212558e+02] [ 8.12804467e-01 5.80931950e-01 -4.32084136e-02 1.10613538e+02] [ 5.35486507e-02 -6.50974169e-04 9.98565030e-01 1.63142454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.170385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:274.25, Y:110.66, Z:16.31 [[ 5.80186195e-01 -8.13869624e-01 -3.16261610e-02 2.74252367e+02] [ 8.12721658e-01 5.81047192e-01 -4.32165189e-02 1.10656134e+02] [ 5.35489041e-02 -6.29638310e-04 9.98565030e-01 1.63129442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:110.70, Z:16.32 [[ 5.78077928e-01 -8.15368685e-01 -3.16198716e-02 2.74289919e+02] [ 8.14222701e-01 5.78941559e-01 -4.32211202e-02 1.10700552e+02] [ 5.35472057e-02 -7.60441630e-04 9.98565030e-01 1.63164398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.290385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:274.33, Y:110.75, Z:16.32 [[ 5.76565656e-01 -8.16439205e-01 -3.16080683e-02 2.74325898e+02] [ 8.15294350e-01 5.77430785e-01 -4.32297504e-02 1.10747342e+02] [ 5.35459347e-02 -8.45090123e-04 9.98565030e-01 1.63216728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.36, Y:110.79, Z:16.33 [[ 5.76633895e-01 -8.16391405e-01 -3.15978571e-02 2.74361271e+02] [ 8.15246071e-01 5.77498388e-01 -4.32372127e-02 1.10793361e+02] [ 5.35462004e-02 -8.27986465e-04 9.98565030e-01 1.63270316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.410385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:110.84, Z:16.34 [[ 5.78301407e-01 -8.15211545e-01 -3.15851141e-02 2.74399496e+02] [ 8.14063938e-01 5.79162881e-01 -4.32465196e-02 1.10837059e+02] [ 5.35479877e-02 -7.02779280e-04 9.98565030e-01 1.63364928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.470385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:274.44, Y:110.88, Z:16.33 [[ 5.77282785e-01 -8.15933616e-01 -3.15740594e-02 2.74435170e+02] [ 8.14786645e-01 5.78145106e-01 -4.32545890e-02 1.10883097e+02] [ 5.35472612e-02 -7.55992371e-04 9.98565030e-01 1.63329944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.47, Y:110.93, Z:16.34 [[ 5.78228878e-01 -8.15263832e-01 -3.15634135e-02 2.74470532e+02] [ 8.14115438e-01 5.79089304e-01 -4.32623561e-02 1.10929296e+02] [ 5.35482694e-02 -6.80718595e-04 9.98565030e-01 1.63359283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.590385723 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:274.51, Y:110.97, Z:16.34 [[ 5.77551119e-01 -8.15744559e-01 -3.15518459e-02 2.74507174e+02] [ 8.14596421e-01 5.78411885e-01 -4.32707909e-02 1.10973662e+02] [ 5.35478749e-02 -7.10927044e-04 9.98565030e-01 1.63392476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.650385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:111.02, Z:16.34 [[ 5.76497817e-01 -8.16489654e-01 -3.15422358e-02 2.74541835e+02] [ 8.15342245e-01 5.77359555e-01 -4.32777951e-02 1.11020019e+02] [ 5.35470831e-02 -7.68162967e-04 9.98565030e-01 1.63427409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.710385723 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:111.07, Z:16.35 [[ 5.75783523e-01 -8.16993975e-01 -3.15306165e-02 2.74577054e+02] [ 8.15846858e-01 5.76645648e-01 -4.32862588e-02 1.11066265e+02] [ 5.35466054e-02 -8.00639797e-04 9.98565030e-01 1.63464408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.770385723 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:274.61, Y:111.11, Z:16.35 [[ 5.76218083e-01 -8.16687984e-01 -3.15191681e-02 2.74610989e+02] [ 8.15539954e-01 5.77078991e-01 -4.32945934e-02 1.11113275e+02] [ 5.35472240e-02 -7.58013236e-04 9.98565031e-01 1.63521896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.830385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:274.65, Y:111.16, Z:16.36 [[ 5.76650780e-01 -8.16382970e-01 -3.15075224e-02 2.74645054e+02] [ 8.15234021e-01 5.77510463e-01 -4.33030669e-02 1.11160266e+02] [ 5.35478102e-02 -7.15256897e-04 9.98565031e-01 1.63552233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.890385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:274.68, Y:111.21, Z:16.36 [[ 5.76798535e-01 -8.16279034e-01 -3.14958455e-02 2.74679044e+02] [ 8.15129467e-01 5.77657390e-01 -4.33115582e-02 1.11206700e+02] [ 5.35481249e-02 -6.91148443e-04 9.98565031e-01 1.63584403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.950385723 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:274.71, Y:111.26, Z:16.36 [[ 5.76397212e-01 -8.16562771e-01 -3.14880129e-02 2.74710547e+02] [ 8.15413316e-01 5.77256217e-01 -4.33172519e-02 1.11255055e+02] [ 5.35479065e-02 -7.07801844e-04 9.98565031e-01 1.63621877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.010385723 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:274.74, Y:111.30, Z:16.37 [[ 5.76475355e-01 -8.16508059e-01 -3.14762433e-02 2.74743035e+02] [ 8.15358056e-01 5.77333626e-01 -4.33258025e-02 1.11303648e+02] [ 5.35481606e-02 -6.88151135e-04 9.98565031e-01 1.63669351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.78, Y:111.35, Z:16.37 [[ 5.73562439e-01 -8.18557335e-01 -3.14645529e-02 2.74775962e+02] [ 8.17409932e-01 5.74424183e-01 -4.33342908e-02 1.11351683e+02] [ 5.35456017e-02 -8.64516536e-04 9.98565031e-01 1.63704664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.130385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:274.81, Y:111.40, Z:16.37 [[ 5.69253783e-01 -8.21560010e-01 -3.14528284e-02 2.74807866e+02] [ 8.20416682e-01 5.70120926e-01 -4.33427990e-02 1.11400200e+02] [ 5.35406260e-02 -1.13137279e-03 9.98565031e-01 1.63744287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.190385723 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:274.84, Y:111.45, Z:16.37 [[ 5.65711201e-01 -8.24003835e-01 -3.14406813e-02 2.74841160e+02] [ 8.22863763e-01 5.66582620e-01 -4.33516087e-02 1.11448435e+02] [ 5.35356354e-02 -1.34690677e-03 9.98565031e-01 1.63721063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.250385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:274.87, Y:111.50, Z:16.37 [[ 5.63419125e-01 -8.25573253e-01 -3.14275875e-02 2.74867588e+02] [ 8.24435079e-01 5.64293022e-01 -4.33610989e-02 1.11500369e+02] [ 5.35321318e-02 -1.47953317e-03 9.98565031e-01 1.63684063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.90, Y:111.55, Z:16.38 [[ 5.68619652e-01 -8.22000525e-01 -3.14138092e-02 2.74903878e+02] [ 8.20856308e-01 5.69485620e-01 -4.33710786e-02 1.11545813e+02] [ 5.35407620e-02 -1.12457574e-03 9.98565032e-01 1.63758748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.93, Y:111.59, Z:16.39 [[ 5.76397063e-01 -8.16566236e-01 -3.14007707e-02 2.74933866e+02] [ 8.15413336e-01 5.77251438e-01 -4.33805164e-02 1.11594586e+02] [ 5.35492051e-02 -6.00204955e-04 9.98565032e-01 1.63898207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:274.97, Y:111.64, Z:16.39 [[ 5.79057638e-01 -8.14681850e-01 -3.13964323e-02 2.74967167e+02] [ 8.13525999e-01 5.79908016e-01 -4.33836561e-02 1.11643262e+02] [ 5.35509200e-02 -4.20176504e-04 9.98565032e-01 1.63942688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.00, Y:111.69, Z:16.39 [[ 5.80245923e-01 -8.13836350e-01 -3.13857350e-02 2.74999369e+02] [ 8.12678841e-01 5.81094044e-01 -4.33913936e-02 1.11693148e+02] [ 5.35515571e-02 -3.28843505e-04 9.98565032e-01 1.63887674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.550385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:275.03, Y:111.74, Z:16.40 [[ 5.82606914e-01 -8.12148281e-01 -3.13743943e-02 2.75030330e+02] [ 8.10987874e-01 5.83451064e-01 -4.33995921e-02 1.11742430e+02] [ 5.35523278e-02 -1.59350838e-04 9.98565032e-01 1.63963253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.610385723 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:275.06, Y:111.79, Z:16.39 [[ 5.78996380e-01 -8.14726706e-01 -3.13621773e-02 2.75062671e+02] [ 8.13569580e-01 5.79845021e-01 -4.34084187e-02 1.11791489e+02] [ 5.35512004e-02 -3.81996131e-04 9.98565032e-01 1.63921481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.670385723 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:111.84, Z:16.39 [[ 5.73183694e-01 -8.18827027e-01 -3.13488914e-02 2.75095373e+02] [ 8.17675446e-01 5.74039844e-01 -4.34180115e-02 1.11838624e+02] [ 5.35473540e-02 -7.46722552e-04 9.98565032e-01 1.63946057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.730385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:275.12, Y:111.89, Z:16.40 [[ 5.71743109e-01 -8.19834151e-01 -3.13334094e-02 2.75122100e+02] [ 8.18683465e-01 5.72600463e-01 -4.34291816e-02 1.11888983e+02] [ 5.35462509e-02 -8.21808851e-04 9.98565032e-01 1.64036535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.15, Y:111.94, Z:16.40 [[ 5.70814672e-01 -8.20481456e-01 -3.13175813e-02 2.75153829e+02] [ 8.19331117e-01 5.71672490e-01 -4.34405925e-02 1.11938605e+02] [ 5.35456002e-02 -8.62941278e-04 9.98565032e-01 1.64011956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.850385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.18, Y:111.99, Z:16.41 [[ 5.69954054e-01 -8.21079936e-01 -3.13067988e-02 2.75181717e+02] [ 8.19930071e-01 5.70812507e-01 -4.34483618e-02 1.11988863e+02] [ 5.35448905e-02 -9.05815799e-04 9.98565033e-01 1.64087378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.21, Y:112.04, Z:16.41 [[ 5.72286814e-01 -8.19456183e-01 -3.12948312e-02 2.75210836e+02] [ 8.18303411e-01 5.73141360e-01 -4.34569801e-02 1.12040111e+02] [ 5.35474532e-02 -7.38810473e-04 9.98565033e-01 1.64056254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.24, Y:112.09, Z:16.41 [[ 5.73527714e-01 -8.18588629e-01 -3.12828721e-02 2.75241846e+02] [ 8.17434095e-01 5.74379877e-01 -4.34655872e-02 1.12089332e+02] [ 5.35486877e-02 -6.42967394e-04 9.98565033e-01 1.64077959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.26, Y:112.14, Z:16.41 [[ 5.76326261e-01 -8.16621232e-01 -3.12698827e-02 2.75264792e+02] [ 8.15463281e-01 5.77173776e-01 -4.34749301e-02 1.12143208e+02] [ 5.35507072e-02 -4.43697271e-04 9.98565033e-01 1.64055138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.30, Y:112.19, Z:16.41 [[ 5.82864252e-01 -8.11967920e-01 -3.12627738e-02 2.75295787e+02] [ 8.10802928e-01 5.83702062e-01 -4.34800415e-02 1.12192780e+02] [ 5.35525444e-02 -4.98669913e-06 9.98565033e-01 1.64104036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.33, Y:112.24, Z:16.41 [[ 5.86797479e-01 -8.09130500e-01 -3.12498387e-02 2.75325506e+02] [ 8.07960963e-01 5.87628930e-01 -4.34893361e-02 1.12242081e+02] [ 5.35518576e-02 2.70782987e-04 9.98565033e-01 1.64116088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.36, Y:112.29, Z:16.42 [[ 5.91950021e-01 -8.05368894e-01 -3.12428616e-02 2.75356222e+02] [ 8.04193810e-01 5.92773615e-01 -4.34943480e-02 1.12289850e+02] [ 5.35489389e-02 6.21164321e-04 9.98565033e-01 1.64156278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.270385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:275.39, Y:112.34, Z:16.42 [[ 5.93494381e-01 -8.04231757e-01 -3.12362004e-02 2.75389727e+02] [ 8.03054843e-01 5.94315358e-01 -4.34991313e-02 1.12337656e+02] [ 5.35475364e-02 7.32108037e-04 9.98565033e-01 1.64165060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.42, Y:112.38, Z:16.42 [[ 5.93193852e-01 -8.04453903e-01 -3.12245402e-02 2.75423766e+02] [ 8.03276856e-01 5.94014638e-01 -4.35074996e-02 1.12384594e+02] [ 5.35476118e-02 7.26430832e-04 9.98565033e-01 1.64166217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.47, Y:112.42, Z:16.43 [[ 5.94426226e-01 -8.03544165e-01 -3.12127564e-02 2.75466443e+02] [ 8.02365419e-01 5.95244569e-01 -4.35159518e-02 1.12424882e+02] [ 5.35462129e-02 8.22986630e-04 9.98565033e-01 1.64290346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.50, Y:112.47, Z:16.43 [[ 5.89698741e-01 -8.07020235e-01 -3.12047402e-02 2.75499787e+02] [ 8.05846009e-01 5.90523558e-01 -4.35216994e-02 1.12474147e+02] [ 5.35500262e-02 5.18476019e-04 9.98565033e-01 1.64278958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.54, Y:112.52, Z:16.43 [[ 5.87601703e-01 -8.08548844e-01 -3.11930279e-02 2.75537867e+02] [ 8.07376318e-01 5.88428935e-01 -4.35300922e-02 1.12516375e+02] [ 5.35510859e-02 3.93844338e-04 9.98565033e-01 1.64307065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:275.58, Y:112.56, Z:16.44 [[ 5.88902353e-01 -8.07602300e-01 -3.11856259e-02 2.75580698e+02] [ 8.06428164e-01 5.89727297e-01 -4.35353945e-02 1.12556306e+02] [ 5.35502996e-02 4.89129185e-04 9.98565034e-01 1.64387360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.62, Y:112.60, Z:16.44 [[ 5.84950820e-01 -8.10469146e-01 -3.11817542e-02 2.75621843e+02] [ 8.09298905e-01 5.85781281e-01 -4.35381674e-02 1.12598426e+02] [ 5.35520293e-02 2.32327175e-04 9.98565034e-01 1.64420757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.690385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:275.66, Y:112.65, Z:16.44 [[ 5.79671103e-01 -8.14254183e-01 -3.11694973e-02 2.75658122e+02] [ 8.13088894e-01 5.80508497e-01 -4.35469405e-02 1.12645651e+02] [ 5.35524365e-02 -1.00669034e-04 9.98565034e-01 1.64406907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.70, Y:112.69, Z:16.45 [[ 5.81890265e-01 -8.12670203e-01 -3.11586332e-02 2.75701525e+02] [ 8.11502218e-01 5.82723895e-01 -4.35547125e-02 1.12686870e+02] [ 5.35524972e-02 5.87632450e-05 9.98565034e-01 1.64464917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.810385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:112.73, Z:16.45 [[ 5.83066387e-01 -8.11827194e-01 -3.11479655e-02 2.75740043e+02] [ 8.10657595e-01 5.83897753e-01 -4.35623402e-02 1.12730550e+02] [ 5.35523194e-02 1.49401501e-04 9.98565034e-01 1.64486256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:275.78, Y:112.77, Z:16.45 [[ 5.83135216e-01 -8.11778209e-01 -3.11361505e-02 2.75779820e+02] [ 8.10608090e-01 5.83965848e-01 -4.35707833e-02 1.12772619e+02] [ 5.35522610e-02 1.68442682e-04 9.98565034e-01 1.64514332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.82, Y:112.82, Z:16.46 [[ 5.85990970e-01 -8.09719459e-01 -3.11284433e-02 2.75819237e+02] [ 8.08546130e-01 5.86817061e-01 -4.35762889e-02 1.12815016e+02] [ 5.35512707e-02 3.66529451e-04 9.98565034e-01 1.64589078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.86, Y:112.86, Z:16.46 [[ 5.85413420e-01 -8.10137571e-01 -3.11166297e-02 2.75857138e+02] [ 8.08964383e-01 5.86239711e-01 -4.35847230e-02 1.12860964e+02] [ 5.35514257e-02 3.42836573e-04 9.98565034e-01 1.64584800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.89, Y:112.91, Z:16.46 [[ 5.85990802e-01 -8.09720466e-01 -3.11054147e-02 2.75893777e+02] [ 8.08546266e-01 5.86815653e-01 -4.35927255e-02 1.12905131e+02] [ 5.35510662e-02 3.94769316e-04 9.98565034e-01 1.64628175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.110385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:275.93, Y:112.95, Z:16.47 [[ 5.83480006e-01 -8.11531779e-01 -3.11007071e-02 2.75933942e+02] [ 8.10359961e-01 5.84308237e-01 -4.35960838e-02 1.12947593e+02] [ 5.35520068e-02 2.34675415e-04 9.98565034e-01 1.64675638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.97, Y:112.99, Z:16.47 [[ 5.77880464e-01 -8.15529070e-01 -3.10886632e-02 2.75969103e+02] [ 8.14362518e-01 5.78716098e-01 -4.36046707e-02 1.12993403e+02] [ 5.35523864e-02 -1.19154711e-04 9.98565034e-01 1.64698882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.00, Y:113.04, Z:16.47 [[ 5.76828428e-01 -8.16273990e-01 -3.10763213e-02 2.76001548e+02] [ 8.15108043e-01 5.77664906e-01 -4.36134648e-02 1.13040049e+02] [ 5.35522372e-02 -1.73073145e-04 9.98565034e-01 1.64718645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.03, Y:113.09, Z:16.48 [[ 5.73844702e-01 -8.18374631e-01 -3.10680077e-02 2.76033638e+02] [ 8.17211425e-01 5.74684988e-01 -4.36193862e-02 1.13088265e+02] [ 5.35513167e-02 -3.58377192e-04 9.98565034e-01 1.64757990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.06, Y:113.14, Z:16.48 [[ 5.74650494e-01 -8.17809473e-01 -3.10559990e-02 2.76064358e+02] [ 8.16644980e-01 5.75488992e-01 -4.36279344e-02 1.13135937e+02] [ 5.35517237e-02 -2.90911648e-04 9.98565035e-01 1.64789635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:113.19, Z:16.48 [[ 5.76809142e-01 -8.16288795e-01 -3.10454041e-02 2.76094674e+02] [ 8.15121685e-01 5.77643994e-01 -4.36354724e-02 1.13185784e+02] [ 5.35523384e-02 -1.36442749e-04 9.98565035e-01 1.64807085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.470385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:276.13, Y:113.24, Z:16.48 [[ 5.77129179e-01 -8.16063002e-01 -3.10336505e-02 2.76125503e+02] [ 8.14895116e-01 5.77962946e-01 -4.36438300e-02 1.13235729e+02] [ 5.35524150e-02 -1.01042406e-04 9.98565035e-01 1.64827065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:113.28, Z:16.49 [[ 5.76279088e-01 -8.16663990e-01 -3.10216164e-02 2.76156417e+02] [ 8.15496513e-01 5.77113427e-01 -4.36523821e-02 1.13283715e+02] [ 5.35523199e-02 -1.42065060e-04 9.98565035e-01 1.64853027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.19, Y:113.33, Z:16.49 [[ 5.72962801e-01 -8.18994540e-01 -3.10092245e-02 2.76188495e+02] [ 8.17829980e-01 5.73801207e-01 -4.36611831e-02 1.13332183e+02] [ 5.35514010e-02 -3.44039680e-04 9.98565035e-01 1.64910241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.22, Y:113.38, Z:16.49 [[ 5.70822471e-01 -8.20488235e-01 -3.09961732e-02 2.76220249e+02] [ 8.19325366e-01 5.71663220e-01 -4.36704466e-02 1.13379328e+02] [ 5.35504598e-02 -4.67878756e-04 9.98565035e-01 1.64944505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.25, Y:113.43, Z:16.49 [[ 5.70545859e-01 -8.20681017e-01 -3.09853426e-02 2.76251419e+02] [ 8.19518015e-01 5.71386423e-01 -4.36781298e-02 1.13428542e+02] [ 5.35504161e-02 -4.72670397e-04 9.98565035e-01 1.64945993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:113.48, Z:16.50 [[ 5.70586208e-01 -8.20653405e-01 -3.09736720e-02 2.76283191e+02] [ 8.19489912e-01 5.71426095e-01 -4.36864043e-02 1.13477324e+02] [ 5.35505609e-02 -4.55752004e-04 9.98565035e-01 1.64976289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.32, Y:113.52, Z:16.50 [[ 5.69835713e-01 -8.21175173e-01 -3.09611721e-02 2.76317161e+02] [ 8.20011969e-01 5.70675998e-01 -4.36952614e-02 1.13524641e+02] [ 5.35502616e-02 -4.89411223e-04 9.98565035e-01 1.65024372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.35, Y:113.57, Z:16.50 [[ 5.71585641e-01 -8.19958587e-01 -3.09478518e-02 2.76349416e+02] [ 8.18793084e-01 5.72422734e-01 -4.37046937e-02 1.13572305e+02] [ 5.35512928e-02 -3.58911657e-04 9.98565036e-01 1.65042711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.38, Y:113.62, Z:16.51 [[ 5.70653300e-01 -8.20608063e-01 -3.09389426e-02 2.76379247e+02] [ 8.19443170e-01 5.71491242e-01 -4.37109997e-02 1.13622548e+02] [ 5.35509335e-02 -4.08878981e-04 9.98565036e-01 1.65050948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:276.41, Y:113.67, Z:16.51 [[ 5.68445671e-01 -8.22139354e-01 -3.09257397e-02 2.76411930e+02] [ 8.20976210e-01 5.69286039e-01 -4.37203388e-02 1.13669802e+02] [ 5.35498030e-02 -5.36659296e-04 9.98565036e-01 1.65082847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:276.44, Y:113.72, Z:16.51 [[ 5.61215722e-01 -8.27091860e-01 -3.09187457e-02 2.76442934e+02] [ 8.25935857e-01 5.62065886e-01 -4.37252843e-02 1.13717235e+02] [ 5.35431989e-02 -9.97583777e-04 9.98565036e-01 1.65124581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:113.76, Z:16.52 [[ 5.61073778e-01 -8.27188418e-01 -3.09117659e-02 2.76474669e+02] [ 8.26032289e-01 5.61923772e-01 -4.37302182e-02 1.13764646e+02] [ 5.35431861e-02 -9.98237999e-04 9.98565036e-01 1.65157167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.190385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:276.51, Y:113.81, Z:16.52 [[ 5.61392981e-01 -8.26972229e-01 -3.09006915e-02 2.76506491e+02] [ 8.25815343e-01 5.62241943e-01 -4.37380422e-02 1.13811808e+02] [ 5.35438111e-02 -9.64035289e-04 9.98565036e-01 1.65187602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.54, Y:113.86, Z:16.52 [[ 5.62715378e-01 -8.26073274e-01 -3.08925499e-02 2.76536758e+02] [ 8.24914716e-01 5.63562057e-01 -4.37437919e-02 1.13862062e+02] [ 5.35454464e-02 -8.68414620e-04 9.98565036e-01 1.65194839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.310385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:276.57, Y:113.91, Z:16.52 [[ 5.64165480e-01 -8.25084058e-01 -3.08805414e-02 2.76565497e+02] [ 8.23923552e-01 5.65009487e-01 -4.37522676e-02 1.13912869e+02] [ 5.35470973e-02 -7.59686268e-04 9.98565036e-01 1.65209195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.60, Y:113.96, Z:16.53 [[ 5.65673881e-01 -8.24051087e-01 -3.08685434e-02 2.76598736e+02] [ 8.22888577e-01 5.66515126e-01 -4.37607309e-02 1.13959942e+02] [ 5.35485746e-02 -6.47069254e-04 9.98565036e-01 1.65254341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43038572300003 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:276.63, Y:114.01, Z:16.53 [[ 5.65759767e-01 -8.23992571e-01 -3.08565957e-02 2.76628028e+02] [ 8.22829515e-01 5.66600256e-01 -4.37691539e-02 1.14010594e+02] [ 5.35488126e-02 -6.26891354e-04 9.98565036e-01 1.65276531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.66, Y:114.06, Z:16.53 [[ 5.65743077e-01 -8.24004457e-01 -3.08451773e-02 2.76656373e+02] [ 8.22840981e-01 5.66582984e-01 -4.37771992e-02 1.14061144e+02] [ 5.35489599e-02 -6.14028604e-04 9.98565036e-01 1.65294112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.69, Y:114.11, Z:16.53 [[ 5.66191826e-01 -8.23696671e-01 -3.08319890e-02 2.76690693e+02] [ 8.22532232e-01 5.67030397e-01 -4.37864857e-02 1.14108078e+02] [ 5.35494574e-02 -5.68754430e-04 9.98565037e-01 1.65343420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:276.72, Y:114.16, Z:16.54 [[ 5.66274929e-01 -8.23640013e-01 -3.08193634e-02 2.76722714e+02] [ 8.22475007e-01 5.67112712e-01 -4.37953705e-02 1.14155245e+02] [ 5.35496723e-02 -5.47935741e-04 9.98565037e-01 1.65400210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.75, Y:114.21, Z:16.54 [[ 5.66357297e-01 -8.23583642e-01 -3.08122892e-02 2.76750790e+02] [ 8.22418281e-01 5.67194588e-01 -4.38003470e-02 1.14205313e+02] [ 5.35498129e-02 -5.33943777e-04 9.98565037e-01 1.65416013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.78, Y:114.25, Z:16.55 [[ 5.66017568e-01 -8.23817551e-01 -3.08018719e-02 2.76783358e+02] [ 8.22652138e-01 5.66854785e-01 -4.38076716e-02 1.14253078e+02] [ 5.35497172e-02 -5.43314056e-04 9.98565037e-01 1.65474305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.81, Y:114.30, Z:16.55 [[ 5.64938539e-01 -8.24558314e-01 -3.07901554e-02 2.76812573e+02] [ 8.23393550e-01 5.65776659e-01 -4.38159049e-02 1.14303957e+02] [ 5.35491200e-02 -5.99122054e-04 9.98565037e-01 1.65498551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.84, Y:114.35, Z:16.55 [[ 5.65117111e-01 -8.24436377e-01 -3.07784068e-02 2.76844060e+02] [ 8.23270983e-01 5.65954354e-01 -4.38241562e-02 1.14352736e+02] [ 5.35494019e-02 -5.73188627e-04 9.98565037e-01 1.65521854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.87, Y:114.40, Z:16.55 [[ 5.65262569e-01 -8.24337098e-01 -3.07664883e-02 2.76874397e+02] [ 8.23171102e-01 5.66098973e-01 -4.38325219e-02 1.14400592e+02] [ 5.35496513e-02 -5.49200125e-04 9.98565037e-01 1.65547332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.90, Y:114.45, Z:16.55 [[ 5.63972880e-01 -8.25220366e-01 -3.07561020e-02 2.76900527e+02] [ 8.24055283e-01 5.64810554e-01 -4.38398085e-02 1.14453793e+02] [ 5.35488738e-02 -6.20265342e-04 9.98565037e-01 1.65525104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.94, Y:114.50, Z:16.56 [[ 5.65819123e-01 -8.23955785e-01 -3.07503442e-02 2.76936262e+02] [ 8.22788610e-01 5.66653881e-01 -4.38438468e-02 1.14498997e+02] [ 5.35501931e-02 -4.93346024e-04 9.98565037e-01 1.65605489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.97, Y:114.55, Z:16.56 [[ 5.63704780e-01 -8.25403985e-01 -3.07438268e-02 2.76968223e+02] [ 8.24238705e-01 5.64542181e-01 -4.38484164e-02 1.14545666e+02] [ 5.35488446e-02 -6.22690075e-04 9.98565037e-01 1.65645823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.00, Y:114.60, Z:16.56 [[ 5.61964028e-01 -8.26590392e-01 -3.07368565e-02 2.76997253e+02] [ 8.25426613e-01 5.62803513e-01 -4.38533019e-02 1.14597530e+02] [ 5.35475288e-02 -7.27041228e-04 9.98565037e-01 1.65640662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.03, Y:114.65, Z:16.56 [[ 5.61162974e-01 -8.27134852e-01 -3.07254644e-02 2.77028059e+02] [ 8.25971450e-01 5.62002982e-01 -4.38612822e-02 1.14645323e+02] [ 5.35469978e-02 -7.65028843e-04 9.98565037e-01 1.65628005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.06, Y:114.69, Z:16.57 [[ 5.61779558e-01 -8.26716458e-01 -3.07185051e-02 2.77062457e+02] [ 8.25552164e-01 5.62618329e-01 -4.38661557e-02 1.14691614e+02] [ 5.35476669e-02 -7.16618826e-04 9.98565037e-01 1.65731939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.09, Y:114.74, Z:16.57 [[ 5.62200889e-01 -8.26430417e-01 -3.07070921e-02 2.77093603e+02] [ 8.25265260e-01 5.63038462e-01 -4.38741435e-02 1.14741583e+02] [ 5.35482006e-02 -6.75413870e-04 9.98565037e-01 1.65723958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.13, Y:114.79, Z:16.58 [[ 5.62912679e-01 -8.25946191e-01 -3.06953645e-02 2.77128232e+02] [ 8.24779867e-01 5.63748624e-01 -4.38823469e-02 1.14788152e+02] [ 5.35489268e-02 -6.14989146e-04 9.98565038e-01 1.65796915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.16, Y:114.83, Z:16.59 [[ 5.66810105e-01 -8.23276909e-01 -3.06828497e-02 2.77163781e+02] [ 8.22106173e-01 5.67639861e-01 -4.38910956e-02 1.14833767e+02] [ 5.35513340e-02 -3.46643727e-04 9.98565038e-01 1.65853011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.510385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.20, Y:114.88, Z:16.59 [[ 5.72192181e-01 -8.19545863e-01 -3.06706086e-02 2.77196554e+02] [ 8.18369258e-01 5.73013593e-01 -4.38996479e-02 1.14882679e+02] [ 5.35524504e-02 1.91520957e-05 9.98565038e-01 1.65860171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.570385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:277.23, Y:114.93, Z:16.59 [[ 5.76304260e-01 -8.16659888e-01 -3.06598505e-02 2.77233808e+02] [ 8.15478771e-01 5.77119170e-01 -4.39071601e-02 1.14926526e+02] [ 5.35516040e-02 3.01426203e-04 9.98565038e-01 1.65877655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.630385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:277.27, Y:114.97, Z:16.59 [[ 5.78227902e-01 -8.15299374e-01 -3.06500182e-02 2.77271342e+02] [ 8.14115976e-01 5.79039495e-01 -4.39140226e-02 1.14971353e+02] [ 5.35506463e-02 4.39643710e-04 9.98565038e-01 1.65944236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.690385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:115.02, Z:16.60 [[ 5.79896410e-01 -8.14113919e-01 -3.06378970e-02 2.77307287e+02] [ 8.12928415e-01 5.80704924e-01 -4.39224777e-02 1.15016704e+02] [ 5.35494781e-02 5.64070088e-04 9.98565038e-01 1.65986526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:115.06, Z:16.60 [[ 5.81014097e-01 -8.13317101e-01 -3.06253498e-02 2.77344356e+02] [ 8.12130027e-01 5.81820304e-01 -4.39312246e-02 1.15060264e+02] [ 5.35484666e-02 6.52894636e-04 9.98565038e-01 1.66027074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.38, Y:115.11, Z:16.61 [[ 5.81045963e-01 -8.13294587e-01 -3.06186827e-02 2.77379564e+02] [ 8.12107237e-01 5.81851764e-01 -4.39358709e-02 1.15106761e+02] [ 5.35483405e-02 6.63106582e-04 9.98565038e-01 1.66060324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.41, Y:115.15, Z:16.60 [[ 5.75635997e-01 -8.17133054e-01 -3.06067230e-02 2.77414103e+02] [ 8.15950635e-01 5.76449016e-01 -4.39442007e-02 1.15154296e+02] [ 5.35514743e-02 3.22288704e-04 9.98565038e-01 1.66016213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.46, Y:115.20, Z:16.61 [[ 5.77764531e-01 -8.15629651e-01 -3.06009574e-02 2.77455287e+02] [ 8.14444904e-01 5.78574155e-01 -4.39482153e-02 1.15195352e+02] [ 5.35503906e-02 4.68926230e-04 9.98565038e-01 1.66121800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:277.49, Y:115.24, Z:16.62 [[ 5.74263261e-01 -8.18099014e-01 -3.05893873e-02 2.77493838e+02] [ 8.16917320e-01 5.75077334e-01 -4.39562670e-02 1.15238476e+02] [ 5.35518420e-02 2.53468949e-04 9.98565038e-01 1.66174745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:277.53, Y:115.28, Z:16.62 [[ 5.71405874e-01 -8.20097792e-01 -3.05767816e-02 2.77531667e+02] [ 8.18918476e-01 5.72223387e-01 -4.39650340e-02 1.15282193e+02] [ 5.35523769e-02 8.19873228e-05 9.98565039e-01 1.66216728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:277.57, Y:115.33, Z:16.62 [[ 5.68725795e-01 -8.21958905e-01 -3.05700792e-02 2.77567714e+02] [ 8.20782014e-01 5.69546795e-01 -4.39696939e-02 1.15329239e+02] [ 5.35523721e-02 -8.46720716e-05 9.98565039e-01 1.66232923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.170385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:277.60, Y:115.38, Z:16.62 [[ 5.64303027e-01 -8.25001954e-01 -3.05592882e-02 2.77603964e+02] [ 8.23829084e-01 5.65129762e-01 -4.39771924e-02 1.15375944e+02] [ 5.35512329e-02 -3.59167617e-04 9.98565039e-01 1.66193012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.230385723 meters Centerline goodness : 0.995075 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:115.42, Z:16.62 [[ 5.68809561e-01 -8.21901722e-01 -3.05490204e-02 2.77641542e+02] [ 8.20723963e-01 5.69629315e-01 -4.39843239e-02 1.15419510e+02] [ 5.35524091e-02 -5.36090971e-05 9.98565039e-01 1.66228216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.290385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:277.67, Y:115.47, Z:16.63 [[ 5.70183242e-01 -8.20949756e-01 -3.05379934e-02 2.77673422e+02] [ 8.19770218e-01 5.71000434e-01 -4.39919785e-02 1.15466476e+02] [ 5.35524115e-02 4.93514791e-05 9.98565039e-01 1.66288568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.350385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:277.71, Y:115.51, Z:16.64 [[ 5.70148418e-01 -8.20974518e-01 -3.05224950e-02 2.77711161e+02] [ 8.19794440e-01 5.70964830e-01 -4.40027290e-02 1.15511784e+02] [ 5.35523904e-02 6.59145901e-05 9.98565039e-01 1.66350684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.410385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:277.74, Y:115.56, Z:16.63 [[ 5.69345852e-01 -8.21531685e-01 -3.05121458e-02 2.77742916e+02] [ 8.20352021e-01 5.70162862e-01 -4.40099041e-02 1.15559343e+02] [ 5.35524231e-02 2.61558643e-05 9.98565039e-01 1.66318718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.78, Y:115.61, Z:16.64 [[ 5.67862584e-01 -8.22558043e-01 -3.05016645e-02 2.77776598e+02] [ 8.21379465e-01 5.68681161e-01 -4.40171671e-02 1.15606021e+02] [ 5.35523968e-02 -5.77385886e-05 9.98565039e-01 1.66380027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.81, Y:115.65, Z:16.64 [[ 5.66289509e-01 -8.23642254e-01 -3.04898233e-02 2.77813340e+02] [ 8.22464802e-01 5.67109703e-01 -4.40253678e-02 1.15651919e+02] [ 5.35522278e-02 -1.45702607e-04 9.98565039e-01 1.66414310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.590385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:277.84, Y:115.70, Z:16.64 [[ 5.63141814e-01 -8.25798041e-01 -3.04777244e-02 2.77843873e+02] [ 8.24623276e-01 5.63965852e-01 -4.40337420e-02 1.15700717e+02] [ 5.35513737e-02 -3.35399587e-04 9.98565039e-01 1.66394097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.650385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:115.75, Z:16.64 [[ 5.63159155e-01 -8.25786603e-01 -3.04672215e-02 2.77878198e+02] [ 8.24611428e-01 5.63982608e-01 -4.40410078e-02 1.15746183e+02] [ 5.35514573e-02 -3.21522330e-04 9.98565039e-01 1.66442694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.710385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:277.91, Y:115.79, Z:16.65 [[ 5.59214673e-01 -8.28463319e-01 -3.04545192e-02 2.77913499e+02] [ 8.27291607e-01 5.60043046e-01 -4.40497898e-02 1.15792419e+02] [ 5.35494767e-02 -5.61479325e-04 9.98565040e-01 1.66475052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.770385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:277.94, Y:115.85, Z:16.64 [[ 5.55195550e-01 -8.31162555e-01 -3.04418872e-02 2.77938898e+02] [ 8.29994390e-01 5.56028919e-01 -4.40585178e-02 1.15846138e+02] [ 5.35463598e-02 -8.05502570e-04 9.98565040e-01 1.66441254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.830385723 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:277.98, Y:115.89, Z:16.65 [[ 5.61852653e-01 -8.26677418e-01 -3.04309532e-02 2.77977398e+02] [ 8.25502190e-01 5.62676031e-01 -4.40660685e-02 1.15890027e+02] [ 5.35511917e-02 -3.62181034e-04 9.98565040e-01 1.66534905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.890385723 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:278.00, Y:115.94, Z:16.66 [[ 5.59984323e-01 -8.27944610e-01 -3.04184397e-02 2.78004318e+02] [ 8.26770776e-01 5.60809686e-01 -4.40747048e-02 1.15941766e+02] [ 5.35503699e-02 -4.67933330e-04 9.98565040e-01 1.66560724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.950385723 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:278.04, Y:115.99, Z:16.66 [[ 5.61163247e-01 -8.27146458e-01 -3.04063712e-02 2.78037523e+02] [ 8.25970999e-01 5.61986294e-01 -4.40830291e-02 1.15989622e+02] [ 5.35510852e-02 -3.77005069e-04 9.98565040e-01 1.66621041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.010385723 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:278.07, Y:116.04, Z:16.66 [[ 5.61474282e-01 -8.26935671e-01 -3.03978178e-02 2.78069059e+02] [ 8.25759584e-01 5.62296431e-01 -4.40889264e-02 1.16037564e+02] [ 5.35512903e-02 -3.46491083e-04 9.98565040e-01 1.66641548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.070385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:278.10, Y:116.09, Z:16.67 [[ 5.61244380e-01 -8.27092242e-01 -3.03836958e-02 2.78098393e+02] [ 8.25915858e-01 5.62066103e-01 -4.40986563e-02 1.16087548e+02] [ 5.35513020e-02 -3.44253179e-04 9.98565040e-01 1.66651772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.130385723 meters Centerline goodness : 0.995649 with order 1 Centerline is valid? [True, True] Translation: X:278.13, Y:116.14, Z:16.67 [[ 5.57393225e-01 -8.29692990e-01 -3.03699734e-02 2.78129410e+02] [ 8.28519924e-01 5.58219679e-01 -4.41081047e-02 1.16136529e+02] [ 5.35493021e-02 -5.76569358e-04 9.98565040e-01 1.66681855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.190385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:278.16, Y:116.19, Z:16.67 [[ 5.53827602e-01 -8.32077822e-01 -3.03559865e-02 2.78159365e+02] [ 8.30907787e-01 5.54658341e-01 -4.41177287e-02 1.16185750e+02] [ 5.35465847e-02 -7.89409671e-04 9.98565041e-01 1.66708616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.250385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:116.23, Z:16.68 [[ 5.52616259e-01 -8.32883227e-01 -3.03446895e-02 2.78189825e+02] [ 8.31713977e-01 5.53448101e-01 -4.41254975e-02 1.16234712e+02] [ 5.35455975e-02 -8.53635023e-04 9.98565041e-01 1.66809423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.310385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:278.22, Y:116.29, Z:16.68 [[ 5.54923371e-01 -8.31348290e-01 -3.03326949e-02 2.78217670e+02] [ 8.30176288e-01 5.55751332e-01 -4.41337412e-02 1.16286475e+02] [ 5.35479459e-02 -6.90639593e-04 9.98565041e-01 1.66836434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.25, Y:116.34, Z:16.69 [[ 5.58112536e-01 -8.29211106e-01 -3.03206011e-02 2.78246271e+02] [ 8.28035482e-01 5.58935345e-01 -4.41420484e-02 1.16336862e+02] [ 5.35503324e-02 -4.70302975e-04 9.98565041e-01 1.66869180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.28, Y:116.39, Z:16.70 [[ 5.59880726e-01 -8.28018685e-01 -3.03089077e-02 2.78277123e+02] [ 8.26840873e-01 5.60700402e-01 -4.41500759e-02 1.16385762e+02] [ 5.35513045e-02 -3.41867148e-04 9.98565041e-01 1.66955249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.490385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:278.30, Y:116.44, Z:16.69 [[ 5.60213198e-01 -8.27794266e-01 -3.02956451e-02 2.78300932e+02] [ 8.26615634e-01 5.61031693e-01 -4.41591747e-02 1.16439416e+02] [ 5.35515287e-02 -3.04301450e-04 9.98565041e-01 1.66931028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:278.33, Y:116.49, Z:16.70 [[ 5.61041503e-01 -8.27233251e-01 -3.02916028e-02 2.78333600e+02] [ 8.26053651e-01 5.61858602e-01 -4.41619474e-02 1.16486920e+02] [ 5.35518289e-02 -2.45803681e-04 9.98565041e-01 1.66975977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:278.36, Y:116.54, Z:16.70 [[ 5.57441882e-01 -8.29663620e-01 -3.02791338e-02 2.78362288e+02] [ 8.28487118e-01 5.58263435e-01 -4.41704950e-02 1.16536316e+02] [ 5.35503860e-02 -4.63388442e-04 9.98565041e-01 1.67024670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:278.39, Y:116.59, Z:16.70 [[ 5.55777979e-01 -8.30779458e-01 -3.02709443e-02 2.78391342e+02] [ 8.29604300e-01 5.56601453e-01 -4.41761067e-02 1.16586313e+02] [ 5.35494536e-02 -5.60798285e-04 9.98565041e-01 1.67026987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:116.64, Z:16.71 [[ 5.49810995e-01 -8.34740847e-01 -3.02586992e-02 2.78420170e+02] [ 8.33571159e-01 5.50642220e-01 -4.41844925e-02 1.16637363e+02] [ 5.35443180e-02 -9.29659127e-04 9.98565041e-01 1.67082169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.45, Y:116.69, Z:16.71 [[ 5.45508415e-01 -8.37559359e-01 -3.02471309e-02 2.78451578e+02] [ 8.36393526e-01 5.46345038e-01 -4.41924103e-02 1.16686479e+02] [ 5.35391368e-02 -1.19117276e-03 9.98565041e-01 1.67117818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:116.74, Z:16.71 [[ 5.45154683e-01 -8.37790100e-01 -3.02344065e-02 2.78477888e+02] [ 8.36624139e-01 5.45991128e-01 -4.42011140e-02 1.16738253e+02] [ 5.35389735e-02 -1.19838999e-03 9.98565042e-01 1.67103747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.51, Y:116.79, Z:16.72 [[ 5.45412768e-01 -8.37622259e-01 -3.02301715e-02 2.78506884e+02] [ 8.36455880e-01 5.46248630e-01 -4.42040103e-02 1.16789822e+02] [ 5.35394527e-02 -1.17677305e-03 9.98565042e-01 1.67195111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.970385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:116.84, Z:16.72 [[ 5.52182325e-01 -8.33175527e-01 -3.02195403e-02 2.78535119e+02] [ 8.32002017e-01 5.53008144e-01 -4.42112770e-02 1.16841282e+02] [ 5.35474059e-02 -7.30032725e-04 9.98565042e-01 1.67173076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.030385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:278.56, Y:116.89, Z:16.72 [[ 5.58029237e-01 -8.29271000e-01 -3.02155472e-02 2.78562213e+02] [ 8.28091562e-01 5.58846569e-01 -4.42140059e-02 1.16892469e+02] [ 5.35512477e-02 -3.48531685e-04 9.98565042e-01 1.67196937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.59, Y:116.94, Z:16.73 [[ 5.61159734e-01 -8.27156282e-01 -3.02032680e-02 2.78591709e+02] [ 8.25973312e-01 5.61971945e-01 -4.42223924e-02 1.16943166e+02] [ 5.35522190e-02 -1.31267328e-04 9.98565042e-01 1.67259233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.62, Y:116.99, Z:16.73 [[ 5.67882537e-01 -8.22555703e-01 -3.01917173e-02 2.78622093e+02] [ 8.21365734e-01 5.68684458e-01 -4.42302769e-02 1.16990973e+02] [ 5.35514269e-02 3.19159792e-04 9.98565042e-01 1.67292520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:117.04, Z:16.73 [[ 5.71269208e-01 -8.20207519e-01 -3.01847258e-02 2.78652320e+02] [ 8.19014002e-01 5.72065840e-01 -4.42350477e-02 1.17039723e+02] [ 5.35495693e-02 5.48407554e-04 9.98565042e-01 1.67316405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.68, Y:117.09, Z:16.73 [[ 5.74254109e-01 -8.18120717e-01 -3.01780026e-02 2.78684462e+02] [ 8.16924064e-01 5.75046023e-01 -4.42396339e-02 1.17089234e+02] [ 5.35471014e-02 7.51655008e-04 9.98565042e-01 1.67349644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.72, Y:117.14, Z:16.74 [[ 5.74630077e-01 -8.17857091e-01 -3.01670944e-02 2.78716468e+02] [ 8.16659685e-01 5.75420851e-01 -4.42470710e-02 1.17138009e+02] [ 5.35465559e-02 7.89447988e-04 9.98565042e-01 1.67365467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.75, Y:117.18, Z:16.74 [[ 5.71761846e-01 -8.19865282e-01 -3.01547837e-02 2.78750593e+02] [ 8.18670211e-01 5.72556145e-01 -4.42554593e-02 1.17184412e+02] [ 5.35488213e-02 6.16759910e-04 9.98565042e-01 1.67393234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.78, Y:117.23, Z:16.74 [[ 5.69122072e-01 -8.21700117e-01 -3.01493888e-02 2.78784014e+02] [ 8.20507413e-01 5.69919920e-01 -4.42591343e-02 1.17231804e+02] [ 5.35504731e-02 4.51053233e-04 9.98565042e-01 1.67406546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.82, Y:117.28, Z:16.74 [[ 5.66337662e-01 -8.23622105e-01 -3.01376910e-02 2.78819680e+02] [ 8.22431685e-01 5.67138913e-01 -4.42670984e-02 1.17277525e+02] [ 5.35516181e-02 2.83932958e-04 9.98565042e-01 1.67426189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.86, Y:117.32, Z:16.75 [[ 5.62318236e-01 -8.26371980e-01 -3.01256122e-02 2.78855874e+02] [ 8.25185038e-01 5.63124631e-01 -4.42753170e-02 1.17323381e+02] [ 5.35523556e-02 3.76136982e-05 9.98565042e-01 1.67456373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.630385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:278.89, Y:117.37, Z:16.74 [[ 5.59298147e-01 -8.28419426e-01 -3.01137417e-02 2.78889683e+02] [ 8.27235001e-01 5.60108234e-01 -4.42833892e-02 1.17371404e+02] [ 5.35521745e-02 -1.43523681e-04 9.98565042e-01 1.67426281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.93, Y:117.42, Z:16.75 [[ 5.59309773e-01 -8.28412006e-01 -3.01019227e-02 2.78927423e+02] [ 8.27227138e-01 5.60119212e-01 -4.42914218e-02 1.17416367e+02] [ 5.35522108e-02 -1.28502279e-04 9.98565043e-01 1.67496054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.96, Y:117.46, Z:16.75 [[ 5.59737126e-01 -8.28123729e-01 -3.00905114e-02 2.78961066e+02] [ 8.26938027e-01 5.60545343e-01 -4.42991730e-02 1.17463862e+02] [ 5.35522924e-02 -8.70963766e-05 9.98565043e-01 1.67512090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.00, Y:117.51, Z:16.75 [[ 5.59912680e-01 -8.28005471e-01 -3.00787386e-02 2.78996535e+02] [ 8.26819170e-01 5.60720016e-01 -4.43071652e-02 1.17508510e+02] [ 5.35523260e-02 -6.15341012e-05 9.98565043e-01 1.67524478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.870385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:279.03, Y:117.56, Z:16.75 [[ 5.55136490e-01 -8.31215601e-01 -3.00682983e-02 2.79028855e+02] [ 8.30033583e-01 5.55950086e-01 -4.43142492e-02 1.17556832e+02] [ 5.35511683e-02 -3.57240566e-04 9.98565043e-01 1.67526186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93038572300003 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:279.06, Y:117.60, Z:16.75 [[ 5.54206509e-01 -8.31836426e-01 -3.00550623e-02 2.79062614e+02] [ 8.30654833e-01 5.55020721e-01 -4.43232244e-02 1.17602548e+02] [ 5.35508549e-02 -4.01163291e-04 9.98565043e-01 1.67544407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.990385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:279.10, Y:117.65, Z:16.76 [[ 5.54703770e-01 -8.31505182e-01 -3.00476239e-02 2.79101537e+02] [ 8.30322830e-01 5.55516879e-01 -4.43282664e-02 1.17646166e+02] [ 5.35511455e-02 -3.60171635e-04 9.98565043e-01 1.67570277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.14, Y:117.69, Z:16.77 [[ 5.57814713e-01 -8.29421878e-01 -3.00348773e-02 2.79139076e+02] [ 8.28236024e-01 5.58622706e-01 -4.43369013e-02 1.17689213e+02] [ 5.35521604e-02 -1.44191431e-04 9.98565043e-01 1.67655270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.17, Y:117.74, Z:16.76 [[ 5.54110896e-01 -8.31901158e-01 -3.00262917e-02 2.79173855e+02] [ 8.30718604e-01 5.54923711e-01 -4.43427150e-02 1.17736529e+02] [ 5.35510571e-02 -3.72617549e-04 9.98565043e-01 1.67642713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.21, Y:117.78, Z:16.77 [[ 5.57054745e-01 -8.29933268e-01 -3.00130094e-02 2.79214570e+02] [ 8.28747359e-01 5.57862655e-01 -4.43517032e-02 1.17777729e+02] [ 5.35520911e-02 -1.66875498e-04 9.98565043e-01 1.67728780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:279.25, Y:117.82, Z:16.77 [[ 5.55018690e-01 -8.31296535e-01 -3.00054153e-02 2.79249187e+02] [ 8.30112332e-01 5.55829099e-01 -4.43568403e-02 1.17824015e+02] [ 5.35515706e-02 -2.88989878e-04 9.98565043e-01 1.67748336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.290385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:279.29, Y:117.87, Z:16.78 [[ 5.51548032e-01 -8.33603733e-01 -2.99930874e-02 2.79285179e+02] [ 8.32422466e-01 5.52362716e-01 -4.43651745e-02 1.17869725e+02] [ 5.35500383e-02 -4.97395105e-04 9.98565043e-01 1.67762166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.32, Y:117.91, Z:16.78 [[ 5.51655075e-01 -8.33533336e-01 -2.99809186e-02 2.79321124e+02] [ 8.32351519e-01 5.52468959e-01 -4.43733964e-02 1.17914921e+02] [ 5.35502320e-02 -4.75853732e-04 9.98565044e-01 1.67802455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.35, Y:117.96, Z:16.78 [[ 5.51537516e-01 -8.33611607e-01 -2.99676115e-02 2.79354802e+02] [ 8.32429416e-01 5.52350859e-01 -4.43823815e-02 1.17962603e+02] [ 5.35503043e-02 -4.67372914e-04 9.98565044e-01 1.67833203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.470385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:279.39, Y:118.01, Z:16.78 [[ 5.53946754e-01 -8.32013056e-01 -2.99544490e-02 2.79390536e+02] [ 8.30828038e-01 5.54755971e-01 -4.43912634e-02 1.18008309e+02] [ 5.35515201e-02 -2.96599781e-04 9.98565044e-01 1.67833366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.43, Y:118.05, Z:16.79 [[ 5.57156589e-01 -8.29867484e-01 -2.99415181e-02 2.79426927e+02] [ 8.28678881e-01 5.57960531e-01 -4.43999835e-02 1.18052096e+02] [ 5.35522879e-02 -7.41603702e-05 9.98565044e-01 1.67895400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.590385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:279.46, Y:118.10, Z:16.79 [[ 5.57583188e-01 -8.29581171e-01 -2.99344170e-02 2.79459804e+02] [ 8.28391898e-01 5.58386138e-01 -4.44047705e-02 1.18100471e+02] [ 5.35523250e-02 -3.80750706e-05 9.98565044e-01 1.67920899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.50, Y:118.14, Z:16.80 [[ 5.59710745e-01 -8.28147668e-01 -2.99219224e-02 2.79496192e+02] [ 8.26955889e-01 5.60509970e-01 -4.44131883e-02 1.18144208e+02] [ 5.35522142e-02 1.14428727e-04 9.98565044e-01 1.67987931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:118.19, Z:16.80 [[ 5.58328931e-01 -8.29080304e-01 -2.99107764e-02 2.79532796e+02] [ 8.27889457e-01 5.59129546e-01 -4.44206935e-02 1.18190028e+02] [ 5.35523209e-02 3.85419403e-05 9.98565044e-01 1.68026320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.57, Y:118.24, Z:16.80 [[ 5.55759706e-01 -8.30805166e-01 -2.98985763e-02 2.79567175e+02] [ 8.29616363e-01 5.56563351e-01 -4.44289036e-02 1.18236585e+02] [ 5.35522145e-02 -1.12553703e-04 9.98565044e-01 1.68039730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.60, Y:118.28, Z:16.81 [[ 5.54316461e-01 -8.31769235e-01 -2.98864720e-02 2.79603412e+02] [ 8.30581390e-01 5.55121521e-01 -4.44370445e-02 1.18281836e+02] [ 5.35519903e-02 -1.90962264e-04 9.98565044e-01 1.68094283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.64, Y:118.33, Z:16.81 [[ 5.54349055e-01 -8.31747976e-01 -2.98735604e-02 2.79638549e+02] [ 8.30559632e-01 5.55153379e-01 -4.44457228e-02 1.18326796e+02] [ 5.35520480e-02 -1.73328883e-04 9.98565045e-01 1.68129199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.67, Y:118.37, Z:16.82 [[ 5.52501671e-01 -8.32976578e-01 -2.98650932e-02 2.79673892e+02] [ 8.31789716e-01 5.53308179e-01 -4.44514116e-02 1.18374450e+02] [ 5.35515851e-02 -2.81998260e-04 9.98565045e-01 1.68154370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.71, Y:118.42, Z:16.82 [[ 5.56090489e-01 -8.30585405e-01 -2.98538600e-02 2.79708362e+02] [ 8.29394669e-01 5.56891268e-01 -4.44589546e-02 1.18419789e+02] [ 5.35523128e-02 -3.74305439e-05 9.98565045e-01 1.68177439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.74, Y:118.47, Z:16.82 [[ 5.57727232e-01 -8.29487654e-01 -2.98423607e-02 2.79740021e+02] [ 8.28294930e-01 5.58525044e-01 -4.44666720e-02 1.18468424e+02] [ 5.35522613e-02 8.19978284e-05 9.98565045e-01 1.68208567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.130385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:279.77, Y:118.52, Z:16.83 [[ 5.55567105e-01 -8.30936433e-01 -2.98301218e-02 2.79770760e+02] [ 8.29745348e-01 5.56367363e-01 -4.44748809e-02 1.18517874e+02] [ 5.35523051e-02 -4.26240308e-05 9.98565045e-01 1.68252310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.80, Y:118.56, Z:16.83 [[ 5.54636465e-01 -8.31558385e-01 -2.98168497e-02 2.79803330e+02] [ 8.30367719e-01 5.55437346e-01 -4.44837770e-02 1.18564709e+02] [ 5.35522496e-02 -8.66246371e-05 9.98565045e-01 1.68306267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.83, Y:118.61, Z:16.83 [[ 5.52409283e-01 -8.33040118e-01 -2.98017839e-02 2.79834554e+02] [ 8.31851055e-01 5.53212543e-01 -4.44938680e-02 1.18614265e+02] [ 5.35518977e-02 -2.11819681e-04 9.98565045e-01 1.68312554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.87, Y:118.66, Z:16.83 [[ 5.48900141e-01 -8.35356945e-01 -2.97894180e-02 2.79867181e+02] [ 8.34170823e-01 5.49707737e-01 -4.45021456e-02 1.18661040e+02] [ 5.35506500e-02 -4.22229318e-04 9.98565045e-01 1.68334896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.370385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:118.71, Z:16.84 [[ 5.45038546e-01 -8.37881942e-01 -2.97797679e-02 2.79897061e+02] [ 8.36699209e-01 5.45851095e-01 -4.45086024e-02 1.18709334e+02] [ 5.35482731e-02 -6.57804312e-04 9.98565045e-01 1.68376541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43038572300003 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:279.93, Y:118.76, Z:16.84 [[ 5.44291594e-01 -8.38367737e-01 -2.97690846e-02 2.79927038e+02] [ 8.37185338e-01 5.45104631e-01 -4.45157466e-02 1.18758582e+02] [ 5.35478316e-02 -6.92694450e-04 9.98565045e-01 1.68414599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.490385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:279.96, Y:118.81, Z:16.86 [[ 5.47811071e-01 -8.36072676e-01 -2.97575205e-02 2.79960375e+02] [ 8.34886451e-01 5.48618514e-01 -4.45234755e-02 1.18805778e+02] [ 5.35503880e-02 -4.53697908e-04 9.98565046e-01 1.68569219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.550385723 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:279.99, Y:118.86, Z:16.85 [[ 5.47865424e-01 -8.36037485e-01 -2.97455962e-02 2.79990130e+02] [ 8.34850775e-01 5.48672155e-01 -4.45314406e-02 1.18856622e+02] [ 5.35505340e-02 -4.35897404e-04 9.98565046e-01 1.68514329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.610385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:280.02, Y:118.91, Z:16.85 [[ 5.46500613e-01 -8.36930758e-01 -2.97318997e-02 2.80015597e+02] [ 8.35744870e-01 5.47308551e-01 -4.45405834e-02 1.18908104e+02] [ 5.35499071e-02 -5.06826491e-04 9.98565046e-01 1.68522001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:280.05, Y:118.96, Z:16.86 [[ 5.45605580e-01 -8.37514745e-01 -2.97254704e-02 2.80047694e+02] [ 8.36329487e-01 5.46414443e-01 -4.45448737e-02 1.18956625e+02] [ 5.35494149e-02 -5.56355714e-04 9.98565046e-01 1.68581893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.730385723 meters Centerline goodness : 0.996097 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:119.01, Z:16.86 [[ 5.44968057e-01 -8.37930150e-01 -2.97133245e-02 2.80077292e+02] [ 8.36745067e-01 5.45777175e-01 -4.45529741e-02 1.19007063e+02] [ 5.35491345e-02 -5.82530003e-04 9.98565046e-01 1.68582405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:280.10, Y:119.06, Z:16.86 [[ 5.42540703e-01 -8.39504370e-01 -2.96984619e-02 2.80104936e+02] [ 8.38321093e-01 5.43352459e-01 -4.45628791e-02 1.19057454e+02] [ 5.35474641e-02 -7.19671253e-04 9.98565046e-01 1.68588284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:280.13, Y:119.11, Z:16.87 [[ 5.38029922e-01 -8.42402946e-01 -2.96829779e-02 2.80132740e+02] [ 8.41223473e-01 5.38847195e-01 -4.45731905e-02 1.19108756e+02] [ 5.35431764e-02 -9.88307483e-04 9.98565046e-01 1.68657461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.910385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:280.16, Y:119.16, Z:16.87 [[ 5.35765096e-01 -8.43845325e-01 -2.96787636e-02 2.80161673e+02] [ 8.42667896e-01 5.36585312e-01 -4.45759964e-02 1.19159588e+02] [ 5.35404348e-02 -1.12707833e-03 9.98565046e-01 1.68681062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:280.19, Y:119.21, Z:16.87 [[ 5.38279125e-01 -8.42244332e-01 -2.96659680e-02 2.80190504e+02] [ 8.41063994e-01 5.39095149e-01 -4.45845104e-02 1.19210330e+02] [ 5.35438306e-02 -9.52066274e-04 9.98565046e-01 1.68722126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.22, Y:119.26, Z:16.88 [[ 5.41972255e-01 -8.39873047e-01 -2.96536652e-02 2.80217388e+02] [ 8.38688691e-01 5.42782435e-01 -4.45926916e-02 1.19263111e+02] [ 5.35476884e-02 -7.02192033e-04 9.98565046e-01 1.68751360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.090385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:280.25, Y:119.31, Z:16.88 [[ 5.43798401e-01 -8.38692210e-01 -2.96424618e-02 2.80246668e+02] [ 8.37505689e-01 5.44605407e-01 -4.46001378e-02 1.19313749e+02] [ 5.35492331e-02 -5.72246750e-04 9.98565047e-01 1.68796409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.150385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:280.28, Y:119.36, Z:16.88 [[ 5.43659274e-01 -8.38782800e-01 -2.96312077e-02 2.80276316e+02] [ 8.37596005e-01 5.44465879e-01 -4.46076135e-02 1.19363283e+02] [ 5.35492804e-02 -5.67638411e-04 9.98565047e-01 1.68815777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.210385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:280.31, Y:119.41, Z:16.89 [[ 5.42759296e-01 -8.39365577e-01 -2.96272624e-02 2.80305601e+02] [ 8.38179506e-01 5.43566963e-01 -4.46102337e-02 1.19413894e+02] [ 5.35486956e-02 -6.20345187e-04 9.98565047e-01 1.68871436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:119.47, Z:16.89 [[ 5.40878918e-01 -8.40578956e-01 -2.96144347e-02 2.80334584e+02] [ 8.39394230e-01 5.41688558e-01 -4.46187477e-02 1.19465237e+02] [ 5.35473808e-02 -7.24845640e-04 9.98565047e-01 1.68909450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.330385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:280.36, Y:119.52, Z:16.89 [[ 5.38484112e-01 -8.42115498e-01 -2.96031914e-02 2.80364137e+02] [ 8.40932672e-01 5.39296525e-01 -4.46262061e-02 1.19516379e+02] [ 5.35453180e-02 -8.63787849e-04 9.98565047e-01 1.68936896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.39, Y:119.57, Z:16.89 [[ 5.34213108e-01 -8.44831742e-01 -2.95919358e-02 2.80388538e+02] [ 8.43652634e-01 5.35030905e-01 -4.46336685e-02 1.19569463e+02] [ 5.35405401e-02 -1.12142384e-03 9.98565047e-01 1.68933037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:119.62, Z:16.90 [[ 5.35294032e-01 -8.44147719e-01 -2.95791855e-02 2.80420464e+02] [ 8.42967099e-01 5.36109646e-01 -4.46421166e-02 1.19618106e+02] [ 5.35422276e-02 -1.03762164e-03 9.98565047e-01 1.69024000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.45, Y:119.67, Z:16.90 [[ 5.34337773e-01 -8.44753735e-01 -2.95680962e-02 2.80448263e+02] [ 8.43573633e-01 5.35154137e-01 -4.46494603e-02 1.19668429e+02] [ 5.35412873e-02 -1.08497313e-03 9.98565047e-01 1.69041336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.48, Y:119.72, Z:16.90 [[ 5.34454810e-01 -8.44679914e-01 -2.95617870e-02 2.80475725e+02] [ 8.43499469e-01 5.35270677e-01 -4.46536371e-02 1.19720649e+02] [ 5.35415881e-02 -1.07000053e-03 9.98565047e-01 1.69046659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.50, Y:119.77, Z:16.90 [[ 5.34126778e-01 -8.44887802e-01 -2.95497190e-02 2.80503868e+02] [ 8.43707234e-01 5.34942467e-01 -4.46616217e-02 1.19772583e+02] [ 5.35414590e-02 -1.07634354e-03 9.98565047e-01 1.69037999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.53, Y:119.82, Z:16.91 [[ 5.37654020e-01 -8.42647986e-01 -2.95385517e-02 2.80533373e+02] [ 8.41463614e-01 5.38464174e-01 -4.46690064e-02 1.19822252e+02] [ 5.35457002e-02 -8.39145583e-04 9.98565047e-01 1.69117091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.56, Y:119.88, Z:16.91 [[ 5.43836837e-01 -8.38671182e-01 -2.95320741e-02 2.80560328e+02] [ 8.37480650e-01 5.44637914e-01 -4.46732886e-02 1.19875141e+02] [ 5.35504869e-02 -4.37560652e-04 9.98565047e-01 1.69149065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.59, Y:119.92, Z:16.92 [[ 5.45049227e-01 -8.37883998e-01 -2.95253511e-02 2.80589348e+02] [ 8.36692069e-01 5.45848222e-01 -4.46777315e-02 1.19924236e+02] [ 5.35511167e-02 -3.52064123e-04 9.98565047e-01 1.69156058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.870385723 meters Centerline goodness : 0.994856 with order 1 Centerline is valid? [True, True] Translation: X:280.62, Y:119.98, Z:16.92 [[ 5.46690271e-01 -8.36814503e-01 -2.95166753e-02 2.80617343e+02] [ 8.35620702e-01 5.47486466e-01 -4.46834625e-02 1.19975753e+02] [ 5.35517497e-02 -2.36730675e-04 9.98565047e-01 1.69189825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93038572300003 meters Centerline goodness : 0.996593 with order 1 Centerline is valid? [True, True] Translation: X:280.65, Y:120.03, Z:16.92 [[ 5.46811530e-01 -8.36735615e-01 -2.95069712e-02 2.80647708e+02] [ 8.35541353e-01 5.47607033e-01 -4.46898697e-02 1.20025236e+02] [ 5.35518306e-02 -2.17358604e-04 9.98565048e-01 1.69230793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.68, Y:120.07, Z:16.93 [[ 5.44396231e-01 -8.38309634e-01 -2.94907038e-02 2.80676757e+02] [ 8.37117090e-01 5.45194309e-01 -4.47006019e-02 1.20073783e+02] [ 5.35511091e-02 -3.52332935e-04 9.98565048e-01 1.69278797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.050385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:280.71, Y:120.12, Z:16.93 [[ 5.40815110e-01 -8.40624941e-01 -2.94741615e-02 2.80708544e+02] [ 8.39435219e-01 5.41617387e-01 -4.47115068e-02 1.20122076e+02] [ 5.35493261e-02 -5.60990786e-04 9.98565048e-01 1.69286940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.74, Y:120.17, Z:16.93 [[ 5.38438751e-01 -8.42149498e-01 -2.94607304e-02 2.80740115e+02] [ 8.40961563e-01 5.39243673e-01 -4.47203548e-02 1.20169168e+02] [ 5.35477369e-02 -6.96169897e-04 9.98565048e-01 1.69334205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:120.22, Z:16.93 [[ 5.36242263e-01 -8.43550072e-01 -2.94535411e-02 2.80774094e+02] [ 8.42363980e-01 5.37049897e-01 -4.47250894e-02 1.20216949e+02] [ 5.35458736e-02 -8.27119000e-04 9.98565048e-01 1.69335619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.230385723 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:280.81, Y:120.26, Z:16.94 [[ 5.34749922e-01 -8.44497306e-01 -2.94418290e-02 2.80809007e+02] [ 8.43312220e-01 5.35559032e-01 -4.47327980e-02 1.20263682e+02] [ 5.35445648e-02 -9.07793931e-04 9.98565048e-01 1.69362447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.84, Y:120.31, Z:16.94 [[ 5.34744072e-01 -8.44501451e-01 -2.94291940e-02 2.80842185e+02] [ 8.43315914e-01 5.35552521e-01 -4.47411088e-02 1.20310951e+02] [ 5.35448103e-02 -8.93064906e-04 9.98565048e-01 1.69430655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:120.36, Z:16.95 [[ 5.34462514e-01 -8.44680101e-01 -2.94167849e-02 2.80875166e+02] [ 8.43494386e-01 5.35270701e-01 -4.47492662e-02 1.20358901e+02] [ 5.35447578e-02 -8.96087611e-04 9.98565048e-01 1.69478867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.91, Y:120.41, Z:16.95 [[ 5.33161925e-01 -8.45501827e-01 -2.94112523e-02 2.80907852e+02] [ 8.44317157e-01 5.33971643e-01 -4.47529022e-02 1.20405282e+02] [ 5.35434353e-02 -9.71881493e-04 9.98565048e-01 1.69510081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.470385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:120.45, Z:16.95 [[ 5.32826255e-01 -8.45713789e-01 -2.94001645e-02 2.80940403e+02] [ 8.44529039e-01 5.33635857e-01 -4.47601851e-02 1.20453264e+02] [ 5.35432877e-02 -9.79890858e-04 9.98565049e-01 1.69547166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.97, Y:120.50, Z:16.96 [[ 5.31548023e-01 -8.46518192e-01 -2.93879063e-02 2.80974146e+02] [ 8.45334224e-01 5.32358766e-01 -4.47682319e-02 1.20500593e+02] [ 5.35420323e-02 -1.04613774e-03 9.98565049e-01 1.69578501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.01, Y:120.55, Z:16.96 [[ 5.31899051e-01 -8.46298093e-01 -2.93757940e-02 2.81006413e+02] [ 8.45113351e-01 5.32708662e-01 -4.47761783e-02 1.20548828e+02] [ 5.35427342e-02 -1.00946898e-03 9.98565049e-01 1.69597845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.04, Y:120.60, Z:16.96 [[ 5.31961494e-01 -8.46259272e-01 -2.93634759e-02 2.81038051e+02] [ 8.45074025e-01 5.32770366e-01 -4.47842548e-02 1.20597602e+02] [ 5.35430807e-02 -9.90811698e-04 9.98565049e-01 1.69612384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.07, Y:120.64, Z:16.97 [[ 5.33381354e-01 -8.45365520e-01 -2.93508066e-02 2.81071418e+02] [ 8.44178461e-01 5.34187564e-01 -4.47925565e-02 1.20644208e+02] [ 5.35449187e-02 -8.85804348e-04 9.98565049e-01 1.69651023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.10, Y:120.69, Z:16.97 [[ 5.34318449e-01 -8.44773776e-01 -2.93438687e-02 2.81102446e+02] [ 8.43585574e-01 5.35122975e-01 -4.47971012e-02 1.20692256e+02] [ 5.35459946e-02 -8.18146692e-04 9.98565049e-01 1.69685077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.13, Y:120.74, Z:16.97 [[ 5.33092300e-01 -8.45548457e-01 -2.93326897e-02 2.81133174e+02] [ 8.44361022e-01 5.33897956e-01 -4.48044198e-02 1.20741744e+02] [ 5.35449712e-02 -8.82488665e-04 9.98565049e-01 1.69726397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.890385723 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:281.17, Y:120.79, Z:16.98 [[ 5.35853559e-01 -8.43801456e-01 -2.93268786e-02 2.81167956e+02] [ 8.42611186e-01 5.36655022e-01 -4.48082232e-02 1.20788356e+02] [ 5.35476606e-02 -7.00510104e-04 9.98565049e-01 1.69770599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.20, Y:120.84, Z:16.98 [[ 5.41593763e-01 -8.40129154e-01 -2.93121225e-02 2.81197651e+02] [ 8.38932926e-01 5.42386305e-01 -4.48178741e-02 1.20838182e+02] [ 5.35512965e-02 -3.17823551e-04 9.98565049e-01 1.69835401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.23, Y:120.89, Z:16.98 [[ 5.45754804e-01 -8.37432674e-01 -2.92952307e-02 2.81229823e+02] [ 8.36231938e-01 5.46540497e-01 -4.48289127e-02 1.20885111e+02] [ 5.35522262e-02 -3.20130812e-05 9.98565049e-01 1.69844156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.070385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:281.26, Y:120.93, Z:16.98 [[ 5.46107288e-01 -8.37203119e-01 -2.92876664e-02 2.81262342e+02] [ 8.36001787e-01 5.46892071e-01 -4.48338541e-02 1.20934032e+02] [ 5.35522350e-02 -4.46974714e-07 9.98565050e-01 1.69845976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.130385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:281.29, Y:120.98, Z:16.99 [[ 5.44735508e-01 -8.38096738e-01 -2.92759848e-02 2.81293738e+02] [ 8.36896284e-01 5.45521633e-01 -4.48414808e-02 1.20981867e+02] [ 5.35521818e-02 -7.42161071e-05 9.98565050e-01 1.69860016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.190385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:281.33, Y:121.03, Z:16.99 [[ 5.44296758e-01 -8.38382237e-01 -2.92619892e-02 2.81327897e+02] [ 8.37181704e-01 5.45082762e-01 -4.48506120e-02 1.21028501e+02] [ 5.35521623e-02 -8.55592443e-05 9.98565050e-01 1.69898341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.250385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:281.36, Y:121.08, Z:16.99 [[ 5.40460633e-01 -8.40860725e-01 -2.92496929e-02 2.81361406e+02] [ 8.39663363e-01 5.41251458e-01 -4.48586296e-02 1.21076072e+02] [ 5.35512988e-02 -3.15572139e-04 9.98565050e-01 1.69895966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.310385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:281.39, Y:121.12, Z:16.99 [[ 5.38015517e-01 -8.42427718e-01 -2.92377108e-02 2.81393800e+02] [ 8.41232234e-01 5.38809179e-01 -4.48664379e-02 1.21122639e+02] [ 5.35502779e-02 -4.56864957e-04 9.98565050e-01 1.69914500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.43, Y:121.17, Z:17.00 [[ 5.36971045e-01 -8.43094217e-01 -2.92273651e-02 2.81430663e+02] [ 8.41899351e-01 5.37765638e-01 -4.48731764e-02 1.21167470e+02] [ 5.35497882e-02 -5.10903293e-04 9.98565050e-01 1.69982678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43038572300003 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:281.46, Y:121.22, Z:17.00 [[ 5.36770472e-01 -8.43222369e-01 -2.92146784e-02 2.81463598e+02] [ 8.42027243e-01 5.37564674e-01 -4.48814346e-02 1.21215532e+02] [ 5.35498087e-02 -5.08526273e-04 9.98565050e-01 1.70020915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.490385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:281.49, Y:121.27, Z:17.00 [[ 5.36512905e-01 -8.43386710e-01 -2.92020436e-02 2.81494819e+02] [ 8.42191381e-01 5.37306800e-01 -4.48896539e-02 1.21265346e+02] [ 5.35497941e-02 -5.09830746e-04 9.98565050e-01 1.70032466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:121.31, Z:17.01 [[ 5.42101748e-01 -8.39805679e-01 -2.91910416e-02 2.81533502e+02] [ 8.38604719e-01 5.42887099e-01 -4.48968072e-02 1.21309095e+02] [ 5.35520335e-02 -1.41107645e-04 9.98565050e-01 1.70075058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.56, Y:121.36, Z:17.01 [[ 5.38887521e-01 -8.41872253e-01 -2.91779063e-02 2.81561260e+02] [ 8.40673842e-01 5.39676756e-01 -4.49053421e-02 1.21360442e+02] [ 5.35511993e-02 -3.30174194e-04 9.98565050e-01 1.70054472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:281.60, Y:121.40, Z:17.02 [[ 5.47468053e-01 -8.36318249e-01 -2.91636446e-02 2.81601105e+02] [ 8.35111338e-01 5.48244227e-01 -4.49146024e-02 1.21402945e+02] [ 5.35517014e-02 2.34419665e-04 9.98565051e-01 1.70156518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.64, Y:121.45, Z:17.02 [[ 5.48908004e-01 -8.35373998e-01 -2.91596648e-02 2.81636604e+02] [ 8.34165615e-01 5.49681883e-01 -4.49171861e-02 1.21449315e+02] [ 5.35511888e-02 3.31413240e-04 9.98565051e-01 1.70175288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.790385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:281.67, Y:121.50, Z:17.02 [[ 5.48451433e-01 -8.35674245e-01 -2.91475921e-02 2.81672856e+02] [ 8.34465869e-01 5.49225324e-01 -4.49250189e-02 1.21495751e+02] [ 5.35512769e-02 3.16520178e-04 9.98565051e-01 1.70229158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:281.71, Y:121.54, Z:17.02 [[ 5.45743104e-01 -8.37445825e-01 -2.91368142e-02 2.81709991e+02] [ 8.36239588e-01 5.46520325e-01 -4.49320079e-02 1.21541421e+02] [ 5.35519836e-02 1.55975944e-04 9.98565051e-01 1.70247810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.910385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:281.74, Y:121.59, Z:17.03 [[ 5.44552053e-01 -8.38221215e-01 -2.91248443e-02 2.81744714e+02] [ 8.37015669e-01 5.45330346e-01 -4.49397655e-02 1.21587508e+02] [ 5.35521262e-02 9.40905291e-05 9.98565051e-01 1.70272687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.970385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:281.78, Y:121.63, Z:17.03 [[ 5.42796293e-01 -8.39359666e-01 -2.91124590e-02 2.81781990e+02] [ 8.38155323e-01 5.43576444e-01 -4.49477874e-02 1.21632188e+02] [ 5.35522068e-02 -3.27015825e-06 9.98565051e-01 1.70301390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:281.82, Y:121.68, Z:17.03 [[ 5.41550490e-01 -8.40164423e-01 -2.90999954e-02 2.81817782e+02] [ 8.38960806e-01 5.42331760e-01 -4.49558551e-02 1.21677484e+02] [ 5.35521618e-02 -6.78902106e-05 9.98565051e-01 1.70308854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.090385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:281.85, Y:121.72, Z:17.03 [[ 5.38071045e-01 -8.42397401e-01 -2.90889864e-02 2.81852147e+02] [ 8.41196640e-01 5.38856700e-01 -4.49629774e-02 1.21724830e+02] [ 5.35514905e-02 -2.76281399e-04 9.98565051e-01 1.70340913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:281.89, Y:121.77, Z:17.04 [[ 5.41618109e-01 -8.40121608e-01 -2.90776095e-02 2.81889930e+02] [ 8.38917152e-01 5.42398084e-01 -4.49703337e-02 1.21768050e+02] [ 5.35521888e-02 -3.69582917e-05 9.98565051e-01 1.70394995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:121.82, Z:17.04 [[ 5.38551670e-01 -8.42090952e-01 -2.90676485e-02 2.81923325e+02] [ 8.40889000e-01 5.39335499e-01 -4.49767713e-02 1.21816781e+02] [ 5.35517469e-02 -2.20350587e-04 9.98565051e-01 1.70406089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.96, Y:121.86, Z:17.04 [[ 5.39280507e-01 -8.41624782e-01 -2.90561837e-02 2.81960325e+02] [ 8.40421753e-01 5.40062683e-01 -4.49841766e-02 1.21860887e+02] [ 5.35519584e-02 -1.60359277e-04 9.98565051e-01 1.70444566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:282.00, Y:121.91, Z:17.05 [[ 5.39937900e-01 -8.41203575e-01 -2.90449608e-02 2.81997696e+02] [ 8.39999546e-01 5.40718536e-01 -4.49914218e-02 1.21905644e+02] [ 5.35520935e-02 -1.05180042e-04 9.98565052e-01 1.70499275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.390385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:121.96, Z:17.05 [[ 5.35570077e-01 -8.43991591e-01 -2.90325092e-02 2.82028508e+02] [ 8.42791190e-01 5.36356279e-01 -4.49994553e-02 1.21956385e+02] [ 5.35509305e-02 -3.67981273e-04 9.98565052e-01 1.70502856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:122.00, Z:17.05 [[ 5.35534713e-01 -8.44014437e-01 -2.90207109e-02 2.82061796e+02] [ 8.42813657e-01 5.36320337e-01 -4.50070629e-02 1.22002857e+02] [ 5.35510082e-02 -3.56206988e-04 9.98565052e-01 1.70539331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.510385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:282.10, Y:122.05, Z:17.06 [[ 5.37577014e-01 -8.42715284e-01 -2.90155930e-02 2.82096722e+02] [ 8.41512427e-01 5.38359454e-01 -4.50103621e-02 1.22049478e+02] [ 5.35517389e-02 -2.20446013e-04 9.98565052e-01 1.70583204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.12, Y:122.10, Z:17.06 [[ 5.36917396e-01 -8.43135835e-01 -2.90115993e-02 2.82124947e+02] [ 8.41933452e-01 5.37700565e-01 -4.50129361e-02 1.22099232e+02] [ 5.35515728e-02 -2.57607460e-04 9.98565052e-01 1.70625276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.15, Y:122.15, Z:17.06 [[ 5.31727208e-01 -8.46419017e-01 -2.90004017e-02 2.82149179e+02] [ 8.45221076e-01 5.32517153e-01 -4.50201492e-02 1.22153223e+02] [ 5.35491218e-02 -5.73312440e-04 9.98565052e-01 1.70620213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.18, Y:122.20, Z:17.07 [[ 5.30484907e-01 -8.47198386e-01 -2.89940972e-02 2.82180602e+02] [ 8.46001384e-01 5.31276273e-01 -4.50242090e-02 1.22203395e+02] [ 5.35483132e-02 -6.44383055e-04 9.98565052e-01 1.70668639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.21, Y:122.25, Z:17.07 [[ 5.26612493e-01 -8.49611257e-01 -2.89826522e-02 2.82210528e+02] [ 8.48417475e-01 5.27408708e-01 -4.50315752e-02 1.22253351e+02] [ 5.35450364e-02 -8.75198535e-04 9.98565052e-01 1.70737714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.810385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:282.24, Y:122.30, Z:17.08 [[ 5.25882319e-01 -8.50063808e-01 -2.89708399e-02 2.82239611e+02] [ 8.48870292e-01 5.26678934e-01 -4.50391733e-02 1.22303717e+02] [ 5.35445022e-02 -9.07180438e-04 9.98565052e-01 1.70764274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.870385723 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:282.27, Y:122.35, Z:17.08 [[ 5.27723813e-01 -8.48922028e-01 -2.89649338e-02 2.82272918e+02] [ 8.47726580e-01 5.28517526e-01 -4.50429712e-02 1.22352748e+02] [ 5.35464456e-02 -7.84095713e-04 9.98565052e-01 1.70790480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93038572300003 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:282.30, Y:122.40, Z:17.08 [[ 5.31310550e-01 -8.46682204e-01 -2.89541838e-02 2.82301356e+02] [ 8.45483033e-01 5.32098627e-01 -4.50498804e-02 1.22402853e+02] [ 5.35494134e-02 -5.44794436e-04 9.98565052e-01 1.70806447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:282.33, Y:122.45, Z:17.08 [[ 5.38302277e-01 -8.42254611e-01 -2.89452642e-02 2.82334544e+02] [ 8.41048649e-01 5.39079921e-01 -4.50556107e-02 1.22450536e+02] [ 5.35521066e-02 -9.08375328e-05 9.98565052e-01 1.70828775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.37, Y:122.50, Z:17.09 [[ 5.36225048e-01 -8.43578841e-01 -2.89385131e-02 2.82365129e+02] [ 8.42374565e-01 5.37005301e-01 -4.50599464e-02 1.22500299e+02] [ 5.35517522e-02 -2.14795478e-04 9.98565052e-01 1.70932643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:282.39, Y:122.55, Z:17.10 [[ 5.35434772e-01 -8.44081070e-01 -2.89266736e-02 2.82394678e+02] [ 8.42877115e-01 5.36215521e-01 -4.50675455e-02 1.22549921e+02] [ 5.35515934e-02 -2.50900234e-04 9.98565052e-01 1.70957685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:122.60, Z:17.10 [[ 5.33586128e-01 -8.45251045e-01 -2.89225749e-02 2.82429807e+02] [ 8.44048660e-01 5.34369291e-01 -4.50701758e-02 1.22596903e+02] [ 5.35509490e-02 -3.63240057e-04 9.98565052e-01 1.71002720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.230385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:122.64, Z:17.10 [[ 5.32019169e-01 -8.46238597e-01 -2.89109191e-02 2.82464522e+02] [ 8.45037259e-01 5.32803938e-01 -4.50776513e-02 1.22643529e+02] [ 5.35503000e-02 -4.48629267e-04 9.98565053e-01 1.70981101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.290385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:282.49, Y:122.69, Z:17.11 [[ 5.29169143e-01 -8.48023925e-01 -2.89039822e-02 2.82494421e+02] [ 8.46824992e-01 5.29957580e-01 -4.50820989e-02 1.22693884e+02] [ 5.35485829e-02 -6.20558846e-04 9.98565053e-01 1.71059281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.350385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:282.53, Y:122.74, Z:17.11 [[ 5.27813503e-01 -8.48868741e-01 -2.88923191e-02 2.82527578e+02] [ 8.47670661e-01 5.28603236e-01 -4.50895723e-02 1.22742902e+02] [ 5.35477019e-02 -6.92286071e-04 9.98565053e-01 1.71095256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.56, Y:122.79, Z:17.11 [[ 5.27130178e-01 -8.49293632e-01 -2.88808203e-02 2.82558509e+02] [ 8.48095785e-01 5.27920264e-01 -4.50969364e-02 1.22793307e+02] [ 5.35473111e-02 -7.21745852e-04 9.98565053e-01 1.71142663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:282.59, Y:122.84, Z:17.11 [[ 5.27535089e-01 -8.49042587e-01 -2.88689399e-02 2.82589085e+02] [ 8.47843948e-01 5.28323973e-01 -4.51045404e-02 1.22842290e+02] [ 5.35478286e-02 -6.82128222e-04 9.98565053e-01 1.71141074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:282.62, Y:122.89, Z:17.12 [[ 5.28040223e-01 -8.48728666e-01 -2.88647684e-02 2.82618094e+02] [ 8.47529412e-01 5.28828172e-01 -4.51072098e-02 1.22893018e+02] [ 5.35482846e-02 -6.45319085e-04 9.98565053e-01 1.71171121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:122.94, Z:17.12 [[ 5.28385511e-01 -8.48513891e-01 -2.88604941e-02 2.82646158e+02] [ 8.47314168e-01 5.29172745e-01 -4.51099444e-02 1.22943500e+02] [ 5.35486013e-02 -6.18464556e-04 9.98565053e-01 1.71181103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.650385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:282.68, Y:122.99, Z:17.12 [[ 5.29537162e-01 -8.47795793e-01 -2.88563121e-02 2.82676134e+02] [ 8.46594857e-01 5.30322544e-01 -4.51126194e-02 1.22992537e+02] [ 5.35494418e-02 -5.40797000e-04 9.98565053e-01 1.71225673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:123.04, Z:17.13 [[ 5.30845907e-01 -8.46977396e-01 -2.88429072e-02 2.82708065e+02] [ 8.45774783e-01 5.31628719e-01 -4.51211882e-02 1.23042351e+02] [ 5.35503443e-02 -4.42205495e-04 9.98565053e-01 1.71277170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.74, Y:123.09, Z:17.13 [[ 5.33006131e-01 -8.45620027e-01 -2.88311442e-02 2.82736949e+02] [ 8.44415013e-01 5.33785243e-01 -4.51287032e-02 1.23092730e+02] [ 5.35513745e-02 -2.91575564e-04 9.98565053e-01 1.71290615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.77, Y:123.14, Z:17.13 [[ 5.34903447e-01 -8.44421344e-01 -2.88252565e-02 2.82767852e+02] [ 8.43214382e-01 5.35679537e-01 -4.51324636e-02 1.23141330e+02] [ 5.35519156e-02 -1.64360500e-04 9.98565053e-01 1.71320881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.80, Y:123.19, Z:17.13 [[ 5.36118862e-01 -8.43650654e-01 -2.88121644e-02 2.82798395e+02] [ 8.42442127e-01 5.36892512e-01 -4.51408199e-02 1.23190618e+02] [ 5.35521175e-02 -7.17360933e-05 9.98565053e-01 1.71346492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.950385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:282.83, Y:123.24, Z:17.14 [[ 5.35087643e-01 -8.44305532e-01 -2.87990269e-02 2.82828877e+02] [ 8.43097500e-01 5.35862067e-01 -4.51491998e-02 1.23240523e+02] [ 5.35520253e-02 -1.21608703e-04 9.98565053e-01 1.71364101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.87, Y:123.28, Z:17.15 [[ 5.39931828e-01 -8.41216376e-01 -2.87859300e-02 2.82866798e+02] [ 8.40003469e-01 5.40698593e-01 -4.51575486e-02 1.23283837e+02] [ 5.35517812e-02 2.01716721e-04 9.98565053e-01 1.71469099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.90, Y:123.33, Z:17.15 [[ 5.37249095e-01 -8.42932600e-01 -2.87757038e-02 2.82898161e+02] [ 8.41721793e-01 5.38019172e-01 -4.51640640e-02 1.23332946e+02] [ 5.35521423e-02 4.32154957e-05 9.98565054e-01 1.71519150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.130385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:282.92, Y:123.39, Z:17.15 [[ 5.28345261e-01 -8.48542247e-01 -2.87635108e-02 2.82923915e+02] [ 8.47339193e-01 5.29127394e-01 -4.51718280e-02 1.23385081e+02] [ 5.35497660e-02 -5.06128706e-04 9.98565054e-01 1.71523034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:123.43, Z:17.16 [[ 5.27714432e-01 -8.48935142e-01 -2.87507193e-02 2.82959522e+02] [ 8.47732226e-01 5.28496777e-01 -4.51799681e-02 1.23429268e+02] [ 5.35495251e-02 -5.30790095e-04 9.98565054e-01 1.71587226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.250385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:123.48, Z:17.16 [[ 5.18935330e-01 -8.54330246e-01 -2.87394221e-02 2.82983042e+02] [ 8.53135062e-01 5.19729437e-01 -4.51871532e-02 1.23483107e+02] [ 5.35414753e-02 -1.06939836e-03 9.98565054e-01 1.71603464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.02, Y:123.53, Z:17.17 [[ 5.21572022e-01 -8.52723538e-01 -2.87261894e-02 2.83016932e+02] [ 8.51525444e-01 5.22361732e-01 -4.51955639e-02 1.23528606e+02] [ 5.35447831e-02 -8.88339546e-04 9.98565054e-01 1.71650817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.05, Y:123.58, Z:17.17 [[ 5.20908913e-01 -8.53129170e-01 -2.87145089e-02 2.83045922e+02] [ 8.51931283e-01 5.21698935e-01 -4.52029837e-02 1.23578510e+02] [ 5.35443127e-02 -9.16151319e-04 9.98565054e-01 1.71683981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.07, Y:123.63, Z:17.17 [[ 5.20919107e-01 -8.53123360e-01 -2.87022069e-02 2.83072247e+02] [ 8.51925034e-01 5.21708463e-01 -4.52107937e-02 1.23630830e+02] [ 5.35445685e-02 -9.00962306e-04 9.98565054e-01 1.71712655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.490385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:283.10, Y:123.68, Z:17.17 [[ 5.21131115e-01 -8.52994280e-01 -2.86900505e-02 2.83096840e+02] [ 8.51795334e-01 5.21919530e-01 -4.52185066e-02 1.23684154e+02] [ 5.35450252e-02 -8.73280356e-04 9.98565054e-01 1.71732724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:123.74, Z:17.18 [[ 5.21537561e-01 -8.52746247e-01 -2.86777152e-02 2.83121802e+02] [ 8.51546496e-01 5.22324750e-01 -4.52263284e-02 1.23736896e+02] [ 5.35456622e-02 -8.33178876e-04 9.98565054e-01 1.71763646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.610385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:283.14, Y:123.79, Z:17.18 [[ 5.18414444e-01 -8.54648919e-01 -2.86651216e-02 2.83143394e+02] [ 8.53451616e-01 5.19205350e-01 -4.52343090e-02 1.23791508e+02] [ 5.35425378e-02 -1.01417529e-03 9.98565055e-01 1.71780453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.17, Y:123.84, Z:17.18 [[ 5.23459866e-01 -8.51568450e-01 -2.86521291e-02 2.83167116e+02] [ 8.50366040e-01 5.24242988e-01 -4.52425371e-02 1.23844344e+02] [ 5.35477950e-02 -6.82145181e-04 9.98565055e-01 1.71827885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.19, Y:123.90, Z:17.19 [[ 5.22575996e-01 -8.52111429e-01 -2.86433360e-02 2.83190550e+02] [ 8.50909529e-01 5.23359899e-01 -4.52481034e-02 1.23897739e+02] [ 5.35471995e-02 -7.27314860e-04 9.98565055e-01 1.71869183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:123.95, Z:17.19 [[ 5.20555070e-01 -8.53347943e-01 -2.86305261e-02 2.83214407e+02] [ 8.52147459e-01 5.21341139e-01 -4.52562074e-02 1.23949878e+02] [ 5.35455626e-02 -8.39081896e-04 9.98565055e-01 1.71888213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.23, Y:124.01, Z:17.19 [[ 5.18674609e-01 -8.54492597e-01 -2.86190688e-02 2.83234020e+02] [ 8.53293448e-01 5.19462714e-01 -4.52634516e-02 1.24006095e+02] [ 5.35438235e-02 -9.43460792e-04 9.98565055e-01 1.71888385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.26, Y:124.06, Z:17.19 [[ 5.17432637e-01 -8.55245657e-01 -2.86064952e-02 2.83255537e+02] [ 8.54047216e-01 5.18221818e-01 -4.52713967e-02 1.24059420e+02] [ 5.35426754e-02 -1.00639945e-03 9.98565055e-01 1.71925385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.28, Y:124.11, Z:17.19 [[ 5.14322017e-01 -8.57120277e-01 -2.85953322e-02 2.83278558e+02] [ 8.55924321e-01 5.15114958e-01 -4.52784467e-02 1.24113335e+02] [ 5.35389581e-02 -1.18773823e-03 9.98565055e-01 1.71931347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.30, Y:124.17, Z:17.20 [[ 5.17623043e-01 -8.55131233e-01 -2.85825232e-02 2.83302059e+02] [ 8.53931782e-01 5.18410688e-01 -4.52865311e-02 1.24167095e+02] [ 5.35434126e-02 -9.66172958e-04 9.98565055e-01 1.71966370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.32, Y:124.22, Z:17.20 [[ 5.20137975e-01 -8.53604267e-01 -2.85699599e-02 2.83322635e+02] [ 8.52402069e-01 5.20921419e-01 -4.52944555e-02 1.24221358e+02] [ 5.35462445e-02 -7.93726554e-04 9.98565055e-01 1.71999003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.35, Y:124.27, Z:17.20 [[ 5.24691614e-01 -8.50813204e-01 -2.85587429e-02 2.83347177e+02] [ 8.49606453e-01 5.25468026e-01 -4.53015268e-02 1.24274292e+02] [ 5.35498435e-02 -4.94361057e-04 9.98565055e-01 1.72041619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.38, Y:124.32, Z:17.21 [[ 5.25567437e-01 -8.50272874e-01 -2.85465933e-02 2.83375520e+02] [ 8.49064909e-01 5.26341960e-01 -4.53091816e-02 1.24324754e+02] [ 5.35504379e-02 -4.24880203e-04 9.98565056e-01 1.72084756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.270385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.40, Y:124.38, Z:17.21 [[ 5.26925023e-01 -8.49432681e-01 -2.85331405e-02 2.83401405e+02] [ 8.48223022e-01 5.27696897e-01 -4.53176518e-02 1.24375375e+02] [ 5.35511442e-02 -3.23461929e-04 9.98565056e-01 1.72094662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.330385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.43, Y:124.43, Z:17.21 [[ 5.28659113e-01 -8.48354830e-01 -2.85241002e-02 2.83427347e+02] [ 8.47143290e-01 5.29428032e-01 -4.53233413e-02 1.24426435e+02] [ 5.35517337e-02 -2.03402660e-04 9.98565056e-01 1.72117899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.45, Y:124.48, Z:17.21 [[ 5.32737396e-01 -8.45800000e-01 -2.85171329e-02 2.83453616e+02] [ 8.44584538e-01 5.33500099e-01 -4.53277247e-02 1.24478486e+02] [ 5.35520828e-02 6.26444866e-05 9.98565056e-01 1.72131162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.48, Y:124.53, Z:17.22 [[ 5.37397544e-01 -8.42847186e-01 -2.85044035e-02 2.83483141e+02] [ 8.41627109e-01 5.38152843e-01 -4.53357281e-02 1.24528348e+02] [ 5.35508167e-02 3.73230225e-04 9.98565056e-01 1.72162932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.51, Y:124.58, Z:17.22 [[ 5.38871598e-01 -8.41905942e-01 -2.84918371e-02 2.83512969e+02] [ 8.40684128e-01 5.39624084e-01 -4.53436243e-02 1.24578643e+02] [ 5.35499482e-02 4.81756051e-04 9.98565056e-01 1.72191260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.570385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:124.63, Z:17.22 [[ 5.38404397e-01 -8.42205223e-01 -2.84792580e-02 2.83543641e+02] [ 8.40983409e-01 5.39156883e-01 -4.53515236e-02 1.24627603e+02] [ 5.35500780e-02 4.66876229e-04 9.98565056e-01 1.72216981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.630385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.58, Y:124.67, Z:17.23 [[ 5.35639200e-01 -8.43966998e-01 -2.84667203e-02 2.83577491e+02] [ 8.42747241e-01 5.36395016e-01 -4.53593920e-02 1.24674500e+02] [ 5.35512368e-02 3.06018418e-04 9.98565056e-01 1.72257903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:124.72, Z:17.23 [[ 5.32910088e-01 -8.45693327e-01 -2.84540730e-02 2.83610259e+02] [ 8.44475595e-01 5.33669162e-01 -4.53673243e-02 1.24721967e+02] [ 5.35519047e-02 1.47934607e-04 9.98565056e-01 1.72280579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.64, Y:124.77, Z:17.23 [[ 5.33254013e-01 -8.45476929e-01 -2.84415069e-02 2.83642522e+02] [ 8.44258469e-01 5.34011917e-01 -4.53752008e-02 1.24769737e+02] [ 5.35517891e-02 1.84524834e-04 9.98565056e-01 1.72314396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.68, Y:124.82, Z:17.24 [[ 5.36492642e-01 -8.43426024e-01 -2.84286358e-02 2.83677117e+02] [ 8.42204240e-01 5.37245175e-01 -4.53832634e-02 1.24815280e+02] [ 5.35505729e-02 4.05069277e-04 9.98565057e-01 1.72352074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.71, Y:124.86, Z:17.24 [[ 5.40181058e-01 -8.41068748e-01 -2.84215892e-02 2.83712351e+02] [ 8.39843448e-01 5.40927853e-01 -4.53876760e-02 1.24861728e+02] [ 5.35481851e-02 6.47877356e-04 9.98565057e-01 1.72389454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.75, Y:124.91, Z:17.24 [[ 5.42488853e-01 -8.39582496e-01 -2.84091030e-02 2.83748747e+02] [ 8.38354741e-01 5.43231605e-01 -4.53954900e-02 1.24907424e+02] [ 5.35459815e-02 8.09641103e-04 9.98565057e-01 1.72406193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.78, Y:124.95, Z:17.24 [[ 5.42565997e-01 -8.39533061e-01 -2.83967923e-02 2.83783824e+02] [ 8.38304836e-01 5.43307971e-01 -4.54031896e-02 1.24953619e+02] [ 5.35456824e-02 8.29058506e-04 9.98565057e-01 1.72425480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.82, Y:125.00, Z:17.25 [[ 5.40646290e-01 -8.40771015e-01 -2.83846591e-02 2.83822387e+02] [ 8.39544092e-01 5.41390414e-01 -4.54107736e-02 1.24998145e+02] [ 5.35472446e-02 7.20993411e-04 9.98565057e-01 1.72461616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.86, Y:125.04, Z:17.25 [[ 5.37413818e-01 -8.42841252e-01 -2.83727216e-02 2.83858454e+02] [ 8.41616802e-01 5.38162004e-01 -4.54182310e-02 1.25043644e+02] [ 5.35494794e-02 5.29425679e-04 9.98565057e-01 1.72496859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.90, Y:125.09, Z:17.26 [[ 5.35886457e-01 -8.43813613e-01 -2.83600317e-02 2.83898929e+02] [ 8.42590101e-01 5.36636177e-01 -4.54261534e-02 1.25087924e+02] [ 5.35502257e-02 4.47378406e-04 9.98565057e-01 1.72611315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.230385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:283.93, Y:125.14, Z:17.26 [[ 5.32811114e-01 -8.45759206e-01 -2.83492807e-02 2.83930700e+02] [ 8.44538075e-01 5.33564705e-01 -4.54328619e-02 1.25136061e+02] [ 5.35514368e-02 2.65086759e-04 9.98565057e-01 1.72572595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:125.18, Z:17.26 [[ 5.30631083e-01 -8.47128825e-01 -2.83444458e-02 2.83967086e+02] [ 8.45909478e-01 5.31387558e-01 -4.54358780e-02 1.25181260e+02] [ 5.35519278e-02 1.32853834e-04 9.98565057e-01 1.72594749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:125.23, Z:17.26 [[ 5.27321563e-01 -8.49193193e-01 -2.83353319e-02 2.84005143e+02] [ 8.47976502e-01 5.28082301e-01 -4.54415611e-02 1.25225653e+02] [ 5.35520516e-02 -6.53806264e-05 9.98565057e-01 1.72645740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:125.27, Z:17.27 [[ 5.23869064e-01 -8.51327798e-01 -2.83228402e-02 2.84039658e+02] [ 8.50113786e-01 5.24634070e-01 -4.54493456e-02 1.25272430e+02] [ 5.35514183e-02 -2.68130813e-04 9.98565057e-01 1.72681080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.08, Y:125.32, Z:17.27 [[ 5.19732058e-01 -8.53860135e-01 -2.83100175e-02 2.84075794e+02] [ 8.52649415e-01 5.20502263e-01 -4.54573313e-02 1.25317770e+02] [ 5.35496313e-02 -5.12887504e-04 9.98565057e-01 1.72699463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.11, Y:125.36, Z:17.28 [[ 5.18721447e-01 -8.54474881e-01 -2.82973122e-02 2.84113872e+02] [ 8.53264642e-01 5.19492409e-01 -4.54652391e-02 1.25363085e+02] [ 5.35491436e-02 -5.61301330e-04 9.98565058e-01 1.72752596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:125.41, Z:17.28 [[ 5.19709602e-01 -8.53874622e-01 -2.82853086e-02 2.84147745e+02] [ 8.52663087e-01 5.20478524e-01 -4.54727057e-02 1.25411448e+02] [ 5.35498850e-02 -4.85236744e-04 9.98565058e-01 1.72781639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.18, Y:125.46, Z:17.28 [[ 5.22978406e-01 -8.51876833e-01 -2.82745262e-02 2.84183908e+02] [ 8.50661997e-01 5.23742103e-01 -4.54794091e-02 1.25456853e+02] [ 5.35514148e-02 -2.67316111e-04 9.98565058e-01 1.72818371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.22, Y:125.50, Z:17.28 [[ 5.24924719e-01 -8.50679315e-01 -2.82620192e-02 2.84217693e+02] [ 8.49462319e-01 5.25684968e-01 -4.54871799e-02 1.25504736e+02] [ 5.35519217e-02 -1.30175185e-04 9.98565058e-01 1.72848884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:284.25, Y:125.55, Z:17.28 [[ 5.25755916e-01 -8.50166273e-01 -2.82493438e-02 2.84249467e+02] [ 8.48948111e-01 5.26514297e-01 -4.54950505e-02 1.25552152e+02] [ 5.35520409e-02 -6.29351405e-05 9.98565058e-01 1.72824236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:284.29, Y:125.60, Z:17.28 [[ 5.26384344e-01 -8.49777606e-01 -2.82408051e-02 2.84286760e+02] [ 8.48558600e-01 5.27141367e-01 -4.55003502e-02 1.25598821e+02] [ 5.35520753e-02 -1.33060086e-05 9.98565058e-01 1.72831373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:125.64, Z:17.29 [[ 5.24420335e-01 -8.50991441e-01 -2.82290576e-02 2.84320815e+02] [ 8.49773795e-01 5.25179543e-01 -4.55076374e-02 1.25644309e+02] [ 5.35519335e-02 -1.23182934e-04 9.98565058e-01 1.72918249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.950385723 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:284.36, Y:125.69, Z:17.29 [[ 5.22201834e-01 -8.52354928e-01 -2.82191634e-02 2.84355083e+02] [ 8.51138933e-01 5.22963683e-01 -4.55137719e-02 1.25691113e+02] [ 5.35514854e-02 -2.51053470e-04 9.98565058e-01 1.72882310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.010385723 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:284.39, Y:125.74, Z:17.29 [[ 5.20267660e-01 -8.53537178e-01 -2.82107793e-02 2.84389588e+02] [ 8.52322632e-01 5.21031817e-01 -4.55189680e-02 1.25737254e+02] [ 5.35508451e-02 -3.62638727e-04 9.98565058e-01 1.72942344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.43, Y:125.78, Z:17.30 [[ 5.20145607e-01 -8.53612045e-01 -2.81961860e-02 2.84425708e+02] [ 8.52397119e-01 5.20909160e-01 -4.55280059e-02 1.25782729e+02] [ 5.35509058e-02 -3.53155424e-04 9.98565058e-01 1.73040268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.46, Y:125.83, Z:17.30 [[ 5.21307811e-01 -8.52903260e-01 -2.81814505e-02 2.84458998e+02] [ 8.51686803e-01 5.22068922e-01 -4.55371253e-02 1.25830390e+02] [ 5.35514221e-02 -2.62910354e-04 9.98565059e-01 1.73037800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:284.49, Y:125.88, Z:17.31 [[ 5.23215333e-01 -8.51734831e-01 -2.81690018e-02 2.84493064e+02] [ 8.50516260e-01 5.23973054e-01 -4.55448246e-02 1.25876864e+02] [ 5.35519114e-02 -1.28443472e-04 9.98565059e-01 1.73097214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.53, Y:125.92, Z:17.31 [[ 5.27604925e-01 -8.49023156e-01 -2.81553490e-02 2.84527713e+02] [ 8.47800240e-01 5.28355613e-01 -4.55532631e-02 1.25923902e+02] [ 5.35518119e-02 1.64014389e-04 9.98565059e-01 1.73120371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.56, Y:125.97, Z:17.31 [[ 5.33516835e-01 -8.45320917e-01 -2.81484191e-02 2.84562660e+02] [ 8.44092567e-01 5.34258597e-01 -4.55575448e-02 1.25971170e+02] [ 5.35492805e-02 5.45845795e-04 9.98565059e-01 1.73103559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:126.02, Z:17.32 [[ 5.38426985e-01 -8.42202338e-01 -2.81354538e-02 2.84593867e+02] [ 8.40969274e-01 5.39160886e-01 -4.55655506e-02 1.26019948e+02] [ 5.35449494e-02 8.72669886e-04 9.98565059e-01 1.73155778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43038572300003 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.62, Y:126.07, Z:17.32 [[ 5.40094288e-01 -8.41134553e-01 -2.81215948e-02 2.84622722e+02] [ 8.39899593e-01 5.40824994e-01 -4.55741023e-02 1.26071409e+02] [ 5.35428135e-02 9.94996341e-04 9.98565059e-01 1.73190869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:126.12, Z:17.32 [[ 5.38432483e-01 -8.42199651e-01 -2.81106565e-02 2.84651272e+02] [ 8.40965786e-01 5.39165034e-01 -4.55808482e-02 1.26122652e+02] [ 5.35444575e-02 9.02108904e-04 9.98565059e-01 1.73243189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.68, Y:126.17, Z:17.33 [[ 5.33279247e-01 -8.45472474e-01 -2.80987444e-02 2.84680872e+02] [ 8.44242719e-01 5.34018678e-01 -4.55881903e-02 1.26173666e+02] [ 5.35488144e-02 5.89075464e-04 9.98565059e-01 1.73301391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:284.72, Y:126.22, Z:17.34 [[ 5.32275151e-01 -8.46105339e-01 -2.80877065e-02 2.84715898e+02] [ 8.44876104e-01 5.33015446e-01 -4.55949900e-02 1.26219957e+02] [ 5.35493458e-02 5.38448173e-04 9.98565059e-01 1.73358476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.75, Y:126.27, Z:17.34 [[ 5.31445665e-01 -8.46627029e-01 -2.80745201e-02 2.84746622e+02] [ 8.45398092e-01 5.32186455e-01 -4.56031079e-02 1.26270066e+02] [ 5.35497031e-02 5.01428238e-04 9.98565059e-01 1.73367275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.78, Y:126.32, Z:17.34 [[ 5.29099665e-01 -8.48095559e-01 -2.80618392e-02 2.84775098e+02] [ 8.46868265e-01 5.29843172e-01 -4.56109097e-02 1.26320084e+02] [ 5.35507839e-02 3.68035933e-04 9.98565060e-01 1.73371075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:126.37, Z:17.34 [[ 5.25733296e-01 -8.50186609e-01 -2.80576405e-02 2.84807526e+02] [ 8.48962134e-01 5.26481438e-01 -4.56134924e-02 1.26368042e+02] [ 5.35518074e-02 1.60657321e-04 9.98565060e-01 1.73431826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.84, Y:126.42, Z:17.35 [[ 5.20029554e-01 -8.53687746e-01 -2.80445350e-02 2.84838581e+02] [ 8.52467873e-01 5.20785176e-01 -4.56215487e-02 1.26416739e+02] [ 5.35517351e-02 -1.82511476e-04 9.98565060e-01 1.73492752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:126.47, Z:17.35 [[ 5.18384138e-01 -8.54688317e-01 -2.80315237e-02 2.84868222e+02] [ 8.53469471e-01 5.19141414e-01 -4.56295419e-02 1.26467283e+02] [ 5.35513612e-02 -2.70418945e-04 9.98565060e-01 1.73520921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.90, Y:126.52, Z:17.36 [[ 5.18145390e-01 -8.54833494e-01 -2.80187705e-02 2.84900348e+02] [ 8.53614437e-01 5.18902326e-01 -4.56373716e-02 1.26515932e+02] [ 5.35513591e-02 -2.70433247e-04 9.98565060e-01 1.73579203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:126.57, Z:17.36 [[ 5.19131416e-01 -8.54235473e-01 -2.80058762e-02 2.84926774e+02] [ 8.53015117e-01 5.19886256e-01 -4.56452830e-02 1.26568049e+02] [ 5.35516900e-02 -1.93535361e-04 9.98565060e-01 1.73573534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.090385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:284.96, Y:126.62, Z:17.36 [[ 5.23758176e-01 -8.51406729e-01 -2.79992122e-02 2.84958324e+02] [ 8.50182077e-01 5.24506026e-01 -4.56493704e-02 1.26616534e+02] [ 5.35519366e-02 1.04802629e-04 9.98565060e-01 1.73601482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:126.66, Z:17.38 [[ 5.28369589e-01 -8.48553080e-01 -2.79865706e-02 2.84991684e+02] [ 8.47323979e-01 5.29110104e-01 -4.56571194e-02 1.26663959e+02] [ 5.35504665e-02 4.10141087e-04 9.98565060e-01 1.73764375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.02, Y:126.72, Z:17.37 [[ 5.24543421e-01 -8.50923985e-01 -2.79744559e-02 2.85015327e+02] [ 8.49697836e-01 5.25288814e-01 -4.56645409e-02 1.26716829e+02] [ 5.35517219e-02 1.83199857e-04 9.98565060e-01 1.73682280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.05, Y:126.76, Z:17.37 [[ 5.22515142e-01 -8.52171272e-01 -2.79651508e-02 2.85048873e+02] [ 8.50946597e-01 5.23262953e-01 -4.56702387e-02 1.26764612e+02] [ 5.35519928e-02 6.65413747e-05 9.98565060e-01 1.73744926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.08, Y:126.81, Z:17.39 [[ 5.25699080e-01 -8.50211229e-01 -2.79525176e-02 2.85083494e+02] [ 8.48983355e-01 5.26441627e-01 -4.56779696e-02 1.26811477e+02] [ 5.35512915e-02 2.81644430e-04 9.98565060e-01 1.73889364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.11, Y:126.86, Z:17.38 [[ 5.20399030e-01 -8.53465976e-01 -2.79405958e-02 2.85107678e+02] [ 8.52242355e-01 5.21148564e-01 -4.56852608e-02 1.26864559e+02] [ 5.35520171e-02 -3.75937807e-05 9.98565061e-01 1.73778979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:126.91, Z:17.38 [[ 5.19891339e-01 -8.53775654e-01 -2.79307908e-02 2.85138854e+02] [ 8.52552156e-01 5.20641076e-01 -4.56912546e-02 1.26913329e+02] [ 5.35519977e-02 -5.79683838e-05 9.98565061e-01 1.73814418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.17, Y:126.96, Z:17.38 [[ 5.19962928e-01 -8.53732465e-01 -2.79182976e-02 2.85168143e+02] [ 8.52508496e-01 5.20711893e-01 -4.56988869e-02 1.26962225e+02] [ 5.35520130e-02 -3.88588714e-05 9.98565061e-01 1.73830229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:127.01, Z:17.39 [[ 5.24849132e-01 -8.50737608e-01 -2.79089723e-02 2.85203082e+02] [ 8.49509062e-01 5.25590567e-01 -4.57045813e-02 1.27008238e+02] [ 5.35512987e-02 2.79084927e-04 9.98565061e-01 1.73912424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.23, Y:127.06, Z:17.39 [[ 5.18931768e-01 -8.54360404e-01 -2.78947903e-02 2.85226156e+02] [ 8.53136570e-01 5.19680954e-01 -4.57132353e-02 1.27061706e+02] [ 5.35519694e-02 -7.60156938e-05 9.98565061e-01 1.73887610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.690385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:285.26, Y:127.11, Z:17.39 [[ 5.17452663e-01 -8.55257532e-01 -2.78800086e-02 2.85255378e+02] [ 8.54034511e-01 5.18203175e-01 -4.57222488e-02 1.27112080e+02] [ 5.35518066e-02 -1.51390063e-04 9.98565061e-01 1.73926941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.29, Y:127.16, Z:17.41 [[ 5.21369100e-01 -8.52876110e-01 -2.78676136e-02 2.85290037e+02] [ 8.51649256e-01 5.22113331e-01 -4.57298023e-02 1.27158840e+02] [ 5.35519084e-02 1.08673472e-04 9.98565061e-01 1.74088476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.32, Y:127.21, Z:17.41 [[ 5.22369333e-01 -8.52264088e-01 -2.78604374e-02 2.85318261e+02] [ 8.51036129e-01 5.23111739e-01 -4.57341739e-02 1.27210235e+02] [ 5.35517158e-02 1.79891102e-04 9.98565061e-01 1.74123278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.34, Y:127.26, Z:17.41 [[ 5.17767808e-01 -8.55067815e-01 -2.78483401e-02 2.85341706e+02] [ 8.53843480e-01 5.18516175e-01 -4.57415389e-02 1.27264386e+02] [ 5.35519325e-02 -9.46272912e-05 9.98565061e-01 1.74050678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.37, Y:127.32, Z:17.40 [[ 5.11262709e-01 -8.58973580e-01 -2.78357939e-02 2.85366900e+02] [ 8.57754546e-01 5.12019680e-01 -4.57491726e-02 1.27318297e+02] [ 5.35498048e-02 -4.86432822e-04 9.98565061e-01 1.74001928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:285.40, Y:127.36, Z:17.41 [[ 5.13991911e-01 -8.57343649e-01 -2.78241324e-02 2.85401932e+02] [ 8.56121830e-01 5.14744379e-01 -4.57562639e-02 1.27364238e+02] [ 5.35511580e-02 -3.02497578e-04 9.98565061e-01 1.74117398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.43, Y:127.41, Z:17.42 [[ 5.07651313e-01 -8.61113615e-01 -2.78116052e-02 2.85430204e+02] [ 8.59896966e-01 5.08412111e-01 -4.57638769e-02 1.27414683e+02] [ 5.35476544e-02 -6.83022705e-04 9.98565062e-01 1.74151436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.46, Y:127.47, Z:17.42 [[ 5.02065512e-01 -8.64382528e-01 -2.78040691e-02 2.85458338e+02] [ 8.63170578e-01 5.02833772e-01 -4.57684551e-02 1.27466071e+02] [ 5.35422778e-02 -1.02089154e-03 9.98565062e-01 1.74186764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:127.52, Z:17.42 [[ 4.95744514e-01 -8.68023573e-01 -2.77930457e-02 2.85484313e+02] [ 8.66816887e-01 4.96521017e-01 -4.57751481e-02 1.27519512e+02] [ 5.35337389e-02 -1.39870284e-03 9.98565062e-01 1.74186619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.51, Y:127.57, Z:17.42 [[ 4.97122465e-01 -8.67235511e-01 -2.77817006e-02 2.85513121e+02] [ 8.66027210e-01 4.97896452e-01 -4.57820326e-02 1.27569542e+02] [ 5.35362146e-02 -1.30043183e-03 9.98565062e-01 1.74246980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.53, Y:127.62, Z:17.43 [[ 4.97998575e-01 -8.66733150e-01 -2.77680702e-02 2.85533972e+02] [ 8.65523608e-01 4.98770621e-01 -4.57902983e-02 1.27623686e+02] [ 5.35378671e-02 -1.23041704e-03 9.98565062e-01 1.74283568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.350385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:285.56, Y:127.67, Z:17.43 [[ 5.04968578e-01 -8.62691435e-01 -2.77529143e-02 2.85563956e+02] [ 8.61475205e-01 5.05730045e-01 -4.57994823e-02 1.27673989e+02] [ 5.35463037e-02 -7.81148088e-04 9.98565062e-01 1.74339323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.58, Y:127.73, Z:17.43 [[ 5.03929399e-01 -8.63299227e-01 -2.77417738e-02 2.85584508e+02] [ 8.62083544e-01 5.04691740e-01 -4.58062293e-02 1.27728782e+02] [ 5.35455264e-02 -8.32621049e-04 9.98565062e-01 1.74332734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:285.61, Y:127.78, Z:17.43 [[ 5.05604763e-01 -8.62319360e-01 -2.77334517e-02 2.85608528e+02] [ 8.61101924e-01 5.06364300e-01 -4.58112674e-02 1.27781233e+02] [ 5.35471727e-02 -7.18933568e-04 9.98565062e-01 1.74346193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.530385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:285.64, Y:127.83, Z:17.44 [[ 5.05299829e-01 -8.62498441e-01 -2.77222250e-02 2.85635746e+02] [ 8.61280902e-01 5.06059200e-01 -4.58180601e-02 1.27832652e+02] [ 5.35470924e-02 -7.24764977e-04 9.98565062e-01 1.74382394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.590385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:285.66, Y:127.88, Z:17.44 [[ 5.04814649e-01 -8.62782908e-01 -2.77096444e-02 2.85662750e+02] [ 8.61565379e-01 5.05574036e-01 -4.58256673e-02 1.27884188e+02] [ 5.35468793e-02 -7.40202133e-04 9.98565062e-01 1.74423080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.650385723 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:127.94, Z:17.44 [[ 5.03202250e-01 -8.63724694e-01 -2.76974346e-02 2.85688526e+02] [ 8.62508181e-01 5.03963263e-01 -4.58330458e-02 1.27936167e+02] [ 5.35456230e-02 -8.25972162e-04 9.98565062e-01 1.74420854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.72, Y:127.99, Z:17.45 [[ 5.01812910e-01 -8.64533016e-01 -2.76851597e-02 2.85719020e+02] [ 8.63317319e-01 5.02575227e-01 -4.58404592e-02 1.27985064e+02] [ 5.35444659e-02 -8.97743676e-04 9.98565063e-01 1.74472811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.770385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:285.74, Y:128.04, Z:17.44 [[ 4.98233740e-01 -8.66601031e-01 -2.76729579e-02 2.85740315e+02] [ 8.65388090e-01 4.99000432e-01 -4.58478240e-02 1.28041552e+02] [ 5.35405896e-02 -1.10491531e-03 9.98565063e-01 1.74399441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.77, Y:128.09, Z:17.44 [[ 5.00900923e-01 -8.65062477e-01 -2.76618278e-02 2.85771289e+02] [ 8.63846809e-01 5.01663285e-01 -4.58545383e-02 1.28090564e+02] [ 5.35439639e-02 -9.27001104e-04 9.98565063e-01 1.74425668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.81, Y:128.14, Z:17.45 [[ 5.07047545e-01 -8.61474482e-01 -2.76496673e-02 2.85805443e+02] [ 8.60253017e-01 5.07800586e-01 -4.58618697e-02 1.28137085e+02] [ 5.35493477e-02 -5.31561236e-04 9.98565063e-01 1.74534609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.83, Y:128.19, Z:17.45 [[ 5.09651651e-01 -8.59936856e-01 -2.76368909e-02 2.85830121e+02] [ 8.58712703e-01 5.10400311e-01 -4.58695676e-02 1.28188542e+02] [ 5.35508095e-02 -3.54648426e-04 9.98565063e-01 1.74545566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.010385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:285.86, Y:128.24, Z:17.45 [[ 5.06700929e-01 -8.61679169e-01 -2.76256733e-02 2.85856409e+02] [ 8.60457221e-01 5.07453184e-01 -4.58763226e-02 1.28241103e+02] [ 5.35494075e-02 -5.25134782e-04 9.98565063e-01 1.74532922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.070385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:285.89, Y:128.29, Z:17.46 [[ 5.09354223e-01 -8.60113805e-01 -2.76137350e-02 2.85888929e+02] [ 8.58889155e-01 5.10102071e-01 -4.58835074e-02 1.28289343e+02] [ 5.35508615e-02 -3.46179261e-04 9.98565063e-01 1.74579279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.130385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:285.92, Y:128.34, Z:17.46 [[ 5.13375846e-01 -8.57719939e-01 -2.75997748e-02 2.85918815e+02] [ 8.56491350e-01 5.14117205e-01 -4.58919032e-02 1.28337508e+02] [ 5.35519195e-02 -7.91737211e-05 9.98565063e-01 1.74605876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.190385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:285.95, Y:128.39, Z:17.46 [[ 5.14961114e-01 -8.56769529e-01 -2.75866662e-02 2.85950127e+02] [ 8.55539150e-01 5.15699498e-01 -4.58997817e-02 1.28385139e+02] [ 5.35519643e-02 3.51297344e-05 9.98565063e-01 1.74647039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:128.43, Z:17.47 [[ 5.15725474e-01 -8.56310017e-01 -2.75751739e-02 2.85983446e+02] [ 8.55078611e-01 5.16462143e-01 -4.59066849e-02 1.28432739e+02] [ 5.35518875e-02 9.63053776e-05 9.98565064e-01 1.74697027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.310385723 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:286.01, Y:128.48, Z:17.47 [[ 5.15477386e-01 -8.56459792e-01 -2.75624555e-02 2.86012241e+02] [ 8.55228192e-01 5.16213730e-01 -4.59143198e-02 1.28483930e+02] [ 5.35518868e-02 9.56045076e-05 9.98565064e-01 1.74674945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.370385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:128.53, Z:17.47 [[ 5.15368354e-01 -8.56525843e-01 -2.75488813e-02 2.86045806e+02] [ 8.55293901e-01 5.16104127e-01 -4.59224629e-02 1.28530864e+02] [ 5.35518676e-02 1.04593912e-04 9.98565064e-01 1.74746326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.430385723 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:286.08, Y:128.58, Z:17.48 [[ 5.14877430e-01 -8.56821517e-01 -2.75339722e-02 2.86077990e+02] [ 8.55589520e-01 5.15613110e-01 -4.59314003e-02 1.28578637e+02] [ 5.35518892e-02 9.12632582e-05 9.98565064e-01 1.74762616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.490385723 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:286.11, Y:128.63, Z:17.48 [[ 5.14162831e-01 -8.57250887e-01 -2.75227087e-02 2.86109163e+02] [ 8.56019143e-01 5.14898934e-01 -4.59381486e-02 1.28627832e+02] [ 5.35519320e-02 5.97229676e-05 9.98565064e-01 1.74799225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.550385723 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:286.15, Y:128.67, Z:17.48 [[ 5.14045880e-01 -8.57321439e-01 -2.75097211e-02 2.86145778e+02] [ 8.56089379e-01 5.14781455e-01 -4.59459248e-02 1.28673289e+02] [ 5.35519206e-02 6.75332609e-05 9.98565064e-01 1.74835390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.610385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:286.18, Y:128.72, Z:17.49 [[ 5.13471610e-01 -8.57665906e-01 -2.74972542e-02 2.86177954e+02] [ 8.56433941e-01 5.14207342e-01 -4.59533847e-02 1.28721764e+02] [ 5.35519413e-02 4.61765795e-05 9.98565064e-01 1.74873576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.670385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:286.21, Y:128.77, Z:17.49 [[ 5.12117096e-01 -8.58475787e-01 -2.74845837e-02 2.86210525e+02] [ 8.57244579e-01 5.12854094e-01 -4.59609616e-02 1.28770148e+02] [ 5.35519540e-02 -2.36161675e-05 9.98565064e-01 1.74886076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.730385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:286.25, Y:128.81, Z:17.49 [[ 5.10242145e-01 -8.59591905e-01 -2.74719730e-02 2.86249345e+02] [ 8.58361903e-01 5.10981155e-01 -4.59684981e-02 1.28814457e+02] [ 5.35518094e-02 -1.25829899e-04 9.98565064e-01 1.74942217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.790385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:286.28, Y:128.86, Z:17.50 [[ 5.08891823e-01 -8.60392417e-01 -2.74590810e-02 2.86280576e+02] [ 8.59163162e-01 5.09632074e-01 -4.59761978e-02 1.28863075e+02] [ 5.35516004e-02 -1.94919785e-04 9.98565065e-01 1.74966116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.850385723 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:286.31, Y:128.91, Z:17.49 [[ 5.05467568e-01 -8.62408970e-01 -2.74464324e-02 2.86311013e+02] [ 8.61182258e-01 5.06212025e-01 -4.59837474e-02 1.28913124e+02] [ 5.35505104e-02 -3.93087666e-04 9.98565065e-01 1.74923431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.910385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:286.35, Y:128.96, Z:17.50 [[ 5.09620434e-01 -8.59961911e-01 -2.74322028e-02 2.86348421e+02] [ 8.58731166e-01 5.10358206e-01 -4.59922347e-02 1.28957342e+02] [ 5.35518199e-02 -1.18304909e-04 9.98565065e-01 1.75022678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.970385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:286.38, Y:129.01, Z:17.50 [[ 5.10332851e-01 -8.59539765e-01 -2.74184908e-02 2.86380898e+02] [ 8.58307971e-01 5.11068869e-01 -4.60004078e-02 1.29005021e+02] [ 5.35519168e-02 -5.79899446e-05 9.98565065e-01 1.75031094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.030385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:286.41, Y:129.05, Z:17.50 [[ 5.12436917e-01 -8.58287308e-01 -2.74099114e-02 2.86414818e+02] [ 8.57053442e-01 5.13169456e-01 -4.60055193e-02 1.29051808e+02] [ 5.35518827e-02 8.31675896e-05 9.98565065e-01 1.75026889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.45, Y:129.10, Z:17.51 [[ 5.13913502e-01 -8.57404301e-01 -2.74003049e-02 2.86448354e+02] [ 8.56168871e-01 5.14643401e-01 -4.60112401e-02 1.29099730e+02] [ 5.35516213e-02 1.86509403e-04 9.98565065e-01 1.75070723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.150385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:286.48, Y:129.15, Z:17.51 [[ 5.16129006e-01 -8.56072875e-01 -2.73876276e-02 2.86481221e+02] [ 8.54835162e-01 5.16855026e-01 -4.60187849e-02 1.29147173e+02] [ 5.35508665e-02 3.39722632e-04 9.98565065e-01 1.75106600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.210385723 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:286.51, Y:129.20, Z:17.51 [[ 5.17761825e-01 -8.55086572e-01 -2.73796598e-02 2.86512240e+02] [ 8.53847226e-01 5.18485053e-01 -4.60235250e-02 1.29196086e+02] [ 5.35500426e-02 4.51177788e-04 9.98565065e-01 1.75140328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.270385723 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:286.54, Y:129.24, Z:17.52 [[ 5.18261623e-01 -8.54784027e-01 -2.73707564e-02 2.86542237e+02] [ 8.53543978e-01 5.18983646e-01 -4.60288194e-02 1.29244978e+02] [ 5.35496745e-02 4.92826316e-04 9.98565065e-01 1.75175471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:286.57, Y:129.29, Z:17.54 [[ 5.20914007e-01 -8.53170762e-01 -2.73541287e-02 2.86574725e+02] [ 8.51927959e-01 5.21631279e-01 -4.60386988e-02 1.29292320e+02] [ 5.35476409e-02 6.78456098e-04 9.98565065e-01 1.75370972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.390385723 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:286.59, Y:129.35, Z:17.52 [[ 5.13878879e-01 -8.57427056e-01 -2.73375588e-02 2.86593476e+02] [ 8.56189672e-01 5.14605459e-01 -4.60485359e-02 1.29349704e+02] [ 5.35513175e-02 2.57234504e-04 9.98565066e-01 1.75238723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.450385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:286.62, Y:129.40, Z:17.53 [[ 5.11352790e-01 -8.58936206e-01 -2.73298232e-02 2.86622934e+02] [ 8.57700721e-01 5.12082594e-01 -4.60531265e-02 1.29399367e+02] [ 5.35518245e-02 1.08585627e-04 9.98565066e-01 1.75263602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.510385723 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:286.66, Y:129.45, Z:17.53 [[ 5.07991738e-01 -8.60928689e-01 -2.73164340e-02 2.86657709e+02] [ 8.59695639e-01 5.08725649e-01 -4.60610669e-02 1.29445378e+02] [ 5.35518646e-02 -8.51777756e-05 9.98565066e-01 1.75303259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.570385723 meters Centerline goodness : 0.993931 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:129.49, Z:17.53 [[ 5.03764282e-01 -8.63409521e-01 -2.73047090e-02 2.86687547e+02] [ 8.62179709e-01 5.04503605e-01 -4.60680164e-02 1.29494372e+02] [ 5.35508881e-02 -3.34144884e-04 9.98565066e-01 1.75291577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.630385723 meters Centerline goodness : 0.995977 with order 1 Centerline is valid? [True, True] Translation: X:286.71, Y:129.55, Z:17.53 [[ 4.99011462e-01 -8.66165657e-01 -2.72876388e-02 2.86714040e+02] [ 8.64939375e-01 4.99756625e-01 -4.60781254e-02 1.29545577e+02] [ 5.35484681e-02 -6.08640473e-04 9.98565066e-01 1.75306297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.690385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:286.74, Y:129.60, Z:17.54 [[ 4.94508086e-01 -8.68745166e-01 -2.72688403e-02 2.86739555e+02] [ 8.67522157e-01 4.95258608e-01 -4.60892476e-02 1.29596908e+02] [ 5.35449390e-02 -8.64817533e-04 9.98565066e-01 1.75351623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.750385723 meters Centerline goodness : 0.994823 with order 1 Centerline is valid? [True, True] Translation: X:286.77, Y:129.65, Z:17.54 [[ 4.94297633e-01 -8.68865443e-01 -2.72523807e-02 2.86768908e+02] [ 8.67642080e-01 4.95047578e-01 -4.60989781e-02 1.29646417e+02] [ 5.35450341e-02 -8.58696496e-04 9.98565066e-01 1.75403529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:286.80, Y:129.70, Z:17.54 [[ 4.95782964e-01 -8.68019318e-01 -2.72344775e-02 2.86796777e+02] [ 8.66794094e-01 4.96529866e-01 -4.61095526e-02 1.29696943e+02] [ 5.35467138e-02 -7.46353606e-04 9.98565067e-01 1.75434197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.870385723 meters Centerline goodness : 0.997310 with order 1 Centerline is valid? [True, True] Translation: X:286.82, Y:129.75, Z:17.55 [[ 4.94913734e-01 -8.68515777e-01 -2.72165644e-02 2.86821763e+02] [ 8.67290722e-01 4.95660910e-01 -4.61201235e-02 1.29749190e+02] [ 5.35462420e-02 -7.79191297e-04 9.98565067e-01 1.75459918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.930385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:286.85, Y:129.80, Z:17.55 [[ 4.96825721e-01 -8.67423966e-01 -2.72004702e-02 2.86852168e+02] [ 8.66196749e-01 4.97569342e-01 -4.61296135e-02 1.29797180e+02] [ 5.35480524e-02 -6.42580339e-04 9.98565067e-01 1.75524733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.88, Y:129.85, Z:17.56 [[ 4.96778777e-01 -8.67451396e-01 -2.71831261e-02 2.86881113e+02] [ 8.66223661e-01 4.97521542e-01 -4.61398318e-02 1.29846215e+02] [ 5.35482523e-02 -6.25377828e-04 9.98565067e-01 1.75587339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.050385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:286.90, Y:129.90, Z:17.56 [[ 4.95125981e-01 -8.68396115e-01 -2.71744294e-02 2.86904591e+02] [ 8.67169517e-01 4.95870620e-01 -4.61449532e-02 1.29900001e+02] [ 5.35470993e-02 -7.17271641e-04 9.98565067e-01 1.75573176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.110385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:286.93, Y:129.95, Z:17.56 [[ 4.97956062e-01 -8.66776760e-01 -2.71626174e-02 2.86934818e+02] [ 8.65547361e-01 4.98696068e-01 -4.61519051e-02 1.29949574e+02] [ 5.35492893e-02 -5.28910831e-04 9.98565067e-01 1.75630707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.170385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:286.96, Y:130.00, Z:17.56 [[ 4.98975533e-01 -8.66190696e-01 -2.71494942e-02 2.86960677e+02] [ 8.64960008e-01 4.99713392e-01 -4.61596238e-02 1.30000906e+02] [ 5.35500025e-02 -4.50703808e-04 9.98565068e-01 1.75644220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.230385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:286.99, Y:130.05, Z:17.57 [[ 4.97719870e-01 -8.66913193e-01 -2.71375479e-02 2.86987661e+02] [ 8.65683193e-01 4.98458876e-01 -4.61666460e-02 1.30052623e+02] [ 5.35494261e-02 -5.14462087e-04 9.98565068e-01 1.75667749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.290385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:287.02, Y:130.10, Z:17.57 [[ 4.96551290e-01 -8.67583465e-01 -2.71246725e-02 2.87015454e+02] [ 8.66354049e-01 4.97291267e-01 -4.61742096e-02 1.30102649e+02] [ 5.35488435e-02 -5.71706521e-04 9.98565068e-01 1.75688258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.350385723 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:287.04, Y:130.15, Z:17.57 [[ 4.96092397e-01 -8.67846284e-01 -2.71138581e-02 2.87041663e+02] [ 8.66616913e-01 4.96832449e-01 -4.61805590e-02 1.30154980e+02] [ 5.35486710e-02 -5.87503801e-04 9.98565068e-01 1.75727186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.410385723 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:287.07, Y:130.21, Z:17.57 [[ 4.95551771e-01 -8.68155496e-01 -2.71012277e-02 2.87068377e+02] [ 8.66926182e-01 4.96291917e-01 -4.61879700e-02 1.30205678e+02] [ 5.35484603e-02 -6.06233490e-04 9.98565068e-01 1.75739293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.470385723 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:287.10, Y:130.25, Z:17.58 [[ 4.96714982e-01 -8.67490801e-01 -2.70912521e-02 2.87098133e+02] [ 8.66260177e-01 4.97452949e-01 -4.61938204e-02 1.30254767e+02] [ 5.35493375e-02 -5.22910112e-04 9.98565068e-01 1.75803331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.530385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:287.13, Y:130.31, Z:17.58 [[ 4.96188863e-01 -8.67792228e-01 -2.70787894e-02 2.87126341e+02] [ 8.66561654e-01 4.96926912e-01 -4.62011248e-02 1.30305157e+02] [ 5.35491563e-02 -5.40956954e-04 9.98565068e-01 1.75828038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:130.36, Z:17.59 [[ 4.97404348e-01 -8.67096490e-01 -2.70664203e-02 2.87152793e+02] [ 8.65864489e-01 4.98140014e-01 -4.62083700e-02 1.30356598e+02] [ 5.35499824e-02 -4.51608006e-04 9.98565068e-01 1.75862882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.18, Y:130.41, Z:17.59 [[ 4.97595937e-01 -8.66986985e-01 -2.70527394e-02 2.87181187e+02] [ 8.65754387e-01 4.98330601e-01 -4.62163781e-02 1.30407447e+02] [ 5.35502062e-02 -4.23945857e-04 9.98565068e-01 1.75883731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:287.21, Y:130.46, Z:17.59 [[ 4.97017149e-01 -8.67319340e-01 -2.70391572e-02 2.87208796e+02] [ 8.66086801e-01 4.97751911e-01 -4.62243231e-02 1.30457651e+02] [ 5.35500416e-02 -4.43975850e-04 9.98565068e-01 1.75898550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.24, Y:130.51, Z:17.59 [[ 4.97010034e-01 -8.67323796e-01 -2.70270163e-02 2.87236687e+02] [ 8.66090877e-01 4.97744159e-01 -4.62314207e-02 1.30507103e+02] [ 5.35501508e-02 -4.30372339e-04 9.98565069e-01 1.75943048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:287.27, Y:130.56, Z:17.60 [[ 4.97100779e-01 -8.67272061e-01 -2.70182819e-02 2.87266460e+02] [ 8.66038789e-01 4.97834310e-01 -4.62365247e-02 1.30557083e+02] [ 5.35502738e-02 -4.14667685e-04 9.98565069e-01 1.75980304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.29, Y:130.61, Z:17.60 [[ 4.97187224e-01 -8.67222912e-01 -2.70052769e-02 2.87293631e+02] [ 8.65989155e-01 4.97919939e-01 -4.62441193e-02 1.30607621e+02] [ 5.35504256e-02 -3.94291573e-04 9.98565069e-01 1.76018071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.32, Y:130.66, Z:17.60 [[ 4.97481568e-01 -8.67054460e-01 -2.69935727e-02 2.87322174e+02] [ 8.65820084e-01 4.98213240e-01 -4.62509502e-02 1.30657950e+02] [ 5.35506480e-02 -3.62582087e-04 9.98565069e-01 1.76047866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.35, Y:130.71, Z:17.61 [[ 4.97057726e-01 -8.67297900e-01 -2.69809125e-02 2.87353998e+02] [ 8.66063482e-01 4.97789325e-01 -4.62583345e-02 1.30706449e+02] [ 5.35505666e-02 -3.74120498e-04 9.98565069e-01 1.76099562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:287.38, Y:130.76, Z:17.61 [[ 4.93295805e-01 -8.69443468e-01 -2.69685953e-02 2.87381373e+02] [ 8.68211838e-01 4.94032090e-01 -4.62655143e-02 1.30756248e+02] [ 5.35486007e-02 -5.91869554e-04 9.98565069e-01 1.76130545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.41, Y:130.81, Z:17.61 [[ 4.89686373e-01 -8.71481822e-01 -2.69571724e-02 2.87410224e+02] [ 8.70252891e-01 4.90427153e-01 -4.62721690e-02 1.30807242e+02] [ 5.35458835e-02 -8.00706581e-04 9.98565069e-01 1.76148416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.44, Y:130.86, Z:17.62 [[ 4.85332855e-01 -8.73914170e-01 -2.69451866e-02 2.87438482e+02] [ 8.72688563e-01 4.86079122e-01 -4.62791476e-02 1.30857691e+02] [ 5.35414955e-02 -1.05396531e-03 9.98565069e-01 1.76150311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.47, Y:130.91, Z:17.62 [[ 4.84967130e-01 -8.74117414e-01 -2.69375197e-02 2.87465153e+02] [ 8.72891872e-01 4.85713503e-01 -4.62836098e-02 1.30909484e+02] [ 5.35412263e-02 -1.06751265e-03 9.98565069e-01 1.76181696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.49, Y:130.96, Z:17.62 [[ 4.85626697e-01 -8.73751525e-01 -2.69255170e-02 2.87491391e+02] [ 8.72525035e-01 4.86371510e-01 -4.62905913e-02 1.30961408e+02] [ 5.35422791e-02 -1.01324073e-03 9.98565069e-01 1.76205572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.370385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:131.01, Z:17.63 [[ 4.89755188e-01 -8.71444495e-01 -2.69137089e-02 2.87520697e+02] [ 8.70214118e-01 4.90493563e-01 -4.62974556e-02 1.31010301e+02] [ 5.35466638e-02 -7.46270367e-04 9.98565069e-01 1.76276299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:287.55, Y:131.06, Z:17.63 [[ 4.96199027e-01 -8.67791818e-01 -2.69051468e-02 2.87546270e+02] [ 8.66555734e-01 4.96927807e-01 -4.63024308e-02 1.31062069e+02] [ 5.35507862e-02 -3.39588173e-04 9.98565069e-01 1.76324471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.57, Y:131.11, Z:17.63 [[ 4.99610274e-01 -8.65832770e-01 -2.68921595e-02 2.87573058e+02] [ 8.64593422e-01 5.00333490e-01 -4.63099725e-02 1.31112961e+02] [ 5.35517398e-02 -1.13846161e-04 9.98565070e-01 1.76312935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.60, Y:131.17, Z:17.63 [[ 5.01905898e-01 -8.64504430e-01 -2.68804740e-02 2.87599392e+02] [ 8.63262804e-01 5.02625197e-01 -4.63167544e-02 1.31165144e+02] [ 5.35518429e-02 4.17388948e-05 9.98565070e-01 1.76346767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.610385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:287.63, Y:131.22, Z:17.64 [[ 5.03346461e-01 -8.63666897e-01 -2.68669107e-02 2.87627066e+02] [ 8.62423655e-01 5.04062961e-01 -4.63246207e-02 1.31215114e+02] [ 5.35516560e-02 1.46674559e-04 9.98565070e-01 1.76367903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.66, Y:131.26, Z:17.64 [[ 4.99019682e-01 -8.66174357e-01 -2.68577844e-02 2.87655710e+02] [ 8.64934430e-01 4.99741904e-01 -4.63299113e-02 1.31263975e+02] [ 5.35517414e-02 -1.10684809e-04 9.98565070e-01 1.76403922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:131.31, Z:17.64 [[ 4.93735813e-01 -8.69197495e-01 -2.68451534e-02 2.87685454e+02] [ 8.67961591e-01 4.94464900e-01 -4.63372290e-02 1.31313144e+02] [ 5.35501894e-02 -4.22212617e-04 9.98565070e-01 1.76434297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.71, Y:131.36, Z:17.65 [[ 4.86962494e-01 -8.73010615e-01 -2.68327303e-02 2.87713515e+02] [ 8.71780023e-01 4.87700509e-01 -4.63444218e-02 1.31363515e+02] [ 5.35455084e-02 -8.24243049e-04 9.98565070e-01 1.76454717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.850385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.74, Y:131.41, Z:17.65 [[ 4.85842255e-01 -8.73634943e-01 -2.68195777e-02 2.87743420e+02] [ 8.72404879e-01 4.86581150e-01 -4.63520319e-02 1.31412181e+02] [ 5.35446558e-02 -8.77754771e-04 9.98565070e-01 1.76470586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.77, Y:131.46, Z:17.65 [[ 4.85976661e-01 -8.73560550e-01 -2.68076559e-02 2.87771866e+02] [ 8.72329993e-01 4.86714735e-01 -4.63589259e-02 1.31463446e+02] [ 5.35450099e-02 -8.55766217e-04 9.98565070e-01 1.76478113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.970385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:287.80, Y:131.51, Z:17.65 [[ 4.90429628e-01 -8.71068780e-01 -2.67947782e-02 2.87798137e+02] [ 8.69834066e-01 4.91160725e-01 -4.63663678e-02 1.31514223e+02] [ 5.35488382e-02 -5.67570340e-04 9.98565070e-01 1.76490799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:287.83, Y:131.56, Z:17.65 [[ 4.92570200e-01 -8.69860474e-01 -2.67834478e-02 2.87828597e+02] [ 8.68623611e-01 4.93297655e-01 -4.63729119e-02 1.31562157e+02] [ 5.35501751e-02 -4.22820620e-04 9.98565070e-01 1.76535682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.090385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:287.86, Y:131.61, Z:17.66 [[ 4.92405390e-01 -8.69954035e-01 -2.67751569e-02 2.87859254e+02] [ 8.68717049e-01 4.93132638e-01 -4.63776985e-02 1.31611187e+02] [ 5.35501696e-02 -4.23406587e-04 9.98565071e-01 1.76561829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.89, Y:131.66, Z:17.66 [[ 4.94147124e-01 -8.68966264e-01 -2.67628759e-02 2.87885975e+02] [ 8.67727441e-01 4.94871236e-01 -4.63847843e-02 1.31661422e+02] [ 5.35509902e-02 -3.01974053e-04 9.98565071e-01 1.76616002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.92, Y:131.71, Z:17.67 [[ 4.95406363e-01 -8.68249250e-01 -2.67539842e-02 2.87918149e+02] [ 8.67009101e-01 4.96128204e-01 -4.63899123e-02 1.31709882e+02] [ 5.35514127e-02 -2.14090002e-04 9.98565071e-01 1.76664493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:287.95, Y:131.76, Z:17.67 [[ 4.95304053e-01 -8.68307967e-01 -2.67426661e-02 2.87948590e+02] [ 8.67067551e-01 4.96025435e-01 -4.63964361e-02 1.31758043e+02] [ 5.35514376e-02 -2.07355133e-04 9.98565071e-01 1.76685628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.330385723 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:287.98, Y:131.81, Z:17.67 [[ 4.92746654e-01 -8.69762181e-01 -2.67298224e-02 2.87977980e+02] [ 8.68523493e-01 4.93470998e-01 -4.64038343e-02 1.31808301e+02] [ 5.35506923e-02 -3.50144637e-04 9.98565071e-01 1.76656060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.390385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:288.01, Y:131.86, Z:17.67 [[ 4.88362992e-01 -8.72231580e-01 -2.67143990e-02 2.88007669e+02] [ 8.70996069e-01 4.89092740e-01 -4.64127118e-02 1.31858476e+02] [ 5.35484516e-02 -6.01885738e-04 9.98565071e-01 1.76666726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.450385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:288.04, Y:131.90, Z:17.68 [[ 4.89997474e-01 -8.71314895e-01 -2.66988588e-02 2.88042715e+02] [ 8.70077531e-01 4.90724077e-01 -4.64216496e-02 1.31903358e+02] [ 5.35496476e-02 -4.83586072e-04 9.98565071e-01 1.76779180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.07, Y:131.95, Z:17.67 [[ 4.87336188e-01 -8.72806445e-01 -2.66898806e-02 2.88070996e+02] [ 8.71571022e-01 4.88066086e-01 -4.64268110e-02 1.31954546e+02] [ 5.35480454e-02 -6.36661463e-04 9.98565071e-01 1.76731604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.10, Y:132.00, Z:17.68 [[ 4.89261521e-01 -8.71729013e-01 -2.66775460e-02 2.88103711e+02] [ 8.70491597e-01 4.89988034e-01 -4.64338975e-02 1.32001283e+02] [ 5.35494540e-02 -5.04260272e-04 9.98565071e-01 1.76821397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.630385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:288.13, Y:132.05, Z:17.68 [[ 4.89747226e-01 -8.71456657e-01 -2.66636471e-02 2.88134894e+02] [ 8.70218402e-01 4.90472308e-01 -4.64418773e-02 1.32050670e+02] [ 5.35498637e-02 -4.58415823e-04 9.98565071e-01 1.76840812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.16, Y:132.10, Z:17.69 [[ 4.90276671e-01 -8.71159283e-01 -2.66512767e-02 2.88163786e+02] [ 8.69920202e-01 4.91000341e-01 -4.64489751e-02 1.32099399e+02] [ 5.35502418e-02 -4.11635168e-04 9.98565072e-01 1.76860217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.750385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:288.19, Y:132.15, Z:17.69 [[ 4.90214698e-01 -8.71194431e-01 -2.66423087e-02 2.88192441e+02] [ 8.69955123e-01 4.90937978e-01 -4.64541185e-02 1.32148761e+02] [ 5.35502905e-02 -4.05121242e-04 9.98565072e-01 1.76889071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.810385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:288.22, Y:132.20, Z:17.69 [[ 4.87407790e-01 -8.72768304e-01 -2.66295689e-02 2.88222103e+02] [ 8.71530932e-01 4.88134378e-01 -4.64614204e-02 1.32199177e+02] [ 5.35488631e-02 -5.62834780e-04 9.98565072e-01 1.76868059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.25, Y:132.25, Z:17.70 [[ 4.89084655e-01 -8.71830148e-01 -2.66156451e-02 2.88253933e+02] [ 8.70590949e-01 4.89808121e-01 -4.64693953e-02 1.32246806e+02] [ 5.35499789e-02 -4.43871523e-04 9.98565072e-01 1.76959171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.28, Y:132.29, Z:17.70 [[ 4.87102455e-01 -8.72939556e-01 -2.66031883e-02 2.88283655e+02] [ 8.71701614e-01 4.87828072e-01 -4.64765256e-02 1.32294979e+02] [ 5.35489797e-02 -5.51212482e-04 9.98565072e-01 1.76977766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.31, Y:132.34, Z:17.70 [[ 4.85476831e-01 -8.73845066e-01 -2.65903605e-02 2.88315000e+02] [ 8.72608076e-01 4.86204068e-01 -4.64838636e-02 1.32344264e+02] [ 5.35480363e-02 -6.36124541e-04 9.98565072e-01 1.77015418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:132.39, Z:17.70 [[ 4.84492404e-01 -8.74391636e-01 -2.65777488e-02 2.88346638e+02] [ 8.73155071e-01 4.85220364e-01 -4.64910733e-02 1.32393586e+02] [ 5.35474706e-02 -6.81924260e-04 9.98565072e-01 1.77039976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.38, Y:132.44, Z:17.71 [[ 4.86074150e-01 -8.73513691e-01 -2.65660073e-02 2.88375157e+02] [ 8.72275444e-01 4.86799245e-01 -4.64977817e-02 1.32444006e+02] [ 5.35487612e-02 -5.71506103e-04 9.98565072e-01 1.77053808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.170385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:288.41, Y:132.49, Z:17.71 [[ 4.85305652e-01 -8.73941266e-01 -2.65534920e-02 2.88405818e+02] [ 8.72703267e-01 4.86031171e-01 -4.65049278e-02 1.32491622e+02] [ 5.35484002e-02 -6.04214905e-04 9.98565072e-01 1.77092750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.44, Y:132.54, Z:17.71 [[ 4.84141527e-01 -8.74587097e-01 -2.65403739e-02 2.88435378e+02] [ 8.73349656e-01 4.84867996e-01 -4.65124131e-02 1.32540921e+02] [ 5.35477342e-02 -6.60435714e-04 9.98565072e-01 1.77141652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:132.59, Z:17.72 [[ 4.83100549e-01 -8.75162929e-01 -2.65275016e-02 2.88461473e+02] [ 8.73925951e-01 4.83827805e-01 -4.65197534e-02 1.32592701e+02] [ 5.35471065e-02 -7.09353704e-04 9.98565073e-01 1.77157358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:132.64, Z:17.72 [[ 4.87590623e-01 -8.72669674e-01 -2.65146071e-02 2.88492874e+02] [ 8.71428577e-01 4.88310827e-01 -4.65271017e-02 1.32639852e+02] [ 5.35501603e-02 -4.19407848e-04 9.98565073e-01 1.77211171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.52, Y:132.69, Z:17.72 [[ 4.89948558e-01 -8.71348412e-01 -2.65019790e-02 2.88519679e+02] [ 8.70104984e-01 4.90664729e-01 -4.65342935e-02 1.32691379e+02] [ 5.35511691e-02 -2.60093993e-04 9.98565073e-01 1.77237474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.54, Y:132.74, Z:17.72 [[ 4.88406059e-01 -8.72214330e-01 -2.64893179e-02 2.88543966e+02] [ 8.70971780e-01 4.89123754e-01 -4.65414997e-02 1.32744850e+02] [ 5.35507176e-02 -3.40297910e-04 9.98565073e-01 1.77226388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.57, Y:132.79, Z:17.73 [[ 4.88168087e-01 -8.72347925e-01 -2.64767335e-02 2.88574438e+02] [ 8.71105183e-01 4.88885449e-01 -4.65486577e-02 1.32794464e+02] [ 5.35507146e-02 -3.40450585e-04 9.98565073e-01 1.77272380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.60, Y:132.85, Z:17.73 [[ 4.84676440e-01 -8.74293102e-01 -2.64635588e-02 2.88602754e+02] [ 8.73052831e-01 4.85398064e-01 -4.65561464e-02 1.32845647e+02] [ 5.35490779e-02 -5.39417655e-04 9.98565073e-01 1.77280331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.63, Y:132.90, Z:17.73 [[ 4.80823140e-01 -8.76418554e-01 -2.64504519e-02 2.88629093e+02] [ 8.75181062e-01 4.81549520e-01 -4.65635918e-02 1.32896254e+02] [ 5.35463982e-02 -7.60082171e-04 9.98565073e-01 1.77264536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.66, Y:132.94, Z:17.74 [[ 4.79408559e-01 -8.77193410e-01 -2.64415483e-02 2.88661935e+02] [ 8.75956813e-01 4.80136462e-01 -4.65686473e-02 1.32943909e+02] [ 5.35452619e-02 -8.36246316e-04 9.98565073e-01 1.77353322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.69, Y:133.00, Z:17.74 [[ 4.75055751e-01 -8.79558724e-01 -2.64288674e-02 2.88687856e+02] [ 8.78325350e-01 4.75789103e-01 -4.65758429e-02 1.32996972e+02] [ 5.35407560e-02 -1.08702223e-03 9.98565073e-01 1.77367729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.71, Y:133.05, Z:17.74 [[ 4.76662156e-01 -8.78689549e-01 -2.64171312e-02 2.88714172e+02] [ 8.77454470e-01 4.77392631e-01 -4.65824985e-02 1.33048939e+02] [ 5.35428984e-02 -9.75715688e-04 9.98565074e-01 1.77423630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.74, Y:133.10, Z:17.75 [[ 4.81775203e-01 -8.75896978e-01 -2.64033449e-02 2.88743231e+02] [ 8.74657235e-01 4.82497734e-01 -4.65903115e-02 1.33097763e+02] [ 5.35478671e-02 -6.47819850e-04 9.98565074e-01 1.77481913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.77, Y:133.15, Z:17.75 [[ 4.84984503e-01 -8.74124443e-01 -2.63910997e-02 2.88769749e+02] [ 8.72881681e-01 4.85701830e-01 -4.65972467e-02 1.33149356e+02] [ 5.35499977e-02 -4.37364928e-04 9.98565074e-01 1.77509377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.80, Y:133.20, Z:17.75 [[ 4.87439299e-01 -8.72758357e-01 -2.63776423e-02 2.88795551e+02] [ 8.71513173e-01 4.88152412e-01 -4.66048634e-02 1.33199816e+02] [ 5.35510937e-02 -2.71420716e-04 9.98565074e-01 1.77534002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.82, Y:133.25, Z:17.76 [[ 4.87273788e-01 -8.72851139e-01 -2.63656068e-02 2.88824234e+02] [ 8.71605722e-01 4.87986493e-01 -4.66116712e-02 1.33250270e+02] [ 5.35511103e-02 -2.67768158e-04 9.98565074e-01 1.77577179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:133.30, Z:17.76 [[ 4.81873894e-01 -8.75844201e-01 -2.63530799e-02 2.88851093e+02] [ 8.74602823e-01 4.82593611e-01 -4.66187526e-02 1.33301642e+02] [ 5.35485921e-02 -5.84118206e-04 9.98565074e-01 1.77623220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.88, Y:133.35, Z:17.76 [[ 4.79278261e-01 -8.77267691e-01 -2.63390799e-02 2.88876629e+02] [ 8.76028016e-01 4.80000907e-01 -4.66266610e-02 1.33352882e+02] [ 5.35468455e-02 -7.26626928e-04 9.98565074e-01 1.77632814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.90, Y:133.40, Z:17.77 [[ 4.77956217e-01 -8.77988892e-01 -2.63317330e-02 2.88904500e+02] [ 8.76750079e-01 4.78680339e-01 -4.66308098e-02 1.33403210e+02] [ 5.35458159e-02 -7.98863525e-04 9.98565074e-01 1.77656197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:288.93, Y:133.46, Z:17.77 [[ 4.73750967e-01 -8.80265373e-01 -2.63228804e-02 2.88930231e+02] [ 8.79029761e-01 4.74480538e-01 -4.66358064e-02 1.33455382e+02] [ 5.35415800e-02 -1.04483689e-03 9.98565074e-01 1.77706797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:288.96, Y:133.51, Z:17.77 [[ 4.72111270e-01 -8.81146263e-01 -2.63099242e-02 2.88957138e+02] [ 8.79911605e-01 4.72842455e-01 -4.66431147e-02 1.33506401e+02] [ 5.35398553e-02 -1.12966750e-03 9.98565074e-01 1.77746857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:288.98, Y:133.56, Z:17.78 [[ 4.73377056e-01 -8.80467294e-01 -2.62965355e-02 2.88981289e+02] [ 8.79231168e-01 4.74105757e-01 -4.66506617e-02 1.33557853e+02] [ 5.35417208e-02 -1.03738074e-03 9.98565074e-01 1.77763726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.01, Y:133.61, Z:17.78 [[ 4.76878457e-01 -8.78576154e-01 -2.62845979e-02 2.89005431e+02] [ 8.77336767e-01 4.77601597e-01 -4.66573868e-02 1.33610639e+02] [ 5.35456334e-02 -8.10541554e-04 9.98565075e-01 1.77803115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.03, Y:133.66, Z:17.78 [[ 4.79661038e-01 -8.77060498e-01 -2.62711080e-02 2.89030903e+02] [ 8.75818411e-01 4.80379528e-01 -4.66649813e-02 1.33663218e+02] [ 5.35481142e-02 -6.25346662e-04 9.98565075e-01 1.77817616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:289.06, Y:133.71, Z:17.79 [[ 4.79528998e-01 -8.77132880e-01 -2.62649934e-02 2.89058534e+02] [ 8.75890713e-01 4.80247351e-01 -4.66684226e-02 1.33714120e+02] [ 5.35481014e-02 -6.26401871e-04 9.98565075e-01 1.77885707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.670385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:289.08, Y:133.77, Z:17.79 [[ 4.79825943e-01 -8.76970847e-01 -2.62525968e-02 2.89081706e+02] [ 8.75728055e-01 4.80543215e-01 -4.66753951e-02 1.33768554e+02] [ 5.35484680e-02 -5.94070056e-04 9.98565075e-01 1.77904245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:289.11, Y:133.82, Z:17.79 [[ 4.80521559e-01 -8.76590270e-01 -2.62398494e-02 2.89107360e+02] [ 8.75346519e-01 4.81237166e-01 -4.66825603e-02 1.33819313e+02] [ 5.35490689e-02 -5.36984191e-04 9.98565075e-01 1.77918756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:133.87, Z:17.79 [[ 4.77766885e-01 -8.78094937e-01 -2.62313919e-02 2.89130145e+02] [ 8.76853178e-01 4.78485944e-01 -4.66873121e-02 1.33872038e+02] [ 5.35472447e-02 -6.95427705e-04 9.98565075e-01 1.77940651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.16, Y:133.92, Z:17.80 [[ 4.76159342e-01 -8.78968026e-01 -2.62200142e-02 2.89155163e+02] [ 8.77727235e-01 4.76880068e-01 -4.66937011e-02 1.33924986e+02] [ 5.35460725e-02 -7.80378603e-04 9.98565075e-01 1.77960197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.18, Y:133.98, Z:17.80 [[ 4.76793035e-01 -8.78624822e-01 -2.62073323e-02 2.89178274e+02] [ 8.77383120e-01 4.77512192e-01 -4.67008179e-02 1.33979071e+02] [ 5.35468185e-02 -7.27246280e-04 9.98565075e-01 1.77976409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.20, Y:134.03, Z:17.80 [[ 4.78305592e-01 -8.77802717e-01 -2.61944727e-02 2.89203430e+02] [ 8.76559385e-01 4.79021926e-01 -4.67080297e-02 1.34031226e+02] [ 5.35481621e-02 -6.20299066e-04 9.98565075e-01 1.77988044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.23, Y:134.08, Z:17.80 [[ 4.79417954e-01 -8.77196074e-01 -2.61815373e-02 2.89228975e+02] [ 8.75951439e-01 4.80132022e-01 -4.67152794e-02 1.34083421e+02] [ 5.35490541e-02 -5.37611588e-04 9.98565075e-01 1.78008479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.26, Y:134.13, Z:17.81 [[ 4.80003764e-01 -8.76876037e-01 -2.61687242e-02 2.89256480e+02] [ 8.75630535e-01 4.80716318e-01 -4.67224558e-02 1.34134549e+02] [ 5.35495346e-02 -4.87179272e-04 9.98565076e-01 1.78056124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.28, Y:134.19, Z:17.81 [[ 4.77125430e-01 -8.78445890e-01 -2.61561154e-02 2.89277907e+02] [ 8.77202345e-01 4.77841394e-01 -4.67295134e-02 1.34189520e+02] [ 5.35478236e-02 -6.48366545e-04 9.98565076e-01 1.78095688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.31, Y:134.24, Z:17.81 [[ 4.80524370e-01 -8.76591585e-01 -2.61442590e-02 2.89307198e+02] [ 8.75344916e-01 4.81234880e-01 -4.67361459e-02 1.34238066e+02] [ 5.35500416e-02 -4.27387180e-04 9.98565076e-01 1.78143256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.33, Y:134.29, Z:17.82 [[ 4.81764987e-01 -8.75910726e-01 -2.61323063e-02 2.89333681e+02] [ 8.74662691e-01 4.82473093e-01 -4.67428282e-02 1.34288100e+02] [ 5.35506793e-02 -3.37895353e-04 9.98565076e-01 1.78168104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.36, Y:134.34, Z:17.82 [[ 4.82424394e-01 -8.75548064e-01 -2.61207143e-02 2.89359823e+02] [ 8.74299145e-01 4.83130942e-01 -4.67493052e-02 1.34340270e+02] [ 5.35509889e-02 -2.84312946e-04 9.98565076e-01 1.78230757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.390385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.39, Y:134.39, Z:17.82 [[ 4.83094833e-01 -8.75178676e-01 -2.61087453e-02 2.89389167e+02] [ 8.73928856e-01 4.83799785e-01 -4.67559887e-02 1.34390028e+02] [ 5.35512497e-02 -2.29609418e-04 9.98565076e-01 1.78209480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.450385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:289.42, Y:134.44, Z:17.82 [[ 4.84017002e-01 -8.74669215e-01 -2.61018452e-02 2.89418265e+02] [ 8.73418445e-01 4.84720267e-01 -4.67598404e-02 1.34440466e+02] [ 5.35514863e-02 -1.65275223e-04 9.98565076e-01 1.78226879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.45, Y:134.49, Z:17.82 [[ 4.84956115e-01 -8.74149268e-01 -2.60887731e-02 2.89447958e+02] [ 8.72897351e-01 4.85657337e-01 -4.67671326e-02 1.34489508e+02] [ 5.35516588e-02 -9.28139538e-05 9.98565076e-01 1.78242856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:134.54, Z:17.83 [[ 4.85857841e-01 -8.73648730e-01 -2.60778541e-02 2.89480315e+02] [ 8.72395765e-01 4.86557186e-01 -4.67732204e-02 1.34538072e+02] [ 5.35517319e-02 -2.50736676e-05 9.98565076e-01 1.78286089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.630385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:289.51, Y:134.59, Z:17.83 [[ 4.89707780e-01 -8.71496939e-01 -2.60648238e-02 2.89511957e+02] [ 8.70240514e-01 4.90400891e-01 -4.67804805e-02 1.34586672e+02] [ 5.35512584e-02 2.26099621e-04 9.98565076e-01 1.78311117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:134.63, Z:17.83 [[ 4.93076357e-01 -8.69595887e-01 -2.60518666e-02 2.89544015e+02] [ 8.68336409e-01 4.93763904e-01 -4.67876952e-02 1.34633991e+02] [ 5.35498587e-02 4.48122034e-04 9.98565076e-01 1.78329572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.750385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:289.58, Y:134.68, Z:17.84 [[ 4.94329966e-01 -8.68884215e-01 -2.60404616e-02 2.89576651e+02] [ 8.67623413e-01 4.95015082e-01 -4.67940420e-02 1.34682359e+02] [ 5.35490257e-02 5.38382999e-04 9.98565077e-01 1.78362596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.61, Y:134.73, Z:17.84 [[ 4.94973805e-01 -8.68517977e-01 -2.60279817e-02 2.89611013e+02] [ 8.67256303e-01 4.95657313e-01 -4.68009826e-02 1.34730255e+02] [ 5.35484542e-02 5.92329281e-04 9.98565077e-01 1.78410616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:289.65, Y:134.78, Z:17.84 [[ 4.95082922e-01 -8.68456151e-01 -2.60156467e-02 2.89645036e+02] [ 8.67194032e-01 4.95765607e-01 -4.68078384e-02 1.34776215e+02] [ 5.35482181e-02 6.13147822e-04 9.98565077e-01 1.78446948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:289.68, Y:134.82, Z:17.85 [[ 4.94256683e-01 -8.68926994e-01 -2.60040455e-02 2.89679366e+02] [ 8.67665186e-01 4.94939943e-01 -4.68142826e-02 1.34823355e+02] [ 5.35486346e-02 5.75467040e-04 9.98565077e-01 1.78463418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.71, Y:134.87, Z:17.85 [[ 4.92741179e-01 -8.69787664e-01 -2.59913382e-02 2.89711913e+02] [ 8.68526678e-01 4.93425954e-01 -4.68213366e-02 1.34871539e+02] [ 5.35494218e-02 4.96629986e-04 9.98565077e-01 1.78489357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:134.92, Z:17.85 [[ 4.89311873e-01 -8.71721863e-01 -2.59785493e-02 2.89748741e+02] [ 8.70463207e-01 4.90000922e-01 -4.68284314e-02 1.34916734e+02] [ 5.35508805e-02 3.00336166e-04 9.98565077e-01 1.78521693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:289.78, Y:134.96, Z:17.86 [[ 4.85081095e-01 -8.74083450e-01 -2.59702384e-02 2.89782198e+02] [ 8.72827902e-01 4.85775792e-01 -4.68330400e-02 1.34963915e+02] [ 5.35516983e-02 5.02736131e-05 9.98565077e-01 1.78560046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.82, Y:135.01, Z:17.86 [[ 4.81727712e-01 -8.75936428e-01 -2.59573762e-02 2.89817945e+02] [ 8.74683168e-01 4.82426527e-01 -4.68401678e-02 1.35010131e+02] [ 5.35515362e-02 -1.40273217e-04 9.98565077e-01 1.78607378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.85, Y:135.06, Z:17.86 [[ 4.79822761e-01 -8.76981757e-01 -2.59444883e-02 2.89850336e+02] [ 8.75729633e-01 4.80523610e-01 -4.68473053e-02 1.35058444e+02] [ 5.35511713e-02 -2.41953901e-04 9.98565077e-01 1.78645591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.88, Y:135.11, Z:17.87 [[ 4.79740139e-01 -8.77027347e-01 -2.59312827e-02 2.89882698e+02] [ 8.75774895e-01 4.80440401e-01 -4.68546138e-02 1.35105308e+02] [ 5.35512135e-02 -2.31927446e-04 9.98565077e-01 1.78683204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:135.16, Z:17.87 [[ 4.81614816e-01 -8.75999543e-01 -2.59223836e-02 2.89911653e+02] [ 8.74745331e-01 4.82311921e-01 -4.68595367e-02 1.35155855e+02] [ 5.35516074e-02 -1.07236885e-04 9.98565077e-01 1.78735003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.94, Y:135.21, Z:17.88 [[ 4.84127394e-01 -8.74613843e-01 -2.59093009e-02 2.89940155e+02] [ 8.73357249e-01 4.84820196e-01 -4.68667693e-02 1.35206625e+02] [ 5.35516775e-02 6.14111837e-05 9.98565078e-01 1.78783343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.97, Y:135.26, Z:17.88 [[ 4.85175791e-01 -8.74033084e-01 -2.58963306e-02 2.89967073e+02] [ 8.72775278e-01 4.85866389e-01 -4.68739349e-02 1.35257875e+02] [ 5.35515265e-02 1.40421302e-04 9.98565078e-01 1.78820240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:135.31, Z:17.88 [[ 4.84933281e-01 -8.74168036e-01 -2.58835292e-02 2.89993620e+02] [ 8.72910045e-01 4.85623542e-01 -4.68810027e-02 1.35309019e+02] [ 5.35515252e-02 1.40165779e-04 9.98565078e-01 1.78846548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.02, Y:135.36, Z:17.89 [[ 4.83842792e-01 -8.74772461e-01 -2.58707165e-02 2.90019844e+02] [ 8.73514954e-01 4.84533935e-01 -4.68880722e-02 1.35361136e+02] [ 5.35516344e-02 8.79980163e-05 9.98565078e-01 1.78884688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:135.41, Z:17.89 [[ 4.80630338e-01 -8.76541990e-01 -2.58576368e-02 2.90048407e+02] [ 8.75286640e-01 4.81325390e-01 -4.68952842e-02 1.35411856e+02] [ 5.35516229e-02 -9.35477426e-05 9.98565078e-01 1.78943946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.08, Y:135.46, Z:17.89 [[ 4.73993163e-01 -8.80149151e-01 -2.58448187e-02 2.90075295e+02] [ 8.78898703e-01 4.74696997e-01 -4.69023475e-02 1.35463665e+02] [ 5.35495191e-02 -4.83585614e-04 9.98565078e-01 1.78936902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:135.52, Z:17.90 [[ 4.72871303e-01 -8.80752797e-01 -2.58310121e-02 2.90101063e+02] [ 8.79502833e-01 4.73575995e-01 -4.69099501e-02 1.35515208e+02] [ 5.35490170e-02 -5.36079053e-04 9.98565078e-01 1.79002860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.13, Y:135.57, Z:17.90 [[ 4.70751943e-01 -8.81887804e-01 -2.58168503e-02 2.90129470e+02] [ 8.80639112e-01 4.71458885e-01 -4.69177427e-02 1.35566459e+02] [ 5.35477686e-02 -6.48709573e-04 9.98565078e-01 1.78998040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:135.62, Z:17.90 [[ 4.68281043e-01 -8.83202700e-01 -2.58041568e-02 2.90155406e+02] [ 8.81955608e-01 4.68990805e-01 -4.69247230e-02 1.35617657e+02] [ 5.35459543e-02 -7.84162560e-04 9.98565078e-01 1.79044986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.950385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:290.18, Y:135.67, Z:17.91 [[ 4.66361922e-01 -8.84218011e-01 -2.57888986e-02 2.90182944e+02] [ 8.82972001e-01 4.67073580e-01 -4.69331071e-02 1.35668596e+02] [ 5.35444118e-02 -8.83061439e-04 9.98565079e-01 1.79068631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.010385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:290.21, Y:135.72, Z:17.91 [[ 4.62587445e-01 -8.86198886e-01 -2.57757572e-02 2.90207570e+02] [ 8.84955521e-01 4.63303715e-01 -4.69403233e-02 1.35721867e+02] [ 5.35404663e-02 -1.09639439e-03 9.98565079e-01 1.79072445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.070385723 meters Centerline goodness : 0.996534 with order 1 Centerline is valid? [True, True] Translation: X:290.24, Y:135.77, Z:17.90 [[ 4.66951079e-01 -8.83907598e-01 -2.57691197e-02 2.90237566e+02] [ 8.82660516e-01 4.67660857e-01 -4.69439668e-02 1.35770792e+02] [ 5.35453376e-02 -8.24848570e-04 9.98565079e-01 1.79049437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.26, Y:135.82, Z:17.91 [[ 4.67426205e-01 -8.83656913e-01 -2.57527275e-02 2.90263823e+02] [ 8.82408955e-01 4.68134442e-01 -4.69529576e-02 1.35821143e+02] [ 5.35460443e-02 -7.77394608e-04 9.98565079e-01 1.79059745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:135.87, Z:17.92 [[ 4.67984973e-01 -8.83361656e-01 -2.57342106e-02 2.90292541e+02] [ 8.82112694e-01 4.68691437e-01 -4.69631043e-02 1.35871610e+02] [ 5.35468097e-02 -7.22446739e-04 9.98565079e-01 1.79169384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.32, Y:135.92, Z:17.92 [[ 4.68342803e-01 -8.83172437e-01 -2.57189639e-02 2.90320174e+02] [ 8.81922731e-01 4.69047950e-01 -4.69714525e-02 1.35921022e+02] [ 5.35473195e-02 -6.83397137e-04 9.98565079e-01 1.79201880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:135.97, Z:17.93 [[ 4.69289758e-01 -8.82669976e-01 -2.57067420e-02 2.90349250e+02] [ 8.81419149e-01 4.69992914e-01 -4.69781404e-02 1.35970741e+02] [ 5.35481807e-02 -6.12054538e-04 9.98565079e-01 1.79268093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.38, Y:136.02, Z:17.93 [[ 4.70509827e-01 -8.82020586e-01 -2.56941434e-02 2.90377166e+02] [ 8.80768412e-01 4.71210581e-01 -4.69850301e-02 1.36021773e+02] [ 5.35491160e-02 -5.23671538e-04 9.98565079e-01 1.79319345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.40, Y:136.07, Z:17.93 [[ 4.74699146e-01 -8.79773367e-01 -2.56815765e-02 2.90402921e+02] [ 8.78517504e-01 4.75393266e-01 -4.69918980e-02 1.36073433e+02] [ 5.35510689e-02 -2.54700618e-04 9.98565080e-01 1.79320734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.43, Y:136.12, Z:17.93 [[ 4.77254542e-01 -8.78389997e-01 -2.56732464e-02 2.90428404e+02] [ 8.77131877e-01 4.77944563e-01 -4.69964486e-02 1.36124953e+02] [ 5.35515989e-02 -8.95543108e-05 9.98565080e-01 1.79329341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.46, Y:136.18, Z:17.94 [[ 4.75431821e-01 -8.79378111e-01 -2.56655498e-02 2.90456967e+02] [ 8.78121198e-01 4.76124039e-01 -4.70006515e-02 1.36176038e+02] [ 5.35513294e-02 -1.91857987e-04 9.98565080e-01 1.79382507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.49, Y:136.23, Z:17.94 [[ 4.76266628e-01 -8.78926599e-01 -2.56540844e-02 2.90485746e+02] [ 8.77668693e-01 4.76957038e-01 -4.70069087e-02 1.36226714e+02] [ 5.35515186e-02 -1.27964826e-04 9.98565080e-01 1.79446502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.52, Y:136.28, Z:17.95 [[ 4.75173178e-01 -8.79518614e-01 -2.56409631e-02 2.90517218e+02] [ 8.78261181e-01 4.75864451e-01 -4.70140650e-02 1.36276857e+02] [ 5.35513681e-02 -1.79639845e-04 9.98565080e-01 1.79521585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.54, Y:136.33, Z:17.95 [[ 4.73655747e-01 -8.80336921e-01 -2.56347212e-02 2.90544545e+02] [ 8.79080498e-01 4.74348854e-01 -4.70174681e-02 1.36327188e+02] [ 5.35510138e-02 -2.64889491e-04 9.98565080e-01 1.79527107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.57, Y:136.38, Z:17.95 [[ 4.69428416e-01 -8.82598600e-01 -2.56256339e-02 2.90566306e+02] [ 8.81345246e-01 4.70127056e-01 -4.70224204e-02 1.36381773e+02] [ 5.35492263e-02 -5.11370244e-04 9.98565080e-01 1.79491540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.59, Y:136.43, Z:17.95 [[ 4.68145931e-01 -8.83279909e-01 -2.56123091e-02 2.90593487e+02] [ 8.82027174e-01 4.68845682e-01 -4.70296771e-02 1.36432026e+02] [ 5.35485894e-02 -5.74000700e-04 9.98565080e-01 1.79523594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.910385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:290.62, Y:136.48, Z:17.96 [[ 4.67301495e-01 -8.83727279e-01 -2.56009482e-02 2.90622464e+02] [ 8.82474876e-01 4.68001839e-01 -4.70358607e-02 1.36482630e+02] [ 5.35481640e-02 -6.12265552e-04 9.98565080e-01 1.79561362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.65, Y:136.54, Z:17.96 [[ 4.67175371e-01 -8.83794321e-01 -2.55884959e-02 2.90648390e+02] [ 8.82541647e-01 4.67875231e-01 -4.70426340e-02 1.36535097e+02] [ 5.35482362e-02 -6.05753278e-04 9.98565080e-01 1.79593900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.68, Y:136.59, Z:17.96 [[ 4.68247148e-01 -8.83227323e-01 -2.55754661e-02 2.90675055e+02] [ 8.81973415e-01 4.68944793e-01 -4.70497168e-02 1.36586395e+02] [ 5.35490771e-02 -5.25985468e-04 9.98565080e-01 1.79611425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.70, Y:136.64, Z:17.97 [[ 4.69149254e-01 -8.82748855e-01 -2.55623979e-02 2.90702751e+02] [ 8.81493849e-01 4.69844922e-01 -4.70568158e-02 1.36636725e+02] [ 5.35497131e-02 -4.56426536e-04 9.98565080e-01 1.79680243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.73, Y:136.69, Z:17.97 [[ 4.70962610e-01 -8.81783152e-01 -2.55478633e-02 2.90728562e+02] [ 8.80526291e-01 4.71654921e-01 -4.70647055e-02 1.36688282e+02] [ 5.35506398e-02 -3.29848770e-04 9.98565081e-01 1.79714326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.75, Y:136.74, Z:17.97 [[ 4.68699432e-01 -8.82988617e-01 -2.55332146e-02 2.90752224e+02] [ 8.81733104e-01 4.69394183e-01 -4.70726513e-02 1.36742655e+02] [ 5.35497577e-02 -4.50555663e-04 9.98565081e-01 1.79661084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.270385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:290.78, Y:136.80, Z:17.97 [[ 4.66509586e-01 -8.84147865e-01 -2.55217470e-02 2.90777489e+02] [ 8.82893738e-01 4.67206837e-01 -4.70788680e-02 1.36795162e+02] [ 5.35486153e-02 -5.70247331e-04 9.98565081e-01 1.79695794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:290.80, Y:136.85, Z:17.97 [[ 4.66341002e-01 -8.84237201e-01 -2.55076858e-02 2.90801852e+02] [ 8.82982791e-01 4.67037744e-01 -4.70864852e-02 1.36847284e+02] [ 5.35486739e-02 -5.64488884e-04 9.98565081e-01 1.79741142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.83, Y:136.90, Z:17.98 [[ 4.65347714e-01 -8.84760603e-01 -2.54986377e-02 2.90828734e+02] [ 8.83506708e-01 4.66045382e-01 -4.70913845e-02 1.36898044e+02] [ 5.35481241e-02 -6.14349277e-04 9.98565081e-01 1.79810841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.86, Y:136.95, Z:17.98 [[ 4.64437714e-01 -8.85239020e-01 -2.54850460e-02 2.90855028e+02] [ 8.83985440e-01 4.65135948e-01 -4.70987389e-02 1.36948660e+02] [ 5.35476525e-02 -6.53979007e-04 9.98565081e-01 1.79845435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.88, Y:137.00, Z:18.00 [[ 4.65286897e-01 -8.84793243e-01 -2.54758923e-02 2.90883365e+02] [ 8.83538723e-01 4.65983441e-01 -4.71036897e-02 1.36999450e+02] [ 5.35483703e-02 -5.92207744e-04 9.98565081e-01 1.79961201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:290.90, Y:137.05, Z:18.00 [[ 4.60466103e-01 -8.87312005e-01 -2.54631858e-02 2.90904027e+02] [ 8.86060915e-01 4.61168787e-01 -4.71105575e-02 1.37054950e+02] [ 5.35445898e-02 -8.69118912e-04 9.98565081e-01 1.79960985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.630385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:290.93, Y:137.11, Z:18.00 [[ 4.60336794e-01 -8.87379441e-01 -2.54512218e-02 2.90926359e+02] [ 8.86128096e-01 4.61039026e-01 -4.71170202e-02 1.37107758e+02] [ 5.35446815e-02 -8.63344749e-04 9.98565081e-01 1.79975429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.690385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:290.95, Y:137.16, Z:18.00 [[ 4.58108358e-01 -8.88532182e-01 -2.54419625e-02 2.90946400e+02] [ 8.87282328e-01 4.58813237e-01 -4.71220194e-02 1.37162612e+02] [ 5.35425399e-02 -9.87212732e-04 9.98565081e-01 1.80020161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.750385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:290.97, Y:137.22, Z:18.01 [[ 4.57331328e-01 -8.88932761e-01 -2.54284061e-02 2.90969068e+02] [ 8.87683117e-01 4.58036581e-01 -4.71293337e-02 1.37215047e+02] [ 5.35419489e-02 -1.01864607e-03 9.98565082e-01 1.80057709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:137.27, Z:18.01 [[ 4.55679498e-01 -8.89780978e-01 -2.54166454e-02 2.90990238e+02] [ 8.88532294e-01 4.56386449e-01 -4.71356754e-02 1.37269087e+02] [ 5.35402399e-02 -1.10474931e-03 9.98565082e-01 1.80090797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.870385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:291.01, Y:137.32, Z:18.01 [[ 4.52590496e-01 -8.91356549e-01 -2.54036569e-02 2.91008689e+02] [ 8.90109933e-01 4.53301086e-01 -4.71426744e-02 1.37324836e+02] [ 5.35364369e-02 -1.27572098e-03 9.98565082e-01 1.80126423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.02, Y:137.38, Z:18.02 [[ 4.47464158e-01 -8.93941146e-01 -2.53979473e-02 2.91024462e+02] [ 8.92698457e-01 4.48181595e-01 -4.71457503e-02 1.37382339e+02] [ 5.35284186e-02 -1.57667493e-03 9.98565082e-01 1.80150680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.04, Y:137.44, Z:18.02 [[ 4.43993529e-01 -8.95670324e-01 -2.53853895e-02 2.91044517e+02] [ 8.94430043e-01 4.44715121e-01 -4.71525110e-02 1.37436780e+02] [ 5.35223713e-02 -1.77004534e-03 9.98565082e-01 1.80167593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.06, Y:137.49, Z:18.02 [[ 4.42629619e-01 -8.96345487e-01 -2.53730000e-02 2.91060133e+02] [ 8.95105927e-01 4.43352447e-01 -4.71591769e-02 1.37494439e+02] [ 5.35200970e-02 -1.83747423e-03 9.98565082e-01 1.80203945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.08, Y:137.55, Z:18.02 [[ 4.42914945e-01 -8.96204903e-01 -2.53598686e-02 2.91076771e+02] [ 8.94964711e-01 4.43636689e-01 -4.71662373e-02 1.37551572e+02] [ 5.35211812e-02 -1.80555613e-03 9.98565082e-01 1.80224312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.09, Y:137.61, Z:18.02 [[ 4.47743215e-01 -8.93802851e-01 -2.53471482e-02 2.91091210e+02] [ 8.92558398e-01 4.48457587e-01 -4.71730722e-02 1.37610056e+02] [ 5.35305474e-02 -1.50238697e-03 9.98565082e-01 1.80211461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.11, Y:137.67, Z:18.02 [[ 4.54264985e-01 -8.90506313e-01 -2.53343797e-02 2.91108996e+02] [ 8.89256290e-01 4.54969565e-01 -4.71799286e-02 1.37666914e+02] [ 5.35403959e-02 -1.09656692e-03 9.98565082e-01 1.80235315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.13, Y:137.72, Z:18.03 [[ 4.56839623e-01 -8.89188602e-01 -2.53217044e-02 2.91129429e+02] [ 8.87936170e-01 4.57539911e-01 -4.71867305e-02 1.37721309e+02] [ 5.35435933e-02 -9.27289082e-04 9.98565082e-01 1.80258635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.15, Y:137.78, Z:18.03 [[ 4.58781631e-01 -8.88188538e-01 -2.53088082e-02 2.91149331e+02] [ 8.86934198e-01 4.59478495e-01 -4.71936464e-02 1.37775795e+02] [ 5.35457090e-02 -7.95669460e-04 9.98565082e-01 1.80284826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.17, Y:137.83, Z:18.03 [[ 4.57388731e-01 -8.88906966e-01 -2.52973397e-02 2.91171200e+02] [ 8.87653381e-01 4.58086952e-01 -4.71997931e-02 1.37830237e+02] [ 5.35446061e-02 -8.66615610e-04 9.98565083e-01 1.80318405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.19, Y:137.88, Z:18.04 [[ 4.54531807e-01 -8.90371572e-01 -2.52843862e-02 2.91194057e+02] [ 8.89119851e-01 4.55233364e-01 -4.72067312e-02 1.37883651e+02] [ 5.35418276e-02 -1.02388881e-03 9.98565083e-01 1.80361545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.22, Y:137.94, Z:18.04 [[ 4.51689168e-01 -8.91817388e-01 -2.52713594e-02 2.91217937e+02] [ 8.90567523e-01 4.52394025e-01 -4.72137038e-02 1.37935392e+02] [ 5.35386140e-02 -1.17993335e-03 9.98565083e-01 1.80407052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.24, Y:137.99, Z:18.04 [[ 4.51517146e-01 -8.91904742e-01 -2.52625814e-02 2.91242618e+02] [ 8.90654751e-01 4.52221780e-01 -4.72184002e-02 1.37988329e+02] [ 5.35386046e-02 -1.18032081e-03 9.98565083e-01 1.80428312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.27, Y:138.04, Z:18.04 [[ 4.53644609e-01 -8.90824917e-01 -2.52494825e-02 2.91266232e+02] [ 8.89572858e-01 4.54345563e-01 -4.72254037e-02 1.38041038e+02] [ 5.35415566e-02 -1.03770453e-03 9.98565083e-01 1.80447462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.29, Y:138.09, Z:18.05 [[ 4.54316204e-01 -8.90482968e-01 -2.52362801e-02 2.91291516e+02] [ 8.89229991e-01 4.55015514e-01 -4.72324577e-02 1.38092719e+02] [ 5.35425981e-02 -9.82386231e-04 9.98565083e-01 1.80475808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:138.14, Z:18.05 [[ 4.55701693e-01 -8.89775115e-01 -2.52232322e-02 2.91316892e+02] [ 8.88520666e-01 4.56398359e-01 -4.72394245e-02 1.38144006e+02] [ 5.35443062e-02 -8.84277391e-04 9.98565083e-01 1.80515553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.35, Y:138.19, Z:18.06 [[ 4.60913210e-01 -8.87087023e-01 -2.52116298e-02 2.91346736e+02] [ 8.85828171e-01 4.61601888e-01 -4.72456159e-02 1.38194458e+02] [ 5.35487087e-02 -5.57043433e-04 9.98565083e-01 1.80568151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.37, Y:138.25, Z:18.06 [[ 4.58589735e-01 -8.88290609e-01 -2.52041372e-02 2.91368009e+02] [ 8.87033345e-01 4.59281308e-01 -4.72496127e-02 1.38248100e+02] [ 5.35471763e-02 -6.88722790e-04 9.98565083e-01 1.80596334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.950385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:291.39, Y:138.30, Z:18.06 [[ 4.59530487e-01 -8.87804672e-01 -2.51911788e-02 2.91394322e+02] [ 8.86546298e-01 4.60220037e-01 -4.72565204e-02 1.38299375e+02] [ 5.35480449e-02 -6.17334501e-04 9.98565083e-01 1.80637190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.42, Y:138.35, Z:18.07 [[ 4.60774976e-01 -8.87159785e-01 -2.51781321e-02 2.91420692e+02] [ 8.85900065e-01 4.61462066e-01 -4.72634707e-02 1.38350316e+02] [ 5.35490033e-02 -5.27484274e-04 9.98565084e-01 1.80666508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.45, Y:138.40, Z:18.07 [[ 4.60485041e-01 -8.87310561e-01 -2.51693345e-02 2.91448872e+02] [ 8.86050811e-01 4.61172074e-01 -4.72681553e-02 1.38401293e+02] [ 5.35489275e-02 -5.35030823e-04 9.98565084e-01 1.80722909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.48, Y:138.45, Z:18.08 [[ 4.60978589e-01 -8.87054609e-01 -2.51567353e-02 2.91475904e+02] [ 8.85794112e-01 4.61664250e-01 -4.72748597e-02 1.38452117e+02] [ 5.35493476e-02 -4.90989931e-04 9.98565084e-01 1.80754544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.50, Y:138.50, Z:18.08 [[ 4.60254782e-01 -8.87430730e-01 -2.51442827e-02 2.91504834e+02] [ 8.86170431e-01 4.60940808e-01 -4.72814821e-02 1.38501664e+02] [ 5.35490661e-02 -5.20591618e-04 9.98565084e-01 1.80782153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.53, Y:138.55, Z:18.08 [[ 4.56984134e-01 -8.89119687e-01 -2.51333090e-02 2.91532819e+02] [ 8.87861603e-01 4.57674212e-01 -4.72873146e-02 1.38552058e+02] [ 5.35469498e-02 -7.05347504e-04 9.98565084e-01 1.80812436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.56, Y:138.60, Z:18.08 [[ 4.51236822e-01 -8.92050590e-01 -2.51212202e-02 2.91561959e+02] [ 8.90796628e-01 4.51934364e-01 -4.72937358e-02 1.38601717e+02] [ 5.35415476e-02 -1.03722323e-03 9.98565084e-01 1.80841231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.59, Y:138.65, Z:18.09 [[ 4.49669142e-01 -8.92842234e-01 -2.51079311e-02 2.91589603e+02] [ 8.91589107e-01 4.50368182e-01 -4.73007899e-02 1.38651652e+02] [ 5.35399562e-02 -1.11625228e-03 9.98565084e-01 1.80868707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.430385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:291.62, Y:138.70, Z:18.09 [[ 4.46801718e-01 -8.94280819e-01 -2.51006163e-02 2.91617617e+02] [ 8.93029725e-01 4.47504389e-01 -4.73046713e-02 1.38703077e+02] [ 5.35362961e-02 -1.27978805e-03 9.98565084e-01 1.80873960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.64, Y:138.75, Z:18.09 [[ 4.46513377e-01 -8.94425198e-01 -2.50872383e-02 2.91644243e+02] [ 8.93173933e-01 4.47215745e-01 -4.73117650e-02 1.38753961e+02] [ 5.35362427e-02 -1.28193132e-03 9.98565084e-01 1.80933987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.67, Y:138.81, Z:18.10 [[ 4.49633776e-01 -8.92861036e-01 -2.50726407e-02 2.91670880e+02] [ 8.91606897e-01 4.50330997e-01 -4.73194997e-02 1.38805018e+02] [ 5.35407248e-02 -1.07849407e-03 9.98565084e-01 1.80957613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.70, Y:138.86, Z:18.10 [[ 4.52249660e-01 -8.91539244e-01 -2.50603704e-02 2.91698588e+02] [ 8.90282706e-01 4.52942550e-01 -4.73259971e-02 1.38855583e+02] [ 5.35438918e-02 -9.07648279e-04 9.98565084e-01 1.80984594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.73, Y:138.91, Z:18.10 [[ 4.56228358e-01 -8.89510171e-01 -2.50467775e-02 2.91725950e+02] [ 8.88250156e-01 4.56914904e-01 -4.73331899e-02 1.38906017e+02] [ 5.35475998e-02 -6.53060529e-04 9.98565085e-01 1.80987667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.75, Y:138.96, Z:18.10 [[ 4.60261214e-01 -8.87430468e-01 -2.50355547e-02 2.91754400e+02] [ 8.86167028e-01 4.60941434e-01 -4.73391252e-02 1.38956616e+02] [ 5.35501065e-02 -3.97319842e-04 9.98565085e-01 1.81046875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:139.01, Z:18.11 [[ 4.60749760e-01 -8.87177276e-01 -2.50227700e-02 2.91783856e+02] [ 8.85913095e-01 4.61428603e-01 -4.73458820e-02 1.39006598e+02] [ 5.35504125e-02 -3.53395817e-04 9.98565085e-01 1.81089032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.81, Y:139.06, Z:18.11 [[ 4.61168231e-01 -8.86960186e-01 -2.50098241e-02 2.91814699e+02] [ 8.85695314e-01 4.61845786e-01 -4.73527195e-02 1.39055783e+02] [ 5.35506588e-02 -3.13514141e-04 9.98565085e-01 1.81121267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.85, Y:139.11, Z:18.11 [[ 4.61306573e-01 -8.86888603e-01 -2.49970370e-02 2.91845714e+02] [ 8.85623260e-01 4.61983248e-01 -4.73594688e-02 1.39105412e+02] [ 5.35507854e-02 -2.90723123e-04 9.98565085e-01 1.81143072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.88, Y:139.16, Z:18.12 [[ 4.59791520e-01 -8.87675363e-01 -2.49841380e-02 2.91876469e+02] [ 8.86410809e-01 4.60469667e-01 -4.73662726e-02 1.39155041e+02] [ 5.35503109e-02 -3.67599442e-04 9.98565085e-01 1.81178628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.91, Y:139.20, Z:18.12 [[ 4.57699742e-01 -8.88756119e-01 -2.49701396e-02 2.91905762e+02] [ 8.87492763e-01 4.58380119e-01 -4.73736510e-02 1.39203746e+02] [ 5.35494377e-02 -4.77910302e-04 9.98565085e-01 1.81236118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.94, Y:139.25, Z:18.13 [[ 4.54705842e-01 -8.90291907e-01 -2.49582958e-02 2.91938791e+02] [ 8.89030507e-01 4.55389837e-01 -4.73798900e-02 1.39252136e+02] [ 5.35476869e-02 -6.44773570e-04 9.98565085e-01 1.81277064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.97, Y:139.30, Z:18.13 [[ 4.48810343e-01 -8.93278797e-01 -2.49452758e-02 2.91969602e+02] [ 8.92021566e-01 4.49501972e-01 -4.73867439e-02 1.39301366e+02] [ 5.35425243e-02 -9.84063198e-04 9.98565085e-01 1.81303774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.00, Y:139.35, Z:18.13 [[ 4.46717837e-01 -8.94327438e-01 -2.49320843e-02 2.91998443e+02] [ 8.93071443e-01 4.47411708e-01 -4.73936835e-02 1.39350844e+02] [ 5.35403780e-02 -1.09452875e-03 9.98565085e-01 1.81317423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.03, Y:139.40, Z:18.13 [[ 4.44901867e-01 -8.95232464e-01 -2.49231683e-02 2.92029732e+02] [ 8.93977618e-01 4.45597815e-01 -4.73983717e-02 1.39400221e+02] [ 5.35382704e-02 -1.19313055e-03 9.98565086e-01 1.81334712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.06, Y:139.45, Z:18.14 [[ 4.43121005e-01 -8.96115664e-01 -2.49096555e-02 2.92058553e+02] [ 8.94861808e-01 4.43818732e-01 -4.74054722e-02 1.39449767e+02] [ 5.35361579e-02 -1.28433886e-03 9.98565086e-01 1.81372149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.09, Y:139.50, Z:18.14 [[ 4.41873875e-01 -8.96731611e-01 -2.48977391e-02 2.92086394e+02] [ 8.95478375e-01 4.42572715e-01 -4.74117299e-02 1.39500755e+02] [ 5.35346570e-02 -1.34538217e-03 9.98565086e-01 1.81400313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.450385723 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:292.12, Y:139.55, Z:18.14 [[ 4.38629151e-01 -8.98323563e-01 -2.48846323e-02 2.92115855e+02] [ 8.97072473e-01 4.39331827e-01 -4.74186082e-02 1.39550870e+02] [ 5.35298640e-02 -1.52413478e-03 9.98565086e-01 1.81394698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:139.60, Z:18.14 [[ 4.37028854e-01 -8.99103539e-01 -2.48717908e-02 2.92141215e+02] [ 8.97853322e-01 4.37733080e-01 -4.74253429e-02 1.39603322e+02] [ 5.35274992e-02 -1.60497673e-03 9.98565086e-01 1.81440552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.17, Y:139.66, Z:18.15 [[ 4.34765831e-01 -9.00200370e-01 -2.48589208e-02 2.92166497e+02] [ 8.98951545e-01 4.35472522e-01 -4.74320880e-02 1.39655902e+02] [ 5.35237601e-02 -1.72511413e-03 9.98565086e-01 1.81472302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.630385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:139.71, Z:18.15 [[ 4.30841147e-01 -9.02085690e-01 -2.48457942e-02 2.92194526e+02] [ 9.00839561e-01 4.31552581e-01 -4.74389629e-02 1.39706964e+02] [ 5.35162762e-02 -1.94341716e-03 9.98565086e-01 1.81519634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.22, Y:139.76, Z:18.15 [[ 4.28582207e-01 -9.03161459e-01 -2.48328597e-02 2.92217278e+02] [ 9.01916725e-01 4.29296080e-01 -4.74457328e-02 1.39761016e+02] [ 5.35118066e-02 -2.06277464e-03 9.98565086e-01 1.81522840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.750385723 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:292.24, Y:139.81, Z:18.15 [[ 4.24997541e-01 -9.04854164e-01 -2.48200008e-02 2.92237315e+02] [ 9.03611881e-01 4.25715671e-01 -4.74524586e-02 1.39814484e+02] [ 5.35038181e-02 -2.26046946e-03 9.98565086e-01 1.81545052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.26, Y:139.87, Z:18.16 [[ 4.24528491e-01 -9.05074634e-01 -2.48086278e-02 2.92261279e+02] [ 9.03832379e-01 4.25246670e-01 -4.74584038e-02 1.39866802e+02] [ 5.35031838e-02 -2.27539656e-03 9.98565086e-01 1.81613813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.28, Y:139.92, Z:18.16 [[ 4.27226321e-01 -9.03804647e-01 -2.47957716e-02 2.92281005e+02] [ 9.02559869e-01 4.27940118e-01 -4.74651199e-02 1.39922067e+02] [ 5.35103014e-02 -2.10131981e-03 9.98565087e-01 1.81632843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:139.98, Z:18.17 [[ 4.31369125e-01 -9.01835068e-01 -2.47828162e-02 2.92303595e+02] [ 9.00586642e-01 4.32076521e-01 -4.74718833e-02 1.39976029e+02] [ 5.35198821e-02 -1.84116852e-03 9.98565087e-01 1.81672125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.33, Y:140.03, Z:18.17 [[ 4.37363939e-01 -8.98943404e-01 -2.47697647e-02 2.92326248e+02] [ 8.97689912e-01 4.38062318e-01 -4.74786923e-02 1.40030014e+02] [ 5.35313578e-02 -1.47010009e-03 9.98565087e-01 1.81712600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.35, Y:140.08, Z:18.17 [[ 4.43047805e-01 -8.96156095e-01 -2.47567316e-02 2.92348256e+02] [ 8.94897827e-01 4.43737543e-01 -4.74854872e-02 1.40083841e+02] [ 5.35399000e-02 -1.11640448e-03 9.98565087e-01 1.81740656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.37, Y:140.14, Z:18.18 [[ 4.47916673e-01 -8.93732846e-01 -2.47437707e-02 2.92371758e+02] [ 8.92470472e-01 4.48598867e-01 -4.74922399e-02 1.40137382e+02] [ 5.35454022e-02 -8.10518589e-04 9.98565087e-01 1.81779665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.40, Y:140.19, Z:18.18 [[ 4.48704891e-01 -8.93337752e-01 -2.47301859e-02 2.92396427e+02] [ 8.92074388e-01 4.49385249e-01 -4.74993127e-02 1.40188589e+02] [ 5.35463100e-02 -7.47991493e-04 9.98565087e-01 1.81790828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.230385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:140.24, Z:18.18 [[ 4.48727383e-01 -8.93326659e-01 -2.47227706e-02 2.92423620e+02] [ 8.92063066e-01 4.49407315e-01 -4.75031720e-02 1.40240269e+02] [ 5.35464439e-02 -7.38296498e-04 9.98565087e-01 1.81809864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.45, Y:140.29, Z:18.19 [[ 4.50311549e-01 -8.92529528e-01 -2.47093227e-02 2.92449962e+02] [ 8.91264347e-01 4.50988522e-01 -4.75101660e-02 1.40291724e+02] [ 5.35478470e-02 -6.28161915e-04 9.98565087e-01 1.81851243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.48, Y:140.34, Z:18.19 [[ 4.51610696e-01 -8.91873255e-01 -2.46956735e-02 2.92475721e+02] [ 8.90606703e-01 4.52285099e-01 -4.75172598e-02 1.40342816e+02] [ 5.35488583e-02 -5.34829618e-04 9.98565087e-01 1.81885207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.50, Y:140.39, Z:18.19 [[ 4.53266114e-01 -8.91033289e-01 -2.46881887e-02 2.92504072e+02] [ 8.89765276e-01 4.53937765e-01 -4.75211483e-02 1.40393611e+02] [ 5.35498263e-02 -4.26966745e-04 9.98565087e-01 1.81917057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.53, Y:140.44, Z:18.19 [[ 4.53809104e-01 -8.90757249e-01 -2.46742694e-02 2.92532967e+02] [ 8.89488434e-01 4.54479240e-01 -4.75283745e-02 1.40443197e+02] [ 5.35501873e-02 -3.78668192e-04 9.98565088e-01 1.81938452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.56, Y:140.49, Z:18.20 [[ 4.54304148e-01 -8.90505084e-01 -2.46664944e-02 2.92563476e+02] [ 8.89235678e-01 4.54973163e-01 -4.75324092e-02 1.40492090e+02] [ 5.35504451e-02 -3.40156229e-04 9.98565088e-01 1.81978915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.59, Y:140.54, Z:18.20 [[ 4.55544280e-01 -8.89871682e-01 -2.46535650e-02 2.92594582e+02] [ 8.88600983e-01 4.56210836e-01 -4.75391144e-02 1.40540839e+02] [ 5.35509352e-02 -2.51010458e-04 9.98565088e-01 1.81991966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.63, Y:140.59, Z:18.20 [[ 4.56468741e-01 -8.89398191e-01 -2.46403422e-02 2.92626680e+02] [ 8.88126430e-01 4.57133269e-01 -4.75459670e-02 1.40589212e+02] [ 5.35512172e-02 -1.80491469e-04 9.98565088e-01 1.82019733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.710385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:292.66, Y:140.64, Z:18.20 [[ 4.57507183e-01 -8.88864836e-01 -2.46268458e-02 2.92657210e+02] [ 8.87591924e-01 4.58169503e-01 -4.75529566e-02 1.40638768e+02] [ 5.35514206e-02 -1.02770219e-04 9.98565088e-01 1.82040285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.69, Y:140.69, Z:18.21 [[ 4.58441451e-01 -8.88383708e-01 -2.46134806e-02 2.92689995e+02] [ 8.87109729e-01 4.59101717e-01 -4.75598734e-02 1.40686473e+02] [ 5.35515079e-02 -3.14407326e-05 9.98565088e-01 1.82091590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.72, Y:140.73, Z:18.21 [[ 4.61330194e-01 -8.86887430e-01 -2.45995464e-02 2.92722409e+02] [ 8.85610926e-01 4.61985563e-01 -4.75670796e-02 1.40734198e+02] [ 5.35512803e-02 1.58502972e-04 9.98565088e-01 1.82114080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.76, Y:140.78, Z:18.21 [[ 4.58652894e-01 -8.88275145e-01 -2.45924600e-02 2.92756557e+02] [ 8.87000427e-01 4.59311731e-01 -4.75707430e-02 1.40781685e+02] [ 5.35515140e-02 4.93642315e-06 9.98565088e-01 1.82145878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.79, Y:140.83, Z:18.22 [[ 4.55168427e-01 -8.90066053e-01 -2.45789449e-02 2.92787902e+02] [ 8.88793550e-01 4.55831531e-01 -4.75777250e-02 1.40830386e+02] [ 5.35511760e-02 -1.89729530e-04 9.98565088e-01 1.82179753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.82, Y:140.88, Z:18.22 [[ 4.49171120e-01 -8.93107964e-01 -2.45656296e-02 2.92820201e+02] [ 8.91839575e-01 4.49842060e-01 -4.75845990e-02 1.40880102e+02] [ 5.35488378e-02 -5.34973008e-04 9.98565088e-01 1.82192126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.85, Y:140.93, Z:18.22 [[ 4.44543355e-01 -8.95420752e-01 -2.45536558e-02 2.92852629e+02] [ 8.94155512e-01 4.45220213e-01 -4.75907767e-02 1.40928830e+02] [ 5.35455530e-02 -7.98623131e-04 9.98565089e-01 1.82218880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.88, Y:140.98, Z:18.23 [[ 4.43542079e-01 -8.95917519e-01 -2.45402260e-02 2.92884479e+02] [ 8.94652654e-01 4.44219639e-01 -4.75977008e-02 1.40976654e+02] [ 5.35448644e-02 -8.43395130e-04 9.98565089e-01 1.82293226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:141.03, Z:18.23 [[ 4.35961965e-01 -8.99630765e-01 -2.45285981e-02 2.92914639e+02] [ 8.98371330e-01 4.36649565e-01 -4.76036923e-02 1.41027334e+02] [ 5.35361478e-02 -1.28239002e-03 9.98565089e-01 1.82272811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.95, Y:141.08, Z:18.23 [[ 4.29798378e-01 -9.02592017e-01 -2.45153996e-02 2.92946570e+02] [ 9.01336929e-01 4.30493881e-01 -4.76104884e-02 1.41075931e+02] [ 5.35265763e-02 -1.63372429e-03 9.98565089e-01 1.82332324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.310385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:292.98, Y:141.13, Z:18.24 [[ 4.25576624e-01 -9.04590642e-01 -2.45011963e-02 2.92976537e+02] [ 9.03338399e-01 4.26277236e-01 -4.76177966e-02 1.41125268e+02] [ 5.35189154e-02 -1.86785033e-03 9.98565089e-01 1.82385695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:141.17, Z:18.24 [[ 4.21431665e-01 -9.06529502e-01 -2.44870274e-02 2.93006274e+02] [ 9.05280059e-01 4.22137259e-01 -4.76250817e-02 1.41174509e+02] [ 5.35104282e-02 -2.09690016e-03 9.98565089e-01 1.82428165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.03, Y:141.22, Z:18.25 [[ 4.18176553e-01 -9.08035868e-01 -2.44792176e-02 2.93032994e+02] [ 9.06788733e-01 4.18886217e-01 -4.76290956e-02 1.41224778e+02] [ 5.35029340e-02 -2.28010771e-03 9.98565089e-01 1.82471050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.06, Y:141.28, Z:18.25 [[ 4.16754080e-01 -9.08689925e-01 -2.44674596e-02 2.93057449e+02] [ 9.07443552e-01 4.17465082e-01 -4.76351350e-02 1.41275857e+02] [ 5.34998773e-02 -2.35070160e-03 9.98565089e-01 1.82481444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.08, Y:141.33, Z:18.25 [[ 4.15665891e-01 -9.09188449e-01 -2.44587589e-02 2.93081812e+02] [ 9.07942668e-01 4.16377929e-01 -4.76396021e-02 1.41328968e+02] [ 5.34974633e-02 -2.40499318e-03 9.98565089e-01 1.82506199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.11, Y:141.38, Z:18.25 [[ 4.18701552e-01 -9.07794781e-01 -2.44467904e-02 2.93105218e+02] [ 9.06546273e-01 4.19408796e-01 -4.76457431e-02 1.41380780e+02] [ 5.35057558e-02 -2.21280014e-03 9.98565089e-01 1.82542662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.13, Y:141.43, Z:18.26 [[ 4.23044620e-01 -9.05779250e-01 -2.44376752e-02 2.93129214e+02] [ 9.04527100e-01 4.23745398e-01 -4.76504178e-02 1.41433101e+02] [ 5.35161121e-02 -1.94628665e-03 9.98565089e-01 1.82586667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.15, Y:141.49, Z:18.26 [[ 4.30524670e-01 -9.02248275e-01 -2.44245716e-02 2.93151241e+02] [ 9.00989991e-01 4.31214372e-01 -4.76571335e-02 1.41486508e+02] [ 5.35307928e-02 -1.48872284e-03 9.98565089e-01 1.82605436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.17, Y:141.54, Z:18.27 [[ 4.36849399e-01 -8.99203356e-01 -2.44116144e-02 2.93174449e+02] [ 8.97939891e-01 4.37529563e-01 -4.76637697e-02 1.41540284e+02] [ 5.35402246e-02 -1.09827322e-03 9.98565090e-01 1.82651284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.20, Y:141.59, Z:18.27 [[ 4.41926991e-01 -8.96719157e-01 -2.43985334e-02 2.93198063e+02] [ 8.95451497e-01 4.42599304e-01 -4.76704648e-02 1.41591791e+02] [ 5.35457929e-02 -7.80838184e-04 9.98565090e-01 1.82660598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:141.64, Z:18.27 [[ 4.48800220e-01 -8.93299232e-01 -2.43894358e-02 2.93225164e+02] [ 8.92026193e-01 4.49462294e-01 -4.76751189e-02 1.41643120e+02] [ 5.35502788e-02 -3.59411757e-04 9.98565090e-01 1.82685674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.25, Y:141.69, Z:18.27 [[ 4.52936168e-01 -8.91209662e-01 -2.43755455e-02 2.93253715e+02] [ 8.89933186e-01 4.53591589e-01 -4.76822197e-02 1.41692655e+02] [ 5.35513973e-02 -9.56050577e-05 9.98565090e-01 1.82719536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.28, Y:141.74, Z:18.27 [[ 4.56099933e-01 -8.89594930e-01 -2.43661983e-02 2.93281206e+02] [ 8.88315879e-01 4.56750314e-01 -4.76869958e-02 1.41743120e+02] [ 5.35513784e-02 1.05154684e-04 9.98565090e-01 1.82720346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.31, Y:141.79, Z:18.28 [[ 4.58301653e-01 -8.88462888e-01 -2.43575744e-02 2.93311465e+02] [ 8.87181997e-01 4.58948402e-01 -4.76914003e-02 1.41793203e+02] [ 5.35509091e-02 2.47446062e-04 9.98565090e-01 1.82753239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.34, Y:141.84, Z:18.27 [[ 4.58177407e-01 -8.88527348e-01 -2.43437022e-02 2.93342524e+02] [ 8.87246171e-01 4.58823590e-01 -4.76984802e-02 1.41842099e+02] [ 5.35508690e-02 2.55509440e-04 9.98565090e-01 1.82702376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.37, Y:141.89, Z:18.28 [[ 4.61793292e-01 -8.86653595e-01 -2.43384085e-02 2.93373441e+02] [ 8.85369654e-01 4.62433966e-01 -4.77011812e-02 1.41891505e+02] [ 5.35493306e-02 4.79597199e-04 9.98565090e-01 1.82804558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.270385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:293.41, Y:141.94, Z:18.28 [[ 4.65892155e-01 -8.84506911e-01 -2.43315504e-02 2.93405232e+02] [ 8.83219837e-01 4.66526509e-01 -4.77046792e-02 1.41939878e+02] [ 5.35464317e-02 7.35127849e-04 9.98565090e-01 1.82815418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.44, Y:141.99, Z:18.29 [[ 4.69679044e-01 -8.82502185e-01 -2.43205559e-02 2.93440118e+02] [ 8.81212114e-01 4.70307282e-01 -4.77102836e-02 1.41987324e+02] [ 5.35425641e-02 9.76951902e-04 9.98565090e-01 1.82872796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.390385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:293.47, Y:142.04, Z:18.29 [[ 4.68081297e-01 -8.83351036e-01 -2.43073446e-02 2.93471097e+02] [ 8.82061755e-01 4.68711155e-01 -4.77170136e-02 1.42037187e+02] [ 5.35439969e-02 8.94862583e-04 9.98565090e-01 1.82872420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.51, Y:142.08, Z:18.29 [[ 4.70650690e-01 -8.81985079e-01 -2.42950336e-02 2.93508722e+02] [ 8.80693648e-01 4.71276127e-01 -4.77232809e-02 1.42082547e+02] [ 5.35408910e-02 1.06451332e-03 9.98565090e-01 1.82924246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.55, Y:142.13, Z:18.30 [[ 4.68763805e-01 -8.82989579e-01 -2.42878152e-02 2.93545336e+02] [ 8.81699298e-01 4.69391612e-01 -4.77269543e-02 1.42129033e+02] [ 5.35429000e-02 9.58119061e-04 9.98565090e-01 1.82955700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:293.58, Y:142.18, Z:18.30 [[ 4.67101656e-01 -8.83870335e-01 -2.42749806e-02 2.93580041e+02] [ 8.82580899e-01 4.67731196e-01 -4.77334813e-02 1.42176291e+02] [ 5.35443738e-02 8.71753928e-04 9.98565091e-01 1.83009352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:293.62, Y:142.22, Z:18.31 [[ 4.64890596e-01 -8.85035624e-01 -2.42626693e-02 2.93616892e+02] [ 8.83747441e-01 4.65522694e-01 -4.77397383e-02 1.42223824e+02] [ 5.35461923e-02 7.51683463e-04 9.98565091e-01 1.83082791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.65, Y:142.27, Z:18.31 [[ 4.64467820e-01 -8.85257893e-01 -2.42509012e-02 2.93650198e+02] [ 8.83969700e-01 4.65099899e-01 -4.77457155e-02 1.42270925e+02] [ 5.35463632e-02 7.39286503e-04 9.98565091e-01 1.83107462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.69, Y:142.32, Z:18.31 [[ 4.62210158e-01 -8.86438994e-01 -2.42421218e-02 2.93686538e+02] [ 8.85152182e-01 4.62845044e-01 -4.77501727e-02 1.42317598e+02] [ 5.35479610e-02 6.12647837e-04 9.98565091e-01 1.83143260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:142.37, Z:18.31 [[ 4.57101307e-01 -8.89084560e-01 -2.42289136e-02 2.93716877e+02] [ 8.87801069e-01 4.57742879e-01 -4.77568737e-02 1.42367548e+02] [ 5.35505118e-02 3.19274000e-04 9.98565091e-01 1.83138895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.870385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:293.74, Y:142.42, Z:18.32 [[ 4.54358826e-01 -8.90489565e-01 -2.42155397e-02 2.93741129e+02] [ 8.89207696e-01 4.55003633e-01 -4.77636541e-02 1.42419023e+02] [ 5.35511941e-02 1.69193502e-04 9.98565091e-01 1.83174319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.76, Y:142.47, Z:18.32 [[ 4.48932041e-01 -8.93238051e-01 -2.42034485e-02 2.93761079e+02] [ 8.91959799e-01 4.49583990e-01 -4.77697804e-02 1.42473837e+02] [ 5.35512685e-02 -1.43118065e-04 9.98565091e-01 1.83166140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.79, Y:142.53, Z:18.32 [[ 4.48229895e-01 -8.93590964e-01 -2.41898619e-02 2.93786396e+02] [ 8.92312855e-01 4.48882122e-01 -4.77766594e-02 1.42525743e+02] [ 5.35511877e-02 -1.69997696e-04 9.98565091e-01 1.83222211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:293.81, Y:142.58, Z:18.32 [[ 4.44963047e-01 -8.95222533e-01 -2.41765135e-02 2.93813000e+02] [ 8.93946448e-01 4.45619225e-01 -4.77834132e-02 1.42577394e+02] [ 5.35503074e-02 -3.50655235e-04 9.98565091e-01 1.83247175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:142.63, Z:18.32 [[ 4.39185631e-01 -8.98071331e-01 -2.41633136e-02 2.93835925e+02] [ 8.96799134e-01 4.39849316e-01 -4.77900873e-02 1.42630993e+02] [ 5.35471242e-02 -6.80919010e-04 9.98565091e-01 1.83229260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.170385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:293.86, Y:142.68, Z:18.33 [[ 4.38077141e-01 -8.98612909e-01 -2.41507310e-02 2.93858621e+02] [ 8.97341182e-01 4.38741726e-01 -4.77964451e-02 1.42683220e+02] [ 5.35464359e-02 -7.32915473e-04 9.98565092e-01 1.83250763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.89, Y:142.73, Z:18.33 [[ 4.42000834e-01 -8.96689834e-01 -2.41372007e-02 2.93888677e+02] [ 8.95414842e-01 4.42659132e-01 -4.78032769e-02 1.42733482e+02] [ 5.35492647e-02 -4.83719484e-04 9.98565092e-01 1.83339308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.91, Y:142.79, Z:18.34 [[ 4.43635379e-01 -8.95882609e-01 -2.41247082e-02 2.93914364e+02] [ 8.94606076e-01 4.44290685e-01 -4.78095806e-02 1.42785124e+02] [ 5.35501549e-02 -3.72089097e-04 9.98565092e-01 1.83378396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.94, Y:142.84, Z:18.34 [[ 4.45035815e-01 -8.95188109e-01 -2.41116787e-02 2.93938953e+02] [ 8.93910198e-01 4.45688427e-01 -4.78161508e-02 1.42837477e+02] [ 5.35507458e-02 -2.73775882e-04 9.98565092e-01 1.83384747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.97, Y:142.89, Z:18.34 [[ 4.44413250e-01 -8.95497689e-01 -2.40987981e-02 2.93966159e+02] [ 8.94219880e-01 4.45066063e-01 -4.78226416e-02 1.42888656e+02] [ 5.35506223e-02 -2.96608801e-04 9.98565092e-01 1.83407409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.99, Y:142.94, Z:18.34 [[ 4.41847587e-01 -8.96766735e-01 -2.40859622e-02 2.93994562e+02] [ 8.95490448e-01 4.42503372e-01 -4.78291056e-02 1.42938526e+02] [ 5.35496703e-02 -4.35574221e-04 9.98565092e-01 1.83443587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.02, Y:142.99, Z:18.34 [[ 4.37865153e-01 -8.98718321e-01 -2.40725589e-02 2.94020219e+02] [ 8.97444586e-01 4.38525879e-01 -4.78358506e-02 1.42991126e+02] [ 5.35473954e-02 -6.58135646e-04 9.98565092e-01 1.83443533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.05, Y:143.04, Z:18.35 [[ 4.34543141e-01 -9.00329590e-01 -2.40600923e-02 2.94046606e+02] [ 8.99057958e-01 4.35207905e-01 -4.78421201e-02 1.43043272e+02] [ 5.35448187e-02 -8.41952274e-04 9.98565092e-01 1.83464669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.07, Y:143.09, Z:18.35 [[ 4.31188629e-01 -9.01941296e-01 -2.40471381e-02 2.94074422e+02] [ 9.00671785e-01 4.31857435e-01 -4.78486305e-02 1.43094479e+02] [ 5.35415912e-02 -1.02679345e-03 9.98565092e-01 1.83496850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.10, Y:143.15, Z:18.35 [[ 4.31105742e-01 -9.01981265e-01 -2.40340750e-02 2.94097048e+02] [ 9.00711451e-01 4.31773972e-01 -4.78551911e-02 1.43148260e+02] [ 5.35417738e-02 -1.01711892e-03 9.98565092e-01 1.83510104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.770385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:294.12, Y:143.20, Z:18.35 [[ 4.32068389e-01 -9.01520883e-01 -2.40209277e-02 2.94116830e+02] [ 9.00249990e-01 4.32734566e-01 -4.78617895e-02 1.43203795e+02] [ 5.35430884e-02 -9.45273650e-04 9.98565093e-01 1.83523772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:294.14, Y:143.26, Z:18.36 [[ 4.34017802e-01 -9.00584356e-01 -2.40076117e-02 2.94141445e+02] [ 8.99311656e-01 4.34680520e-01 -4.78684679e-02 1.43255159e+02] [ 5.35452345e-02 -8.14557881e-04 9.98565093e-01 1.83570339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.890385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:294.16, Y:143.31, Z:18.36 [[ 4.34090231e-01 -9.00549771e-01 -2.39954599e-02 2.94164216e+02] [ 8.99276682e-01 4.34752201e-01 -4.78745586e-02 1.43308275e+02] [ 5.35455017e-02 -7.96679408e-04 9.98565093e-01 1.83617171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:294.19, Y:143.36, Z:18.37 [[ 4.34923083e-01 -9.00148193e-01 -2.39821197e-02 2.94186847e+02] [ 8.98874125e-01 4.35583165e-01 -4.78812402e-02 1.43362113e+02] [ 5.35464195e-02 -7.32250279e-04 9.98565093e-01 1.83670758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.21, Y:143.42, Z:18.37 [[ 4.34352365e-01 -9.00424072e-01 -2.39690168e-02 2.94207776e+02] [ 8.99150061e-01 4.35012558e-01 -4.78877986e-02 1.43416177e+02] [ 5.35461499e-02 -7.51564308e-04 9.98565093e-01 1.83663532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:143.47, Z:18.37 [[ 4.33207299e-01 -9.00975905e-01 -2.39552719e-02 2.94231725e+02] [ 8.99702355e-01 4.33868381e-01 -4.78946733e-02 1.43468725e+02] [ 5.35453817e-02 -8.04292482e-04 9.98565093e-01 1.83680211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.130385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:143.52, Z:18.38 [[ 4.36684425e-01 -8.99296129e-01 -2.39412788e-02 2.94256691e+02] [ 8.98019653e-01 4.37339838e-01 -4.79016671e-02 1.43519423e+02] [ 5.35482588e-02 -5.81826894e-04 9.98565093e-01 1.83774945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:294.28, Y:143.57, Z:18.38 [[ 4.37038332e-01 -8.99124525e-01 -2.39287577e-02 2.94281648e+02] [ 8.97847449e-01 4.37692575e-01 -4.79079210e-02 1.43570708e+02] [ 5.35486263e-02 -5.46776209e-04 9.98565093e-01 1.83818497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.250385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:294.30, Y:143.62, Z:18.39 [[ 4.38091370e-01 -8.98612272e-01 -2.39151959e-02 2.94304939e+02] [ 8.97334061e-01 4.38743394e-01 -4.79146900e-02 1.43624023e+02] [ 5.35493626e-02 -4.68907668e-04 9.98565093e-01 1.83862450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.310385723 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:294.33, Y:143.68, Z:18.39 [[ 4.36751310e-01 -8.99264691e-01 -2.39020667e-02 2.94327882e+02] [ 8.97987096e-01 4.37404538e-01 -4.79212386e-02 1.43676669e+02] [ 5.35487503e-02 -5.34083709e-04 9.98565094e-01 1.83894507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.370385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:294.35, Y:143.73, Z:18.39 [[ 4.34325166e-01 -9.00439336e-01 -2.38883156e-02 2.94351871e+02] [ 8.99163131e-01 4.34981105e-01 -4.79280924e-02 1.43729707e+02] [ 5.35473056e-02 -6.63115900e-04 9.98565094e-01 1.83919613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.430385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:294.38, Y:143.78, Z:18.40 [[ 4.30930404e-01 -9.02069262e-01 -2.38753716e-02 2.94375440e+02] [ 9.00795180e-01 4.31590458e-01 -4.79345396e-02 1.43783023e+02] [ 5.35446573e-02 -8.50369116e-04 9.98565094e-01 1.83952219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.490385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:294.40, Y:143.84, Z:18.40 [[ 4.27507315e-01 -9.03696904e-01 -2.38621267e-02 2.94396589e+02] [ 9.02424967e-01 4.28171492e-01 -4.79411321e-02 1.43837079e+02] [ 5.35413351e-02 -1.03859428e-03 9.98565094e-01 1.83987746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.42, Y:143.89, Z:18.40 [[ 4.24580058e-01 -9.05076237e-01 -2.38491031e-02 2.94417074e+02] [ 9.03806094e-01 4.25247659e-01 -4.79476100e-02 1.43891235e+02] [ 5.35380177e-02 -1.19736565e-03 9.98565094e-01 1.84027515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.610385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:294.43, Y:143.95, Z:18.40 [[ 4.19138148e-01 -9.07609539e-01 -2.38356304e-02 2.94433570e+02] [ 9.06343049e-01 4.19812652e-01 -4.79543066e-02 1.43948462e+02] [ 5.35302854e-02 -1.50377864e-03 9.98565094e-01 1.83951844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:294.45, Y:144.00, Z:18.40 [[ 4.20861233e-01 -9.06812166e-01 -2.38226298e-02 2.94451858e+02] [ 9.05544033e-01 4.21532644e-01 -4.79607642e-02 1.44003524e+02] [ 5.35334206e-02 -1.38761389e-03 9.98565094e-01 1.83978185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.730385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:294.48, Y:144.06, Z:18.41 [[ 4.26850363e-01 -9.04008766e-01 -2.38100654e-02 2.94475427e+02] [ 9.02735872e-01 4.27512704e-01 -4.79670009e-02 1.44055647e+02] [ 5.35416948e-02 -1.01946841e-03 9.98565094e-01 1.84096365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:144.11, Z:18.41 [[ 4.23987783e-01 -9.05355229e-01 -2.37964311e-02 2.94495657e+02] [ 9.04084059e-01 4.24653426e-01 -4.79737640e-02 1.44110387e+02] [ 5.35385341e-02 -1.17368415e-03 9.98565094e-01 1.84133252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.850385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:294.52, Y:144.16, Z:18.42 [[ 4.20457099e-01 -9.07000648e-01 -2.37834657e-02 2.94516657e+02] [ 9.05731719e-01 4.21127005e-01 -4.79801908e-02 1.44164791e+02] [ 5.35339238e-02 -1.36782749e-03 9.98565095e-01 1.84177106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.910385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:294.54, Y:144.22, Z:18.42 [[ 4.14904168e-01 -9.09554547e-01 -2.37709436e-02 2.94535189e+02] [ 9.08289384e-01 4.15581160e-01 -4.79863939e-02 1.44220616e+02] [ 5.35249991e-02 -1.68114082e-03 9.98565095e-01 1.84223119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.55, Y:144.28, Z:18.43 [[ 4.10287814e-01 -9.11646566e-01 -2.37580996e-02 2.94554027e+02] [ 9.10384487e-01 4.10970536e-01 -4.79927521e-02 1.44276100e+02] [ 5.35163066e-02 -1.93816396e-03 9.98565095e-01 1.84252503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.030385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:294.57, Y:144.33, Z:18.43 [[ 4.08436600e-01 -9.12477798e-01 -2.37447265e-02 2.94572291e+02] [ 9.11216725e-01 4.09121180e-01 -4.79993677e-02 1.44331445e+02] [ 5.35128278e-02 -2.03189338e-03 9.98565095e-01 1.84271082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.59, Y:144.39, Z:18.43 [[ 4.09416798e-01 -9.12038766e-01 -2.37312900e-02 2.94592418e+02] [ 9.10776577e-01 4.10099317e-01 -4.80060099e-02 1.44385620e+02] [ 5.35155278e-02 -1.95943618e-03 9.98565095e-01 1.84285045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.61, Y:144.44, Z:18.43 [[ 4.12465348e-01 -9.10664442e-01 -2.37194076e-02 2.94610243e+02] [ 9.09399642e-01 4.13143015e-01 -4.80118802e-02 1.44442024e+02] [ 5.35222196e-02 -1.76718385e-03 9.98565095e-01 1.84279432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.63, Y:144.50, Z:18.43 [[ 4.15823139e-01 -9.09136468e-01 -2.37065378e-02 2.94628120e+02] [ 9.07868815e-01 4.16495455e-01 -4.80182340e-02 1.44497198e+02] [ 5.35287929e-02 -1.55533355e-03 9.98565095e-01 1.84299279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.65, Y:144.55, Z:18.43 [[ 4.18175741e-01 -9.08057051e-01 -2.36947649e-02 2.94647250e+02] [ 9.06787334e-01 4.18844150e-01 -4.80240427e-02 1.44552710e+02] [ 5.35329842e-02 -1.40362309e-03 9.98565095e-01 1.84332794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.330385723 meters Centerline goodness : 0.994874 with order 1 Centerline is valid? [True, True] Translation: X:294.67, Y:144.61, Z:18.43 [[ 4.19741018e-01 -9.07334913e-01 -2.36819378e-02 2.94667996e+02] [ 9.06063690e-01 4.20406558e-01 -4.80303672e-02 1.44606373e+02] [ 5.35356710e-02 -1.29702873e-03 9.98565095e-01 1.84315982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.390385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:294.69, Y:144.66, Z:18.44 [[ 4.18982333e-01 -9.07685988e-01 -2.36633099e-02 2.94688428e+02] [ 9.06414806e-01 4.19647950e-01 -4.80395430e-02 1.44659850e+02] [ 5.35350795e-02 -1.32105469e-03 9.98565096e-01 1.84384679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.450385723 meters Centerline goodness : 0.994502 with order 1 Centerline is valid? [True, True] Translation: X:294.71, Y:144.71, Z:18.44 [[ 4.16508568e-01 -9.08824272e-01 -2.36443478e-02 2.94709018e+02] [ 9.07554381e-01 4.17176644e-01 -4.80488740e-02 1.44712372e+02] [ 5.35318526e-02 -1.44576378e-03 9.98565096e-01 1.84409201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.73, Y:144.77, Z:18.45 [[ 4.15896500e-01 -9.09105031e-01 -2.36250696e-02 2.94732103e+02] [ 9.07835054e-01 4.16564413e-01 -4.80583510e-02 1.44765142e+02] [ 5.35314519e-02 -1.46036631e-03 9.98565096e-01 1.84524594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.570385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:294.75, Y:144.82, Z:18.45 [[ 4.16678288e-01 -9.08747472e-01 -2.36058422e-02 2.94753067e+02] [ 9.07476389e-01 4.17344092e-01 -4.80677935e-02 1.44819744e+02] [ 5.35332446e-02 -1.39293858e-03 9.98565096e-01 1.84517030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.77, Y:144.87, Z:18.46 [[ 4.21076953e-01 -9.06717803e-01 -2.36013798e-02 2.94774340e+02] [ 9.05443386e-01 4.21736353e-01 -4.80699845e-02 1.44873587e+02] [ 5.35394706e-02 -1.12855066e-03 9.98565096e-01 1.84554234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.80, Y:144.93, Z:18.46 [[ 4.24349828e-01 -9.05191055e-01 -2.35876825e-02 2.94796277e+02] [ 9.03913891e-01 4.25003893e-01 -4.80767047e-02 1.44926854e+02] [ 5.35434599e-02 -9.19892495e-04 9.98565096e-01 1.84583262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.83, Y:144.98, Z:18.46 [[ 4.28975034e-01 -9.03008688e-01 -2.35739118e-02 2.94825439e+02] [ 9.01727825e-01 4.29621823e-01 -4.80834561e-02 1.44977294e+02] [ 5.35476456e-02 -6.30650070e-04 9.98565097e-01 1.84628662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.85, Y:145.03, Z:18.47 [[ 4.31367869e-01 -9.01868389e-01 -2.35620643e-02 2.94851147e+02] [ 9.00585498e-01 4.32010629e-01 -4.80892609e-02 1.45028518e+02] [ 5.35492465e-02 -4.75491416e-04 9.98565097e-01 1.84705826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.87, Y:145.08, Z:18.47 [[ 4.27948442e-01 -9.03496329e-01 -2.35481068e-02 2.94871051e+02] [ 9.02215508e-01 4.28595314e-01 -4.80960946e-02 1.45083407e+02] [ 5.35472532e-02 -6.62818337e-04 9.98565097e-01 1.84677226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.90, Y:145.14, Z:18.47 [[ 4.27712547e-01 -9.03608282e-01 -2.35382686e-02 2.94897440e+02] [ 9.02327365e-01 4.28359229e-01 -4.81009090e-02 1.45135417e+02] [ 5.35472143e-02 -6.65861547e-04 9.98565097e-01 1.84711755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.92, Y:145.19, Z:18.47 [[ 4.27958933e-01 -9.03491973e-01 -2.35245844e-02 2.94924254e+02] [ 9.02210513e-01 4.28604538e-01 -4.81076005e-02 1.45185835e+02] [ 5.35475746e-02 -6.36049973e-04 9.98565097e-01 1.84742596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.95, Y:145.24, Z:18.48 [[ 4.28200251e-01 -9.03377868e-01 -2.35153703e-02 2.94951732e+02] [ 9.02095988e-01 4.28845023e-01 -4.81121041e-02 1.45236602e+02] [ 5.35478595e-02 -6.11506109e-04 9.98565097e-01 1.84768786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.110385723 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:294.98, Y:145.29, Z:18.48 [[ 4.26757022e-01 -9.04060896e-01 -2.35019413e-02 2.94979103e+02] [ 9.02779687e-01 4.27403126e-01 -4.81186630e-02 1.45287594e+02] [ 5.35470048e-02 -6.82097877e-04 9.98565097e-01 1.84756925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.170385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:295.01, Y:145.34, Z:18.48 [[ 4.25296918e-01 -9.04748914e-01 -2.34932748e-02 2.95006959e+02] [ 9.03468517e-01 4.25944629e-01 -4.81228939e-02 1.45338052e+02] [ 5.35459702e-02 -7.58915685e-04 9.98565097e-01 1.84815560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.04, Y:145.39, Z:18.49 [[ 4.21904725e-01 -9.06336080e-01 -2.34800681e-02 2.95035066e+02] [ 9.05057760e-01 4.22556526e-01 -4.81293369e-02 1.45389130e+02] [ 5.35430105e-02 -9.44823253e-04 9.98565097e-01 1.84854504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.06, Y:145.44, Z:18.49 [[ 4.18439835e-01 -9.07941306e-01 -2.34667806e-02 2.95063695e+02] [ 9.06665123e-01 4.19095810e-01 -4.81358147e-02 1.45440199e+02] [ 5.35393239e-02 -1.13456912e-03 9.98565097e-01 1.84884336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:145.49, Z:18.49 [[ 4.17782687e-01 -9.08244224e-01 -2.34532879e-02 2.95091074e+02] [ 9.06968148e-01 4.18438870e-01 -4.81423879e-02 1.45491452e+02] [ 5.35388130e-02 -1.15832891e-03 9.98565097e-01 1.84921000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.12, Y:145.54, Z:18.49 [[ 4.19211930e-01 -9.07585769e-01 -2.34399007e-02 2.95118420e+02] [ 9.06308300e-01 4.19865394e-01 -4.81489051e-02 1.45543227e+02] [ 5.35408642e-02 -1.05918108e-03 9.98565098e-01 1.84946342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:145.59, Z:18.50 [[ 4.22464049e-01 -9.06076878e-01 -2.34268677e-02 2.95144873e+02] [ 9.04796722e-01 4.23112236e-01 -4.81552454e-02 1.45593346e+02] [ 5.35445488e-02 -8.52693125e-04 9.98565098e-01 1.84971074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.17, Y:145.64, Z:18.50 [[ 4.25757191e-01 -9.04534434e-01 -2.34152056e-02 2.95172073e+02] [ 9.03251618e-01 4.26400095e-01 -4.81609154e-02 1.45644451e+02] [ 5.35474523e-02 -6.44966334e-04 9.98565098e-01 1.85011397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:145.69, Z:18.50 [[ 4.26595092e-01 -9.04139891e-01 -2.34026889e-02 2.95200983e+02] [ 9.02856146e-01 4.27236141e-01 -4.81669969e-02 1.45694889e+02] [ 5.35481778e-02 -5.81457043e-04 9.98565098e-01 1.85019767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.23, Y:145.75, Z:18.50 [[ 4.26566417e-01 -9.04153615e-01 -2.33951489e-02 2.95228334e+02] [ 9.02869690e-01 4.27207105e-01 -4.81706588e-02 1.45746136e+02] [ 5.35482491e-02 -5.74785505e-04 9.98565098e-01 1.85041734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.26, Y:145.80, Z:18.51 [[ 4.26311029e-01 -9.04274393e-01 -2.33822355e-02 2.95256074e+02] [ 9.02990306e-01 4.26951392e-01 -4.81769262e-02 1.45797436e+02] [ 5.35482387e-02 -5.75577019e-04 9.98565098e-01 1.85098770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.770385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:295.28, Y:145.85, Z:18.51 [[ 4.25553396e-01 -9.04631462e-01 -2.33714557e-02 2.95284116e+02] [ 9.03347625e-01 4.26194260e-01 -4.81821551e-02 1.45847959e+02] [ 5.35478737e-02 -6.08469294e-04 9.98565098e-01 1.85093592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.31, Y:145.90, Z:18.52 [[ 4.22179638e-01 -9.06211146e-01 -2.33604727e-02 2.95312628e+02] [ 9.04929413e-01 4.22824697e-01 -4.81874795e-02 1.45898808e+02] [ 5.35454159e-02 -7.95806258e-04 9.98565098e-01 1.85158243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.34, Y:145.95, Z:18.52 [[ 4.19400757e-01 -9.07500907e-01 -2.33475709e-02 2.95340966e+02] [ 9.06220809e-01 4.20049056e-01 -4.81937298e-02 1.45949206e+02] [ 5.35429787e-02 -9.45567839e-04 9.98565098e-01 1.85178074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.950385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:295.37, Y:146.00, Z:18.52 [[ 4.15853496e-01 -9.09132197e-01 -2.33349011e-02 2.95367578e+02] [ 9.07854298e-01 4.16506119e-01 -4.81998636e-02 1.45999728e+02] [ 5.35391770e-02 -1.14060846e-03 9.98565098e-01 1.85176382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.40, Y:146.05, Z:18.52 [[ 4.13381147e-01 -9.10259314e-01 -2.33240041e-02 2.95396677e+02] [ 9.08982896e-01 4.14036664e-01 -4.82051361e-02 1.46050880e+02] [ 5.35361670e-02 -1.27402635e-03 9.98565098e-01 1.85244531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.070385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:295.43, Y:146.10, Z:18.53 [[ 4.10293691e-01 -9.11655426e-01 -2.33124825e-02 2.95425796e+02] [ 9.10380923e-01 4.10952921e-01 -4.82107075e-02 1.46101174e+02] [ 5.35318858e-02 -1.44269021e-03 9.98565098e-01 1.85265182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.45, Y:146.15, Z:18.53 [[ 4.09662003e-01 -9.11939802e-01 -2.32989507e-02 2.95450755e+02] [ 9.10665386e-01 4.10321401e-01 -4.82172461e-02 1.46151889e+02] [ 5.35312840e-02 -1.46477427e-03 9.98565099e-01 1.85297815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.190385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:295.48, Y:146.20, Z:18.53 [[ 4.09828451e-01 -9.11865322e-01 -2.32868169e-02 2.95478738e+02] [ 9.10590454e-01 4.10486975e-01 -4.82231055e-02 1.46203455e+02] [ 5.35319127e-02 -1.44155256e-03 9.98565099e-01 1.85307910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:146.25, Z:18.54 [[ 4.09854496e-01 -9.11853946e-01 -2.32738995e-02 2.95505391e+02] [ 9.10578707e-01 4.10512301e-01 -4.82293390e-02 1.46254949e+02] [ 5.35323351e-02 -1.42570588e-03 9.98565099e-01 1.85365355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:146.31, Z:18.54 [[ 4.10787424e-01 -9.11434380e-01 -2.32607685e-02 2.95532520e+02] [ 9.10158112e-01 4.11443230e-01 -4.82356712e-02 1.46305433e+02] [ 5.35341348e-02 -1.35636998e-03 9.98565099e-01 1.85414044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.370385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:295.56, Y:146.36, Z:18.54 [[ 4.14373750e-01 -9.09809660e-01 -2.32546426e-02 2.95559117e+02] [ 9.08530654e-01 4.15024200e-01 -4.82386244e-02 1.46357394e+02] [ 5.35392059e-02 -1.13873593e-03 9.98565099e-01 1.85423274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.58, Y:146.41, Z:18.55 [[ 4.17688014e-01 -9.08293220e-01 -2.32410930e-02 2.95584965e+02] [ 9.07011489e-01 4.18333077e-01 -4.82451516e-02 1.46408977e+02] [ 5.35432621e-02 -9.28516787e-04 9.98565099e-01 1.85463674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.61, Y:146.46, Z:18.55 [[ 4.21475009e-01 -9.06542493e-01 -2.32276852e-02 2.95613404e+02] [ 9.05257726e-01 4.22114003e-01 -4.82516060e-02 1.46460572e+02] [ 5.35468624e-02 -6.90195483e-04 9.98565099e-01 1.85542774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.64, Y:146.51, Z:18.56 [[ 4.22747621e-01 -9.05950046e-01 -2.32155713e-02 2.95637406e+02] [ 9.04664064e-01 4.23384166e-01 -4.82574337e-02 1.46513343e+02] [ 5.35479296e-02 -6.01577811e-04 9.98565099e-01 1.85552275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.67, Y:146.56, Z:18.57 [[ 4.25580189e-01 -9.04623085e-01 -2.32072348e-02 2.95670245e+02] [ 9.03334899e-01 4.26212263e-01 -4.82614424e-02 1.46562856e+02] [ 5.35496230e-02 -4.24791292e-04 9.98565099e-01 1.85650323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.670385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:295.70, Y:146.61, Z:18.56 [[ 4.23109116e-01 -9.05781812e-01 -2.31944969e-02 2.95696919e+02] [ 9.04495021e-01 4.23744025e-01 -4.82675635e-02 1.46614820e+02] [ 5.35484106e-02 -5.56860842e-04 9.98565099e-01 1.85599178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.730385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:295.72, Y:146.67, Z:18.56 [[ 4.22493819e-01 -9.06069145e-01 -2.31878628e-02 2.95723653e+02] [ 9.04782611e-01 4.23129248e-01 -4.82707504e-02 1.46666507e+02] [ 5.35481005e-02 -5.85881369e-04 9.98565099e-01 1.85629817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.75, Y:146.72, Z:18.57 [[ 4.20137615e-01 -9.07164438e-01 -2.31746877e-02 2.95753845e+02] [ 9.05879212e-01 4.20775685e-01 -4.82770749e-02 1.46715008e+02] [ 5.35465906e-02 -7.10452702e-04 9.98565099e-01 1.85661317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.78, Y:146.77, Z:18.57 [[ 4.17206141e-01 -9.08516695e-01 -2.31614180e-02 2.95782104e+02] [ 9.07233183e-01 4.17847653e-01 -4.82834403e-02 1.46765286e+02] [ 5.35442557e-02 -8.68659118e-04 9.98565100e-01 1.85715950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:146.82, Z:18.57 [[ 4.15985969e-01 -9.09076373e-01 -2.31478392e-02 2.95810253e+02] [ 9.07793362e-01 4.16628482e-01 -4.82899493e-02 1.46816343e+02] [ 5.35433011e-02 -9.25513419e-04 9.98565100e-01 1.85743541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.970385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:295.84, Y:146.87, Z:18.57 [[ 4.16072289e-01 -9.09037206e-01 -2.31345662e-02 2.95839683e+02] [ 9.07753783e-01 4.16713975e-01 -4.82963073e-02 1.46866556e+02] [ 5.35436373e-02 -9.05734832e-04 9.98565100e-01 1.85713299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:146.92, Z:18.58 [[ 4.19183926e-01 -9.07606860e-01 -2.31219230e-02 2.95869077e+02] [ 9.06320913e-01 4.19820540e-01 -4.83023594e-02 1.46917026e+02] [ 5.35466110e-02 -7.08309726e-04 9.98565100e-01 1.85804627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.90, Y:146.97, Z:18.58 [[ 4.21294983e-01 -9.06629189e-01 -2.31095382e-02 2.95897173e+02] [ 9.05341439e-01 4.21927942e-01 -4.83082841e-02 1.46967772e+02] [ 5.35482603e-02 -5.69984832e-04 9.98565100e-01 1.85836765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:295.93, Y:147.02, Z:18.59 [[ 4.22975888e-01 -9.05846534e-01 -2.30966544e-02 2.95927547e+02] [ 9.04557276e-01 4.23605770e-01 -4.83144431e-02 1.47017171e+02] [ 5.35493469e-02 -4.56402347e-04 9.98565100e-01 1.85875015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:295.96, Y:147.07, Z:18.59 [[ 4.23042753e-01 -9.05815639e-01 -2.30837064e-02 2.95956983e+02] [ 9.04525998e-01 4.23671850e-01 -4.83206287e-02 1.47067553e+02] [ 5.35494977e-02 -4.38120830e-04 9.98565100e-01 1.85910798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:147.12, Z:18.59 [[ 4.24284605e-01 -9.05234960e-01 -2.30703262e-02 2.95986734e+02] [ 9.03944111e-01 4.24911219e-01 -4.83270161e-02 1.47117902e+02] [ 5.35501449e-02 -3.49876502e-04 9.98565100e-01 1.85932224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.330385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:296.02, Y:147.17, Z:18.60 [[ 4.23711923e-01 -9.05503493e-01 -2.30570949e-02 2.96016277e+02] [ 9.04212697e-01 4.24338647e-01 -4.83333280e-02 1.47167783e+02] [ 5.35500138e-02 -3.69110654e-04 9.98565100e-01 1.85963561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.05, Y:147.22, Z:18.60 [[ 4.20835284e-01 -9.06844208e-01 -2.30487927e-02 2.96049685e+02] [ 9.05555191e-01 4.21465659e-01 -4.83372868e-02 1.47217314e+02] [ 5.35486632e-02 -5.29918059e-04 9.98565100e-01 1.85977088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.08, Y:147.27, Z:18.60 [[ 4.21652743e-01 -9.06464710e-01 -2.30367807e-02 2.96082171e+02] [ 9.05174814e-01 4.22281315e-01 -4.83430108e-02 1.47266401e+02] [ 5.35492354e-02 -4.68350601e-04 9.98565101e-01 1.86041515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.11, Y:147.32, Z:18.61 [[ 4.19130452e-01 -9.07633936e-01 -2.30283193e-02 2.96113948e+02] [ 9.06345571e-01 4.19762158e-01 -4.83470411e-02 1.47315110e+02] [ 5.35478322e-02 -6.07897994e-04 9.98565101e-01 1.86105254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.14, Y:147.37, Z:18.61 [[ 4.16208665e-01 -9.08977855e-01 -2.30131941e-02 2.96140969e+02] [ 9.07691132e-01 4.16843708e-01 -4.83542396e-02 1.47365950e+02] [ 5.35458382e-02 -7.63418675e-04 9.98565101e-01 1.86145921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.17, Y:147.42, Z:18.62 [[ 4.16661889e-01 -9.08770526e-01 -2.30000376e-02 2.96171139e+02] [ 9.07483142e-01 4.17295591e-01 -4.83604968e-02 1.47416313e+02] [ 5.35464084e-02 -7.22170471e-04 9.98565101e-01 1.86178511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.20, Y:147.47, Z:18.62 [[ 4.20082208e-01 -9.07194884e-01 -2.29865475e-02 2.96201763e+02] [ 9.05904772e-01 4.20710336e-01 -4.83669081e-02 1.47466261e+02] [ 5.35488897e-02 -5.05545538e-04 9.98565101e-01 1.86199644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.23, Y:147.52, Z:18.62 [[ 4.18693464e-01 -9.07837025e-01 -2.29721404e-02 2.96225749e+02] [ 9.06547501e-01 4.19322798e-01 -4.83737498e-02 1.47518038e+02] [ 5.35482233e-02 -5.71563649e-04 9.98565101e-01 1.86240408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.25, Y:147.57, Z:18.63 [[ 4.18749721e-01 -9.07811427e-01 -2.29583255e-02 2.96250980e+02] [ 9.06521504e-01 4.19378240e-01 -4.83803055e-02 1.47570188e+02] [ 5.35484163e-02 -5.52976294e-04 9.98565101e-01 1.86293361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.28, Y:147.62, Z:18.63 [[ 4.17559381e-01 -9.08359878e-01 -2.29455133e-02 2.96275331e+02] [ 9.07070447e-01 4.18188907e-01 -4.83863813e-02 1.47623401e+02] [ 5.35478065e-02 -6.09009650e-04 9.98565101e-01 1.86316193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.930385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:147.68, Z:18.63 [[ 4.15626183e-01 -9.09246409e-01 -2.29312848e-02 2.96296742e+02] [ 9.07957950e-01 4.16257694e-01 -4.83931235e-02 1.47676324e+02] [ 5.35465975e-02 -7.07193175e-04 9.98565101e-01 1.86310362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.32, Y:147.73, Z:18.63 [[ 4.12207144e-01 -9.10801850e-01 -2.29185487e-02 2.96319796e+02] [ 9.09515438e-01 4.12842815e-01 -4.83991545e-02 1.47729158e+02] [ 5.35437976e-02 -8.94296548e-04 9.98565102e-01 1.86347683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:147.78, Z:18.64 [[ 4.06652294e-01 -9.13295853e-01 -2.29040728e-02 2.96342126e+02] [ 9.12012952e-01 4.07295021e-01 -4.84060040e-02 1.47782347e+02] [ 5.35377175e-02 -1.20439852e-03 9.98565102e-01 1.86353322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.110385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:296.37, Y:147.84, Z:18.64 [[ 4.05403707e-01 -9.13851094e-01 -2.28913156e-02 2.96366143e+02] [ 9.12568734e-01 4.06047511e-01 -4.84120361e-02 1.47835154e+02] [ 5.35363539e-02 -1.26347998e-03 9.98565102e-01 1.86395622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.39, Y:147.89, Z:18.64 [[ 4.04893457e-01 -9.14077627e-01 -2.28775257e-02 2.96388869e+02] [ 9.12795259e-01 4.05537247e-01 -4.84185518e-02 1.47887077e+02] [ 5.35360037e-02 -1.27814224e-03 9.98565102e-01 1.86409395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.41, Y:147.94, Z:18.64 [[ 4.03975726e-01 -9.14483897e-01 -2.28651662e-02 2.96411302e+02] [ 9.13201847e-01 4.04620149e-01 -4.84243877e-02 1.47940620e+02] [ 5.35350298e-02 -1.31823484e-03 9.98565102e-01 1.86418092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.44, Y:147.99, Z:18.65 [[ 4.08538857e-01 -9.12454815e-01 -2.28519890e-02 2.96438227e+02] [ 9.11169216e-01 4.09176169e-01 -4.84306054e-02 1.47991967e+02] [ 5.35412284e-02 -1.03624474e-03 9.98565102e-01 1.86506433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.350385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:148.05, Z:18.65 [[ 4.10639548e-01 -9.11511718e-01 -2.28374469e-02 2.96462115e+02] [ 9.10224274e-01 4.11273125e-01 -4.84374618e-02 1.48045568e+02] [ 5.35437422e-02 -8.96861080e-04 9.98565102e-01 1.86533749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.410385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:296.48, Y:148.10, Z:18.66 [[ 4.14460946e-01 -9.09780822e-01 -2.28250055e-02 2.96484921e+02] [ 9.08490408e-01 4.15088452e-01 -4.84433238e-02 1.48097948e+02] [ 5.35472031e-02 -6.58432771e-04 9.98565102e-01 1.86557064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.51, Y:148.15, Z:18.66 [[ 4.16341602e-01 -9.08922005e-01 -2.28135564e-02 2.96508583e+02] [ 9.07630002e-01 4.16965828e-01 -4.84487150e-02 1.48150987e+02] [ 5.35485766e-02 -5.35052602e-04 9.98565102e-01 1.86583741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.53, Y:148.20, Z:18.66 [[ 4.18258789e-01 -9.08041709e-01 -2.28000269e-02 2.96533378e+02] [ 9.06748044e-01 4.18879565e-01 -4.84550811e-02 1.48202158e+02] [ 5.35497000e-02 -4.07116306e-04 9.98565102e-01 1.86623816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.590385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:296.56, Y:148.26, Z:18.66 [[ 4.18876058e-01 -9.07757376e-01 -2.27902394e-02 2.96558311e+02] [ 9.06463040e-01 4.19495431e-01 -4.84596842e-02 1.48255297e+02] [ 5.35500370e-02 -3.59908184e-04 9.98565103e-01 1.86644522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.650385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:296.58, Y:148.31, Z:18.67 [[ 4.19486180e-01 -9.07475931e-01 -2.27767392e-02 2.96584860e+02] [ 9.06180835e-01 4.20103962e-01 -4.84660286e-02 1.48307325e+02] [ 5.35503528e-02 -3.09015347e-04 9.98565103e-01 1.86676922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.710385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:148.36, Z:18.67 [[ 4.20611103e-01 -9.06955431e-01 -2.27628156e-02 2.96612040e+02] [ 9.05659217e-01 4.21226535e-01 -4.84725671e-02 1.48358363e+02] [ 5.35507600e-02 -2.27253838e-04 9.98565103e-01 1.86695856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.770385723 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:296.63, Y:148.41, Z:18.67 [[ 4.15217881e-01 -9.09437412e-01 -2.27531388e-02 2.96632833e+02] [ 9.08144626e-01 4.15840484e-01 -4.84771091e-02 1.48413244e+02] [ 5.35485728e-02 -5.34578206e-04 9.98565103e-01 1.86732789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.830385723 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:296.66, Y:148.46, Z:18.68 [[ 4.12185754e-01 -9.10816052e-01 -2.27381709e-02 2.96659699e+02] [ 9.09524961e-01 4.12811864e-01 -4.84841287e-02 1.48464014e+02] [ 5.35467094e-02 -6.96466848e-04 9.98565103e-01 1.86783548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.890385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:296.69, Y:148.52, Z:18.68 [[ 4.07141828e-01 -9.13082122e-01 -2.27281639e-02 2.96685496e+02] [ 9.11794253e-01 4.07774538e-01 -4.84888193e-02 1.48516055e+02] [ 5.35422406e-02 -9.81582657e-04 9.98565103e-01 1.86814971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.950385723 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:296.71, Y:148.57, Z:18.68 [[ 4.04901750e-01 -9.14078003e-01 -2.27151130e-02 2.96709668e+02] [ 9.12791348e-01 4.05536924e-01 -4.84949324e-02 1.48567980e+02] [ 5.35399680e-02 -1.09847561e-03 9.98565103e-01 1.86838366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.010385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:296.73, Y:148.62, Z:18.69 [[ 4.05257584e-01 -9.13920631e-01 -2.27017741e-02 2.96733455e+02] [ 9.12633380e-01 4.05891550e-01 -4.85011759e-02 1.48621366e+02] [ 5.35406835e-02 -1.06292739e-03 9.98565103e-01 1.86877391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.070385723 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:296.75, Y:148.68, Z:18.68 [[ 4.00808312e-01 -9.15880838e-01 -2.26933266e-02 2.96752544e+02] [ 9.14596462e-01 4.01448084e-01 -4.85051281e-02 1.48677605e+02] [ 5.35351098e-02 -1.31397770e-03 9.98565103e-01 1.86840702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.130385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:296.78, Y:148.73, Z:18.70 [[ 4.04343625e-01 -9.14325869e-01 -2.26812537e-02 2.96781549e+02] [ 9.13038715e-01 4.04977789e-01 -4.85107728e-02 1.48728452e+02] [ 5.35400584e-02 -1.09384109e-03 9.98565103e-01 1.86959344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.190385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:296.80, Y:148.78, Z:18.70 [[ 4.02633765e-01 -9.15080407e-01 -2.26693807e-02 2.96803890e+02] [ 9.13794130e-01 4.03269705e-01 -4.85163205e-02 1.48781599e+02] [ 5.35382087e-02 -1.18083828e-03 9.98565103e-01 1.86990521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.250385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:296.83, Y:148.83, Z:18.71 [[ 4.03285038e-01 -9.14793871e-01 -2.26572884e-02 2.96829278e+02] [ 9.13506825e-01 4.03919421e-01 -4.85219670e-02 1.48834337e+02] [ 5.35393168e-02 -1.12940428e-03 9.98565104e-01 1.87055085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:296.85, Y:148.89, Z:18.71 [[ 4.01033314e-01 -9.15783545e-01 -2.26446477e-02 2.96849945e+02] [ 9.14497732e-01 4.01670193e-01 -4.85278655e-02 1.48888744e+02] [ 5.35367007e-02 -1.24718818e-03 9.98565104e-01 1.87055698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.370385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:148.94, Z:18.71 [[ 4.02606344e-01 -9.15093259e-01 -2.26375504e-02 2.96872073e+02] [ 9.13806169e-01 4.03240636e-01 -4.85311761e-02 1.48942477e+02] [ 5.35389323e-02 -1.14737378e-03 9.98565104e-01 1.87091003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:296.89, Y:149.00, Z:18.71 [[ 4.06720109e-01 -9.13272629e-01 -2.26242868e-02 2.96893389e+02] [ 9.11982355e-01 4.07347898e-01 -4.85373585e-02 1.48996347e+02] [ 5.35437967e-02 -8.91830588e-04 9.98565104e-01 1.87125232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.490385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:296.91, Y:149.05, Z:18.71 [[ 4.09439376e-01 -9.12057102e-01 -2.26106167e-02 2.96914841e+02] [ 9.10764612e-01 4.10062591e-01 -4.85437258e-02 1.49050514e+02] [ 5.35464179e-02 -7.17236767e-04 9.98565104e-01 1.87147185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.550385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:296.93, Y:149.11, Z:18.71 [[ 4.04217595e-01 -9.14383681e-01 -2.25969148e-02 2.96932905e+02] [ 9.13094420e-01 4.04847463e-01 -4.85501031e-02 1.49107839e+02] [ 5.35417256e-02 -1.00831091e-03 9.98565104e-01 1.87112588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.610385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:296.96, Y:149.16, Z:18.72 [[ 4.03968038e-01 -9.14494264e-01 -2.25846223e-02 2.96958789e+02] [ 9.13204857e-01 4.04597605e-01 -4.85558207e-02 1.49157915e+02] [ 5.35417036e-02 -1.00938716e-03 9.98565104e-01 1.87238846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.670385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:296.98, Y:149.21, Z:18.73 [[ 4.00938398e-01 -9.15826836e-01 -2.25744862e-02 2.96980001e+02] [ 9.14539255e-01 4.01571693e-01 -4.85605327e-02 1.49210868e+02] [ 5.35383137e-02 -1.17547157e-03 9.98565104e-01 1.87262124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.730385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:297.00, Y:149.27, Z:18.73 [[ 3.97542587e-01 -9.17306295e-01 -2.25622152e-02 2.96999867e+02] [ 9.16020747e-01 3.98179998e-01 -4.85662334e-02 1.49265427e+02] [ 5.35339344e-02 -1.36031114e-03 9.98565104e-01 1.87287108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.790385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:297.02, Y:149.32, Z:18.73 [[ 3.95559159e-01 -9.18163661e-01 -2.25486824e-02 2.97018209e+02] [ 9.16879138e-01 3.96198633e-01 -4.85725157e-02 1.49320845e+02] [ 5.35312760e-02 -1.46111297e-03 9.98565104e-01 1.87305587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.850385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:297.04, Y:149.38, Z:18.73 [[ 3.94504761e-01 -9.18617521e-01 -2.25353872e-02 2.97036751e+02] [ 9.17333383e-01 3.95145006e-01 -4.85786833e-02 1.49376972e+02] [ 5.35299753e-02 -1.50794117e-03 9.98565104e-01 1.87279027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:297.06, Y:149.43, Z:18.73 [[ 3.97101643e-01 -9.17498232e-01 -2.25228471e-02 2.97056874e+02] [ 9.16211960e-01 3.97737590e-01 -4.85844966e-02 1.49431896e+02] [ 5.35343727e-02 -1.34271843e-03 9.98565105e-01 1.87328185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.970385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:297.08, Y:149.49, Z:18.74 [[ 3.98760668e-01 -9.16778743e-01 -2.25092268e-02 2.97078089e+02] [ 9.15490968e-01 3.99393566e-01 -4.85908061e-02 1.49487218e+02] [ 5.35370585e-02 -1.23089154e-03 9.98565105e-01 1.87381324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.030385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:297.10, Y:149.54, Z:18.74 [[ 3.98740190e-01 -9.16787952e-01 -2.24969495e-02 2.97096990e+02] [ 9.15499871e-01 3.99372466e-01 -4.85964897e-02 1.49542097e+02] [ 5.35373385e-02 -1.21858085e-03 9.98565105e-01 1.87408115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.12, Y:149.59, Z:18.75 [[ 3.99696393e-01 -9.16371804e-01 -2.24835711e-02 2.97121209e+02] [ 9.15082718e-01 4.00326616e-01 -4.86026786e-02 1.49594708e+02] [ 5.35388961e-02 -1.14801200e-03 9.98565105e-01 1.87452419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.150385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:297.14, Y:149.65, Z:18.75 [[ 3.98459547e-01 -9.16910618e-01 -2.24701518e-02 2.97140574e+02] [ 9.15622035e-01 3.99090798e-01 -4.86088818e-02 1.49648967e+02] [ 5.35376307e-02 -1.20549309e-03 9.98565105e-01 1.87486443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:149.70, Z:18.75 [[ 3.96931351e-01 -9.17573535e-01 -2.24568598e-02 2.97162023e+02] [ 9.16285660e-01 3.97564044e-01 -4.86150218e-02 1.49702849e+02] [ 5.35358974e-02 -1.28007235e-03 9.98565105e-01 1.87537553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.18, Y:149.76, Z:18.76 [[ 3.95769480e-01 -9.18075622e-01 -2.24426340e-02 2.97183950e+02] [ 9.16788178e-01 3.96403050e-01 -4.86215881e-02 1.49756957e+02] [ 5.35346233e-02 -1.33220093e-03 9.98565105e-01 1.87600152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.20, Y:149.81, Z:18.76 [[ 3.93377626e-01 -9.19103326e-01 -2.24303150e-02 2.97203714e+02] [ 9.17817214e-01 3.94013895e-01 -4.86272705e-02 1.49811575e+02] [ 5.35313419e-02 -1.45804900e-03 9.98565105e-01 1.87575621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.390385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:297.23, Y:149.86, Z:18.76 [[ 3.93894912e-01 -9.18881927e-01 -2.24232794e-02 2.97226285e+02] [ 9.17595273e-01 3.94530085e-01 -4.86305146e-02 1.49864878e+02] [ 5.35323593e-02 -1.42018291e-03 9.98565105e-01 1.87600476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.25, Y:149.92, Z:18.76 [[ 3.95560515e-01 -9.18166473e-01 -2.24099825e-02 2.97248292e+02] [ 9.16878324e-01 3.96192650e-01 -4.86366414e-02 1.49917161e+02] [ 5.35352038e-02 -1.30849231e-03 9.98565105e-01 1.87618529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.510385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:149.97, Z:18.76 [[ 3.99113365e-01 -9.16627967e-01 -2.23984814e-02 2.97271593e+02] [ 9.15337084e-01 3.99739896e-01 -4.86419373e-02 1.49969941e+02] [ 5.35401268e-02 -1.08851341e-03 9.98565106e-01 1.87645949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.570385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:297.30, Y:150.02, Z:18.77 [[ 3.99040234e-01 -9.16660125e-01 -2.23854330e-02 2.97297178e+02] [ 9.15368956e-01 3.99666177e-01 -4.86479416e-02 1.50020469e+02] [ 5.35403286e-02 -1.07844443e-03 9.98565106e-01 1.87674519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.630385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:297.32, Y:150.07, Z:18.77 [[ 3.97990024e-01 -9.17116923e-01 -2.23716278e-02 2.97324528e+02] [ 9.15826117e-01 3.98616713e-01 -4.86542894e-02 1.50072290e+02] [ 5.35393769e-02 -1.12459923e-03 9.98565106e-01 1.87690697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.690385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:297.35, Y:150.12, Z:18.77 [[ 3.97737846e-01 -9.17226612e-01 -2.23595185e-02 2.97349797e+02] [ 9.15935666e-01 3.98364248e-01 -4.86598537e-02 1.50124943e+02] [ 5.35393455e-02 -1.12601508e-03 9.98565106e-01 1.87735968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:297.38, Y:150.18, Z:18.78 [[ 3.96912571e-01 -9.17584357e-01 -2.23463488e-02 2.97375457e+02] [ 9.16293636e-01 3.97539437e-01 -4.86659009e-02 1.50176047e+02] [ 5.35386243e-02 -1.15970932e-03 9.98565106e-01 1.87801923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.40, Y:150.23, Z:18.79 [[ 3.98583311e-01 -9.16860169e-01 -2.23332794e-02 2.97403983e+02] [ 9.15567973e-01 3.99207131e-01 -4.86718979e-02 1.50227219e+02] [ 5.35409289e-02 -1.04782917e-03 9.98565106e-01 1.87896808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.43, Y:150.28, Z:18.78 [[ 3.97605713e-01 -9.17284832e-01 -2.23211630e-02 2.97428235e+02] [ 9.15992991e-01 3.98230267e-01 -4.86774539e-02 1.50280648e+02] [ 5.35400528e-02 -1.09159508e-03 9.98565106e-01 1.87830569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.930385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:150.33, Z:18.79 [[ 3.97071009e-01 -9.17516641e-01 -2.23120483e-02 2.97453049e+02] [ 9.16224931e-01 3.97695833e-01 -4.86816314e-02 1.50333504e+02] [ 5.35396155e-02 -1.11279039e-03 9.98565106e-01 1.87873071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.990385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:297.48, Y:150.39, Z:18.79 [[ 3.93560802e-01 -9.19028084e-01 -2.22996799e-02 2.97477429e+02] [ 9.17738452e-01 3.94189904e-01 -4.86872964e-02 1.50386508e+02] [ 5.35353014e-02 -1.30386227e-03 9.98565106e-01 1.87910227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.050385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:297.50, Y:150.44, Z:18.79 [[ 3.90714165e-01 -9.20242217e-01 -2.22868373e-02 2.97504158e+02] [ 9.18954205e-01 3.91346577e-01 -4.86931744e-02 1.50438814e+02] [ 5.35313923e-02 -1.45546990e-03 9.98565106e-01 1.87935168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.53, Y:150.49, Z:18.80 [[ 3.90141256e-01 -9.20485536e-01 -2.22750559e-02 2.97530133e+02] [ 9.19197612e-01 3.90773848e-01 -4.86985633e-02 1.50490383e+02] [ 5.35308324e-02 -1.47585951e-03 9.98565106e-01 1.87979885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.55, Y:150.54, Z:18.80 [[ 3.91324124e-01 -9.19983615e-01 -2.22615888e-02 2.97553261e+02] [ 9.18694530e-01 3.91954347e-01 -4.87047187e-02 1.50542825e+02] [ 5.35330697e-02 -1.39226850e-03 9.98565107e-01 1.87999739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.230385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:297.58, Y:150.59, Z:18.80 [[ 3.94127350e-01 -9.18786405e-01 -2.22525124e-02 2.97578711e+02] [ 9.17495172e-01 3.94753159e-01 -4.87088653e-02 1.50594900e+02] [ 5.35372928e-02 -1.21907673e-03 9.98565107e-01 1.88039849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.60, Y:150.65, Z:18.81 [[ 3.97225050e-01 -9.17451732e-01 -2.22391483e-02 2.97604526e+02] [ 9.16158054e-01 3.97845789e-01 -4.87149662e-02 1.50646055e+02] [ 5.35413816e-02 -1.02376989e-03 9.98565107e-01 1.88092156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.63, Y:150.70, Z:18.81 [[ 3.98962432e-01 -9.16697836e-01 -2.22273409e-02 2.97628577e+02] [ 9.15402686e-01 3.99580092e-01 -4.87203530e-02 1.50699238e+02] [ 5.35434451e-02 -9.09377011e-04 9.98565107e-01 1.88124781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:150.75, Z:18.82 [[ 3.98230404e-01 -9.17016395e-01 -2.22143388e-02 2.97655315e+02] [ 9.15721408e-01 3.98848407e-01 -4.87262807e-02 1.50749159e+02] [ 5.35429519e-02 -9.37859196e-04 9.98565107e-01 1.88164915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.470385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:297.68, Y:150.80, Z:18.82 [[ 3.97151461e-01 -9.17484424e-01 -2.22046824e-02 2.97680529e+02] [ 9.16189920e-01 3.97770475e-01 -4.87306807e-02 1.50800198e+02] [ 5.35420076e-02 -9.90245187e-04 9.98565107e-01 1.88194136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.71, Y:150.85, Z:18.82 [[ 3.98849635e-01 -9.16747698e-01 -2.21952042e-02 2.97705374e+02] [ 9.15451810e-01 3.99465747e-01 -4.87349973e-02 1.50852694e+02] [ 5.35439204e-02 -8.80704013e-04 9.98565107e-01 1.88212004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.73, Y:150.90, Z:18.82 [[ 4.05515992e-01 -9.13818757e-01 -2.21824080e-02 2.97731991e+02] [ 9.12518099e-01 4.06121967e-01 -4.87408210e-02 1.50904290e+02] [ 5.35490397e-02 -4.76666412e-04 9.98565107e-01 1.88211551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.650385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:297.76, Y:150.95, Z:18.82 [[ 4.05744984e-01 -9.13717305e-01 -2.21741812e-02 2.97759928e+02] [ 9.12416291e-01 4.06350194e-01 -4.87445634e-02 1.50954379e+02] [ 5.35492340e-02 -4.54222039e-04 9.98565107e-01 1.88241979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.710385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:297.79, Y:151.01, Z:18.84 [[ 4.06375710e-01 -9.13437200e-01 -2.21644511e-02 2.97786663e+02] [ 9.12135528e-01 4.06979503e-01 -4.87489874e-02 1.51005348e+02] [ 5.35496159e-02 -4.06578900e-04 9.98565107e-01 1.88372654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.82, Y:151.06, Z:18.84 [[ 4.01827402e-01 -9.15447470e-01 -2.21510391e-02 2.97816203e+02] [ 9.14148481e-01 4.02436947e-01 -4.87550809e-02 1.51055193e+02] [ 5.35471120e-02 -6.58211251e-04 9.98565107e-01 1.88367560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.85, Y:151.11, Z:18.85 [[ 3.96944378e-01 -9.17575540e-01 -2.21424720e-02 2.97846471e+02] [ 9.16279601e-01 3.97560380e-01 -4.87589714e-02 1.51105408e+02] [ 5.35430091e-02 -9.34095845e-04 9.98565107e-01 1.88493458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:151.16, Z:18.84 [[ 3.91482804e-01 -9.19919279e-01 -2.21299282e-02 2.97870909e+02] [ 9.18626704e-01 3.92105835e-01 -4.87646639e-02 1.51158239e+02] [ 5.35368285e-02 -1.23861563e-03 9.98565107e-01 1.88442274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.90, Y:151.21, Z:18.85 [[ 3.86232285e-01 -9.22136358e-01 -2.21169451e-02 2.97899374e+02] [ 9.20847021e-01 3.86861988e-01 -4.87705516e-02 1.51209585e+02] [ 5.35293042e-02 -1.52956141e-03 9.98565108e-01 1.88459133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:297.92, Y:151.26, Z:18.85 [[ 3.80257256e-01 -9.24616585e-01 -2.21040737e-02 2.97924762e+02] [ 9.23331013e-01 3.80894611e-01 -4.87763846e-02 1.51261979e+02] [ 5.35187767e-02 -1.86180263e-03 9.98565108e-01 1.88479043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.95, Y:151.31, Z:18.86 [[ 3.78828534e-01 -9.25203176e-01 -2.20912974e-02 2.97953154e+02] [ 9.23918256e-01 3.79467201e-01 -4.87821704e-02 1.51314057e+02] [ 5.35163418e-02 -1.93047483e-03 9.98565108e-01 1.88562255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.98, Y:151.37, Z:18.86 [[ 3.79969058e-01 -9.24735643e-01 -2.20795211e-02 2.97979894e+02] [ 9.23449630e-01 3.80605520e-01 -4.87875000e-02 1.51365572e+02] [ 5.35191278e-02 -1.85158516e-03 9.98565108e-01 1.88572847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:151.42, Z:18.86 [[ 3.82912826e-01 -9.23520687e-01 -2.20750699e-02 2.98007356e+02] [ 9.22232537e-01 3.83544954e-01 -4.87895139e-02 1.51417246e+02] [ 5.35249071e-02 -1.67621704e-03 9.98565108e-01 1.88612184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.03, Y:151.47, Z:18.86 [[ 3.82990511e-01 -9.23488810e-01 -2.20609798e-02 2.98033654e+02] [ 9.22200242e-01 3.83621786e-01 -4.87958842e-02 1.51468061e+02] [ 5.35255255e-02 -1.65628029e-03 9.98565108e-01 1.88636836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.06, Y:151.52, Z:18.87 [[ 3.84766634e-01 -9.22750337e-01 -2.20556710e-02 2.98058983e+02] [ 9.21460421e-01 3.85395148e-01 -4.87982836e-02 1.51519702e+02] [ 5.35287813e-02 -1.54747658e-03 9.98565108e-01 1.88693647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.08, Y:151.57, Z:18.87 [[ 3.84759933e-01 -9.22753429e-01 -2.20432028e-02 2.98084251e+02] [ 9.21463197e-01 3.85387798e-01 -4.88039151e-02 1.51572196e+02] [ 5.35291615e-02 -1.53420902e-03 9.98565108e-01 1.88725297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.11, Y:151.62, Z:18.88 [[ 3.84813779e-01 -9.22731296e-01 -2.20297805e-02 2.98110227e+02] [ 9.21440682e-01 3.85440860e-01 -4.88099731e-02 1.51622703e+02] [ 5.35296673e-02 -1.51638575e-03 9.98565108e-01 1.88761639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.13, Y:151.68, Z:18.88 [[ 3.84170429e-01 -9.22999565e-01 -2.20200708e-02 2.98134994e+02] [ 9.21709139e-01 3.84797897e-01 -4.88143532e-02 1.51675854e+02] [ 5.35289037e-02 -1.54306953e-03 9.98565108e-01 1.88797929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.16, Y:151.73, Z:18.88 [[ 3.82367736e-01 -9.23748114e-01 -2.20076320e-02 2.98156794e+02] [ 9.22458595e-01 3.82997065e-01 -4.88199605e-02 1.51730192e+02] [ 5.35262049e-02 -1.63395153e-03 9.98565108e-01 1.88811344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.18, Y:151.78, Z:18.88 [[ 3.79853342e-01 -9.24785188e-01 -2.19953294e-02 2.98182325e+02] [ 9.23497067e-01 3.80485528e-01 -4.88255027e-02 1.51781882e+02] [ 5.35220062e-02 -1.76609181e-03 9.98565108e-01 1.88827980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.21, Y:151.83, Z:18.88 [[ 3.77204483e-01 -9.25869074e-01 -2.19826223e-02 2.98205581e+02] [ 9.24582438e-01 3.77839684e-01 -4.88312231e-02 1.51833676e+02] [ 5.35172264e-02 -1.90539025e-03 9.98565109e-01 1.88846097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.23, Y:151.88, Z:18.89 [[ 3.76222178e-01 -9.26268978e-01 -2.19693582e-02 2.98230143e+02] [ 9.24982671e-01 3.76858045e-01 -4.88371900e-02 1.51884709e+02] [ 5.35157034e-02 -1.94764167e-03 9.98565109e-01 1.88886325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.25, Y:151.94, Z:18.89 [[ 3.76987253e-01 -9.25958170e-01 -2.19562653e-02 2.98254869e+02] [ 9.24670999e-01 3.77621368e-01 -4.88430755e-02 1.51937398e+02] [ 5.35177998e-02 -1.88910491e-03 9.98565109e-01 1.88944229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:298.28, Y:151.99, Z:18.90 [[ 3.79803373e-01 -9.24806929e-01 -2.19440708e-02 2.98276047e+02] [ 9.23517519e-01 3.80432925e-01 -4.88485537e-02 1.51991260e+02] [ 5.35237279e-02 -1.71288833e-03 9.98565109e-01 1.89001470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:298.30, Y:152.04, Z:18.90 [[ 3.79471406e-01 -9.24943507e-01 -2.19308443e-02 2.98298071e+02] [ 9.23653982e-01 3.80100723e-01 -4.88544911e-02 1.52044944e+02] [ 5.35235740e-02 -1.71762927e-03 9.98565109e-01 1.89039983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.32, Y:152.10, Z:18.91 [[ 3.77101558e-01 -9.25912538e-01 -2.19177148e-02 2.98319892e+02] [ 9.24624291e-01 3.77733484e-01 -4.88603807e-02 1.52099086e+02] [ 5.35194939e-02 -1.84032584e-03 9.98565109e-01 1.89101342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.34, Y:152.15, Z:18.91 [[ 3.75262019e-01 -9.26659929e-01 -2.19041777e-02 2.98338139e+02] [ 9.25372588e-01 3.75895789e-01 -4.88664486e-02 1.52154829e+02] [ 5.35162680e-02 -1.93180340e-03 9.98565109e-01 1.89128424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:298.36, Y:152.21, Z:18.92 [[ 3.74426212e-01 -9.26998281e-01 -2.18906073e-02 2.98358925e+02] [ 9.25711160e-01 3.75060428e-01 -4.88725270e-02 1.52209528e+02] [ 5.35150491e-02 -1.96522430e-03 9.98565109e-01 1.89154214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.38, Y:152.26, Z:18.92 [[ 3.72452979e-01 -9.27793174e-01 -2.18770106e-02 2.98377311e+02] [ 9.26507052e-01 3.73089218e-01 -4.88786126e-02 1.52263367e+02] [ 5.35113199e-02 -2.06421967e-03 9.98565109e-01 1.89176554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:298.40, Y:152.32, Z:18.92 [[ 3.71787329e-01 -9.28060400e-01 -2.18649674e-02 2.98395895e+02] [ 9.26774420e-01 3.72423856e-01 -4.88839993e-02 1.52318223e+02] [ 5.35103394e-02 -2.08944094e-03 9.98565109e-01 1.89210287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.41, Y:152.37, Z:18.92 [[ 3.73241708e-01 -9.27476755e-01 -2.18516939e-02 2.98412529e+02] [ 9.26189435e-01 3.73875521e-01 -4.88899320e-02 1.52373508e+02] [ 5.35140889e-02 -1.99104631e-03 9.98565110e-01 1.89244493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.330385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:298.43, Y:152.43, Z:18.93 [[ 3.75394158e-01 -9.26607922e-01 -2.18399993e-02 2.98429475e+02] [ 9.25318833e-01 3.76024363e-01 -4.88951556e-02 1.52429282e+02] [ 5.35190104e-02 -1.85400689e-03 9.98565110e-01 1.89284687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:298.45, Y:152.49, Z:18.93 [[ 3.76020032e-01 -9.26354422e-01 -2.18270802e-02 2.98445193e+02] [ 9.25064575e-01 3.76648686e-01 -4.89009221e-02 1.52485914e+02] [ 5.35207265e-02 -1.80373234e-03 9.98565110e-01 1.89309971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.450385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:298.46, Y:152.54, Z:18.93 [[ 3.75419668e-01 -9.26598209e-01 -2.18135717e-02 2.98462196e+02] [ 9.25308423e-01 3.76048445e-01 -4.89069472e-02 1.52542302e+02] [ 5.35200494e-02 -1.82365180e-03 9.98565110e-01 1.89320947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.510385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:152.60, Z:18.93 [[ 3.76487745e-01 -9.26165071e-01 -2.17999934e-02 2.98476965e+02] [ 9.24874213e-01 3.77114319e-01 -4.89129989e-02 1.52599442e+02] [ 5.35226008e-02 -1.74710705e-03 9.98565110e-01 1.89327267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.49, Y:152.66, Z:18.93 [[ 3.79033179e-01 -9.25126582e-01 -2.17865908e-02 2.98493533e+02] [ 9.23833665e-01 3.79655493e-01 -4.89189679e-02 1.52655654e+02] [ 5.35276365e-02 -1.58527406e-03 9.98565110e-01 1.89347712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.51, Y:152.71, Z:18.94 [[ 3.81201902e-01 -9.24235379e-01 -2.17732151e-02 2.98509446e+02] [ 9.22940668e-01 3.81820475e-01 -4.89249206e-02 1.52712002e+02] [ 5.35316018e-02 -1.44511287e-03 9.98565110e-01 1.89382483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.53, Y:152.77, Z:18.94 [[ 3.83762986e-01 -9.23175216e-01 -2.17598655e-02 2.98528304e+02] [ 9.21878459e-01 3.84377259e-01 -4.89308572e-02 1.52767322e+02] [ 5.35357521e-02 -1.28209939e-03 9.98565110e-01 1.89418208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.55, Y:152.82, Z:18.94 [[ 3.84316708e-01 -9.22945165e-01 -2.17460239e-02 2.98548441e+02] [ 9.21647694e-01 3.84929470e-01 -4.89370080e-02 1.52821679e+02] [ 5.35368604e-02 -1.23486301e-03 9.98565110e-01 1.89447750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.57, Y:152.88, Z:18.95 [[ 3.85493545e-01 -9.22454572e-01 -2.17322077e-02 2.98567589e+02] [ 9.21155976e-01 3.86103919e-01 -4.89431428e-02 1.52876975e+02] [ 5.35387164e-02 -1.15148740e-03 9.98565111e-01 1.89476025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.59, Y:152.93, Z:18.95 [[ 3.87477223e-01 -9.21623409e-01 -2.17185154e-02 2.98587541e+02] [ 9.20323164e-01 3.88084074e-01 -4.89492180e-02 1.52931124e+02] [ 5.35413551e-02 -1.02134577e-03 9.98565111e-01 1.89512726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.61, Y:152.99, Z:18.95 [[ 3.88005671e-01 -9.21401376e-01 -2.17049367e-02 2.98605661e+02] [ 9.20100447e-01 3.88611056e-01 -4.89552383e-02 1.52986543e+02] [ 5.35422023e-02 -9.75811858e-04 9.98565111e-01 1.89508458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:153.04, Z:18.96 [[ 3.86491562e-01 -9.22037842e-01 -2.16907828e-02 2.98629553e+02] [ 9.20737559e-01 3.87098332e-01 -4.89615087e-02 1.53038234e+02] [ 5.35408297e-02 -1.04830844e-03 9.98565111e-01 1.89566685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.050385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:298.65, Y:153.09, Z:18.96 [[ 3.81150509e-01 -9.24258737e-01 -2.16812556e-02 2.98653846e+02] [ 9.22961747e-01 3.81764288e-01 -4.89657272e-02 1.53091421e+02] [ 5.35341303e-02 -1.34765773e-03 9.98565111e-01 1.89591679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.68, Y:153.14, Z:18.96 [[ 3.74274827e-01 -9.27064658e-01 -2.16673599e-02 2.98675388e+02] [ 9.25771909e-01 3.74897489e-01 -4.89718753e-02 1.53144240e+02] [ 5.35231336e-02 -1.73009301e-03 9.98565111e-01 1.89593645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.70, Y:153.20, Z:18.96 [[ 3.73523762e-01 -9.27367812e-01 -2.16550550e-02 2.98699192e+02] [ 9.26075255e-01 3.74146822e-01 -4.89773159e-02 1.53196676e+02] [ 5.35221562e-02 -1.76001931e-03 9.98565111e-01 1.89632087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.72, Y:153.25, Z:18.97 [[ 3.73195735e-01 -9.27500179e-01 -2.16416808e-02 2.98720469e+02] [ 9.26207503e-01 3.73818547e-01 -4.89832248e-02 1.53250597e+02] [ 5.35220114e-02 -1.76435653e-03 9.98565111e-01 1.89667320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:153.30, Z:18.97 [[ 3.77462589e-01 -9.25772233e-01 -2.16279060e-02 2.98746133e+02] [ 9.24476357e-01 3.78078714e-01 -4.89893062e-02 1.53303843e+02] [ 5.35299902e-02 -1.50285741e-03 9.98565111e-01 1.89745819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.350385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:298.77, Y:153.36, Z:18.98 [[ 3.77957685e-01 -9.25570476e-01 -2.16167139e-02 2.98769947e+02] [ 9.24273989e-01 3.78572525e-01 -4.89942442e-02 1.53356731e+02] [ 5.35311199e-02 -1.46201530e-03 9.98565111e-01 1.89769767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.410385723 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:298.79, Y:153.41, Z:18.97 [[ 3.73728494e-01 -9.27286522e-01 -2.16037007e-02 2.98790608e+02] [ 9.25992526e-01 3.74348559e-01 -4.89999816e-02 1.53412082e+02] [ 5.35243368e-02 -1.69217609e-03 9.98565112e-01 1.89749698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.470385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:298.81, Y:153.46, Z:18.98 [[ 3.73049146e-01 -9.27560317e-01 -2.15915075e-02 2.98813270e+02] [ 9.26266467e-01 3.73669515e-01 -4.90053539e-02 1.53463926e+02] [ 5.35235097e-02 -1.71808400e-03 9.98565112e-01 1.89810107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.84, Y:153.52, Z:18.99 [[ 3.73378689e-01 -9.27427995e-01 -2.15793356e-02 2.98839701e+02] [ 9.26133618e-01 3.73997956e-01 -4.90107132e-02 1.53515524e+02] [ 5.35245349e-02 -1.68579236e-03 9.98565112e-01 1.89884496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.86, Y:153.57, Z:18.99 [[ 3.73767970e-01 -9.27271374e-01 -2.15709114e-02 2.98860767e+02] [ 9.25976524e-01 3.74386249e-01 -4.90144206e-02 1.53570224e+02] [ 5.35255217e-02 -1.65413712e-03 9.98565112e-01 1.89933426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.650385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:298.88, Y:153.62, Z:19.00 [[ 3.77463350e-01 -9.25773565e-01 -2.15575229e-02 2.98880680e+02] [ 9.24475925e-01 3.78075751e-01 -4.90203085e-02 1.53623434e+02] [ 5.35320824e-02 -1.42604105e-03 9.98565112e-01 1.89952983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.90, Y:153.68, Z:18.99 [[ 3.82702149e-01 -9.23620532e-01 -2.15448006e-02 2.98899389e+02] [ 9.22319130e-01 3.83306515e-01 -4.90258994e-02 1.53679997e+02] [ 5.35395897e-02 -1.10886468e-03 9.98565112e-01 1.89917355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.92, Y:153.73, Z:18.99 [[ 3.85137494e-01 -9.22607960e-01 -2.15328415e-02 2.98923158e+02] [ 9.21304675e-01 3.85737789e-01 -4.90311514e-02 1.53731668e+02] [ 5.35425612e-02 -9.54572767e-04 9.98565112e-01 1.89947458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.95, Y:153.79, Z:19.00 [[ 3.84443759e-01 -9.22897533e-01 -2.15206823e-02 2.98945908e+02] [ 9.21594403e-01 3.85044387e-01 -4.90364878e-02 1.53785436e+02] [ 5.35420715e-02 -9.81568647e-04 9.98565112e-01 1.89973312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.97, Y:153.84, Z:19.00 [[ 3.85571744e-01 -9.22427160e-01 -2.15073203e-02 2.98968873e+02] [ 9.21122970e-01 3.86170069e-01 -4.90423476e-02 1.53838564e+02] [ 5.35434768e-02 -9.01543280e-04 9.98565112e-01 1.89995336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:153.89, Z:19.01 [[ 3.87632096e-01 -9.21563545e-01 -2.14939868e-02 2.98994194e+02] [ 9.20257698e-01 3.88226795e-01 -4.90481906e-02 1.53891044e+02] [ 5.35455660e-02 -7.67353881e-04 9.98565112e-01 1.90074292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.02, Y:153.94, Z:19.00 [[ 3.87870354e-01 -9.21463575e-01 -2.14818146e-02 2.99018292e+02] [ 9.20157280e-01 3.88464067e-01 -4.90535211e-02 1.53943457e+02] [ 5.35459461e-02 -7.40241535e-04 9.98565112e-01 1.90048401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.04, Y:154.00, Z:19.01 [[ 3.86905489e-01 -9.21869239e-01 -2.14767069e-02 2.99043254e+02] [ 9.20563443e-01 3.87500298e-01 -4.90557573e-02 1.53995998e+02] [ 5.35452240e-02 -7.90729498e-04 9.98565112e-01 1.90075269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.07, Y:154.05, Z:19.02 [[ 3.85602308e-01 -9.22415412e-01 -2.14631816e-02 2.99068521e+02] [ 9.21110129e-01 3.86198243e-01 -4.90616743e-02 1.54048560e+02] [ 5.35442875e-02 -8.51659099e-04 9.98565113e-01 1.90150158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.09, Y:154.10, Z:19.01 [[ 3.82402216e-01 -9.23746958e-01 -2.14500082e-02 2.99090751e+02] [ 9.22443427e-01 3.83001973e-01 -4.90674331e-02 1.54103024e+02] [ 5.35412875e-02 -1.02292394e-03 9.98565113e-01 1.90139717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.12, Y:154.15, Z:19.02 [[ 3.83936548e-01 -9.23110602e-01 -2.14369671e-02 2.99118931e+02] [ 9.21805759e-01 3.84533445e-01 -4.90731299e-02 1.54152911e+02] [ 5.35431573e-02 -9.19751659e-04 9.98565113e-01 1.90154165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.15, Y:154.21, Z:19.02 [[ 3.85364690e-01 -9.22515662e-01 -2.14221884e-02 2.99145074e+02] [ 9.21209539e-01 3.85958781e-01 -4.90795805e-02 1.54205013e+02] [ 5.35447634e-02 -8.20786948e-04 9.98565113e-01 1.90189683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.17, Y:154.26, Z:19.02 [[ 3.84657511e-01 -9.22811063e-01 -2.14089314e-02 2.99168887e+02] [ 9.21505075e-01 3.85251898e-01 -4.90853627e-02 1.54257372e+02] [ 5.35443471e-02 -8.47385484e-04 9.98565113e-01 1.90218108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.19, Y:154.31, Z:19.03 [[ 3.83770615e-01 -9.23180596e-01 -2.13939690e-02 2.99193752e+02] [ 9.21874817e-01 3.84365462e-01 -4.90918832e-02 1.54310051e+02] [ 5.35437768e-02 -8.82539015e-04 9.98565113e-01 1.90257267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:154.36, Z:19.03 [[ 3.85615115e-01 -9.22411998e-01 -2.13796626e-02 2.99222908e+02] [ 9.21104688e-01 3.86206589e-01 -4.90981129e-02 1.54359269e+02] [ 5.35456550e-02 -7.59932996e-04 9.98565113e-01 1.90299356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.25, Y:154.41, Z:19.03 [[ 3.86598072e-01 -9.22000679e-01 -2.13700498e-02 2.99248225e+02] [ 9.20692509e-01 3.87187640e-01 -4.91022965e-02 1.54409971e+02] [ 5.35465699e-02 -6.92391614e-04 9.98565113e-01 1.90322805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.27, Y:154.46, Z:19.03 [[ 3.86553894e-01 -9.22019486e-01 -2.13577791e-02 2.99273175e+02] [ 9.20711050e-01 3.87142872e-01 -4.91076333e-02 1.54462751e+02] [ 5.35467067e-02 -6.81596352e-04 9.98565113e-01 1.90315214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.30, Y:154.51, Z:19.03 [[ 3.87257567e-01 -9.21724489e-01 -2.13434482e-02 2.99299022e+02] [ 9.20415262e-01 3.87844782e-01 -4.91138611e-02 1.54513381e+02] [ 5.35473935e-02 -6.25121117e-04 9.98565113e-01 1.90348526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.33, Y:154.56, Z:19.04 [[ 3.88545887e-01 -9.21182445e-01 -2.13306591e-02 2.99328107e+02] [ 9.19872093e-01 3.89130590e-01 -4.91194149e-02 1.54563502e+02] [ 5.35483547e-02 -5.36331371e-04 9.98565114e-01 1.90378451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.36, Y:154.61, Z:19.04 [[ 3.89343080e-01 -9.20846131e-01 -2.13159432e-02 2.99355091e+02] [ 9.19534924e-01 3.89925863e-01 -4.91258002e-02 1.54614142e+02] [ 5.35489406e-02 -4.73963858e-04 9.98565114e-01 1.90401328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.850385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.39, Y:154.66, Z:19.05 [[ 3.91746039e-01 -9.19826621e-01 -2.13079368e-02 2.99388277e+02] [ 9.18513709e-01 3.92324969e-01 -4.91292727e-02 1.54662902e+02] [ 5.35500485e-02 -3.25434139e-04 9.98565114e-01 1.90460864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:299.41, Y:154.72, Z:19.04 [[ 3.88664081e-01 -9.21133427e-01 -2.12941637e-02 2.99414401e+02] [ 9.19822134e-01 3.89246669e-01 -4.91352417e-02 1.54715406e+02] [ 5.35487958e-02 -4.89739525e-04 9.98565114e-01 1.90449696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.970385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:299.45, Y:154.77, Z:19.05 [[ 3.86670090e-01 -9.21972555e-01 -2.12802853e-02 2.99445305e+02] [ 9.20662195e-01 3.87254774e-01 -4.91412516e-02 1.54765720e+02] [ 5.35477774e-02 -5.90502040e-04 9.98565114e-01 1.90460406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.030385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:299.47, Y:154.82, Z:19.05 [[ 3.85830618e-01 -9.22324514e-01 -2.12655839e-02 2.99474321e+02] [ 9.21014337e-01 3.86415712e-01 -4.91476127e-02 1.54815435e+02] [ 5.35474038e-02 -6.23253851e-04 9.98565114e-01 1.90532679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.090385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:299.50, Y:154.87, Z:19.06 [[ 3.84293190e-01 -9.22966456e-01 -2.12523995e-02 2.99501313e+02] [ 9.21656942e-01 3.84879765e-01 -4.91533133e-02 1.54867133e+02] [ 5.35464779e-02 -6.98137947e-04 9.98565114e-01 1.90565316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.53, Y:154.92, Z:19.06 [[ 3.81950320e-01 -9.23938788e-01 -2.12383782e-02 2.99530683e+02] [ 9.22630430e-01 3.82539469e-01 -4.91593709e-02 1.54917596e+02] [ 5.35447675e-02 -8.18736502e-04 9.98565114e-01 1.90610770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.210385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:299.56, Y:154.97, Z:19.06 [[ 3.76419827e-01 -9.26206048e-01 -2.12242801e-02 2.99556835e+02] [ 9.24900894e-01 3.77016039e-01 -4.91654570e-02 1.54969606e+02] [ 5.35392376e-02 -1.12350279e-03 9.98565114e-01 1.90622963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.59, Y:155.02, Z:19.07 [[ 3.71476039e-01 -9.28200232e-01 -2.12104123e-02 2.99585629e+02] [ 9.26897936e-01 3.72078467e-01 -4.91714389e-02 1.55021009e+02] [ 5.35328787e-02 -1.39387600e-03 9.98565115e-01 1.90667589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.61, Y:155.07, Z:19.07 [[ 3.68532084e-01 -9.29373321e-01 -2.11974592e-02 2.99612674e+02] [ 9.28072622e-01 3.69137953e-01 -4.91770223e-02 1.55073509e+02] [ 5.35285992e-02 -1.54947100e-03 9.98565115e-01 1.90687812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.64, Y:155.12, Z:19.07 [[ 3.65769477e-01 -9.30464348e-01 -2.11845632e-02 2.99638022e+02] [ 9.29165136e-01 3.66378527e-01 -4.91825770e-02 1.55124706e+02] [ 5.35242035e-02 -1.69447209e-03 9.98565115e-01 1.90710427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.450385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:299.66, Y:155.18, Z:19.08 [[ 3.60631758e-01 -9.32467997e-01 -2.11700080e-02 2.99662662e+02] [ 9.31171799e-01 3.61247198e-01 -4.91888414e-02 1.55177047e+02] [ 5.35146264e-02 -1.97385605e-03 9.98565115e-01 1.90752448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.69, Y:155.23, Z:19.08 [[ 3.54014987e-01 -9.35000440e-01 -2.11557661e-02 2.99687675e+02] [ 9.33708274e-01 3.54638849e-01 -4.91949659e-02 1.55229343e+02] [ 5.34999713e-02 -2.33755862e-03 9.98565115e-01 1.90775469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.71, Y:155.28, Z:19.09 [[ 3.47313549e-01 -9.37510599e-01 -2.11465356e-02 2.99712737e+02] [ 9.36222695e-01 3.47946161e-01 -4.91989334e-02 1.55279932e+02] [ 5.34823773e-02 -2.71041036e-03 9.98565115e-01 1.90851474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.73, Y:155.33, Z:19.09 [[ 3.41932233e-01 -9.39486882e-01 -2.11363896e-02 2.99732090e+02] [ 9.38202363e-01 3.42571690e-01 -4.92032918e-02 1.55334084e+02] [ 5.34665759e-02 -3.00601918e-03 9.98565115e-01 1.90897027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.75, Y:155.39, Z:19.09 [[ 3.37544966e-01 -9.41072361e-01 -2.11236302e-02 2.99749114e+02] [ 9.39790505e-01 3.38189745e-01 -4.92087690e-02 1.55390556e+02] [ 5.34528075e-02 -3.24161486e-03 9.98565115e-01 1.90887923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.750385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:155.45, Z:19.10 [[ 3.35028727e-01 -9.41971365e-01 -2.11116079e-02 2.99762895e+02] [ 9.40690920e-01 3.35676305e-01 -4.92139262e-02 1.55448518e+02] [ 5.34447758e-02 -3.37141882e-03 9.98565115e-01 1.90952186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.78, Y:155.50, Z:19.10 [[ 3.35337612e-01 -9.41861733e-01 -2.10988812e-02 2.99777181e+02] [ 9.40580742e-01 3.35984107e-01 -4.92193818e-02 1.55504415e+02] [ 5.34467410e-02 -3.34009134e-03 9.98565115e-01 1.90985159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.79, Y:155.56, Z:19.10 [[ 3.34648147e-01 -9.42107174e-01 -2.10876935e-02 2.99790583e+02] [ 9.40826363e-01 3.35294998e-01 -4.92241746e-02 1.55562366e+02] [ 5.34450462e-02 -3.36707919e-03 9.98565115e-01 1.91028828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:155.62, Z:19.11 [[ 3.33396552e-01 -9.42551001e-01 -2.10795960e-02 2.99808539e+02] [ 9.41270837e-01 3.34044683e-01 -4.92276420e-02 1.55618020e+02] [ 5.34410903e-02 -3.42928289e-03 9.98565116e-01 1.91104249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.990385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:299.82, Y:155.68, Z:19.11 [[ 3.38350554e-01 -9.40784323e-01 -2.10656039e-02 2.99817602e+02] [ 9.39500403e-01 3.38991212e-01 -4.92336289e-02 1.55676883e+02] [ 5.34592808e-02 -3.13291770e-03 9.98565116e-01 1.91077275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.83, Y:155.73, Z:19.11 [[ 3.44878200e-01 -9.38411345e-01 -2.10517074e-02 2.99834561e+02] [ 9.37122650e-01 3.45509196e-01 -4.92395701e-02 1.55732812e+02] [ 5.34805297e-02 -2.74637749e-03 9.98565116e-01 1.91135309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.85, Y:155.79, Z:19.12 [[ 3.57295088e-01 -9.33754576e-01 -2.10383383e-02 2.99847684e+02] [ 9.32457291e-01 3.57908231e-01 -4.92452816e-02 1.55790520e+02] [ 5.35128015e-02 -2.02225468e-03 9.98565116e-01 1.91164886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.86, Y:155.85, Z:19.12 [[ 3.69042099e-01 -9.29174835e-01 -2.10251201e-02 2.99862796e+02] [ 9.27869601e-01 3.69638134e-01 -4.92509244e-02 1.55845909e+02] [ 5.35344057e-02 -1.33290529e-03 9.98565116e-01 1.91190177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.88, Y:155.90, Z:19.12 [[ 3.77297451e-01 -9.25853707e-01 -2.10130359e-02 2.99881888e+02] [ 9.24542933e-01 3.77881202e-01 -4.92560797e-02 1.55900452e+02] [ 5.35443552e-02 -8.43260532e-04 9.98565116e-01 1.91237721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.90, Y:155.96, Z:19.13 [[ 3.83853201e-01 -9.23155310e-01 -2.09998355e-02 2.99898947e+02] [ 9.21840123e-01 3.84426939e-01 -4.92617069e-02 1.55956656e+02] [ 5.35491088e-02 -4.49227055e-04 9.98565116e-01 1.91261252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.92, Y:156.01, Z:19.13 [[ 3.86731472e-01 -9.21953542e-01 -2.09865476e-02 2.99920580e+02] [ 9.20636265e-01 3.87300394e-01 -4.92673672e-02 1.56009378e+02] [ 5.35503218e-02 -2.67735336e-04 9.98565116e-01 1.91307580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.94, Y:156.06, Z:19.14 [[ 3.87328623e-01 -9.21703117e-01 -2.09738316e-02 2.99944753e+02] [ 9.20385179e-01 3.87896011e-01 -4.92727800e-02 1.56061877e+02] [ 5.35505405e-02 -2.19245694e-04 9.98565116e-01 1.91350887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.97, Y:156.12, Z:19.13 [[ 3.88955087e-01 -9.21018248e-01 -2.09601202e-02 2.99970358e+02] [ 9.19698996e-01 3.89519415e-01 -4.92786120e-02 1.56115085e+02] [ 5.35508746e-02 -1.09834753e-04 9.98565116e-01 1.91338542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.530385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:156.17, Z:19.14 [[ 3.90267611e-01 -9.20463028e-01 -2.09524853e-02 2.99996495e+02] [ 9.19142799e-01 3.90829649e-01 -4.92818580e-02 1.56166097e+02] [ 5.35509807e-02 -2.52129990e-05 9.98565116e-01 1.91392194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.03, Y:156.22, Z:19.15 [[ 3.93312847e-01 -9.19166152e-01 -2.09425258e-02 3.00026483e+02] [ 9.17843844e-01 3.93869977e-01 -4.92860900e-02 1.56216252e+02] [ 5.35507378e-02 1.62883972e-04 9.98565117e-01 1.91457333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.06, Y:156.27, Z:19.15 [[ 3.90944083e-01 -9.20176440e-01 -2.09294962e-02 3.00055937e+02] [ 9.18855276e-01 3.91503919e-01 -4.92916224e-02 1.56267081e+02] [ 5.35509694e-02 3.90901265e-05 9.98565117e-01 1.91486821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.710385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.09, Y:156.32, Z:19.15 [[ 3.87114413e-01 -9.21794434e-01 -2.09153865e-02 3.00085982e+02] [ 9.20475286e-01 3.87678983e-01 -4.92976087e-02 1.56316271e+02] [ 5.35507171e-02 -1.68281530e-04 9.98565117e-01 1.91523273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:156.37, Z:19.16 [[ 3.81938489e-01 -9.23951333e-01 -2.09027448e-02 3.00115328e+02] [ 9.22635079e-01 3.82509774e-01 -4.93029684e-02 1.56367264e+02] [ 5.35490475e-02 -4.54904315e-04 9.98565117e-01 1.91574647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.14, Y:156.42, Z:19.16 [[ 3.81485026e-01 -9.24138966e-01 -2.08888939e-02 3.00144395e+02] [ 9.22822673e-01 3.82056218e-01 -4.93088361e-02 1.56416303e+02] [ 5.35489486e-02 -4.66162305e-04 9.98565117e-01 1.91609884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.890385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:156.47, Z:19.16 [[ 3.81169901e-01 -9.24269202e-01 -2.08793924e-02 3.00175547e+02] [ 9.22952883e-01 3.81741035e-01 -4.93128591e-02 1.56465568e+02] [ 5.35488778e-02 -4.74117812e-04 9.98565117e-01 1.91649917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.950385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.20, Y:156.52, Z:19.17 [[ 3.80449448e-01 -9.24566307e-01 -2.08653342e-02 3.00201840e+02] [ 9.23250108e-01 3.81020857e-01 -4.93188067e-02 1.56516030e+02] [ 5.35486345e-02 -5.00609293e-04 9.98565117e-01 1.91676901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.23, Y:156.57, Z:19.17 [[ 3.79592825e-01 -9.24918619e-01 -2.08526987e-02 3.00231440e+02] [ 9.23602657e-01 3.80164780e-01 -4.93241486e-02 1.56567085e+02] [ 5.35482850e-02 -5.36515093e-04 9.98565117e-01 1.91682872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:300.26, Y:156.62, Z:19.17 [[ 3.74322893e-01 -9.27064223e-01 -2.08398211e-02 3.00256129e+02] [ 9.25751236e-01 3.74901643e-01 -4.93295889e-02 1.56620429e+02] [ 5.35445802e-02 -8.27295735e-04 9.98565117e-01 1.91689826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.29, Y:156.67, Z:19.18 [[ 3.74959396e-01 -9.26807260e-01 -2.08267451e-02 3.00285761e+02] [ 9.25493570e-01 3.75536549e-01 -4.93351089e-02 1.56668998e+02] [ 5.35453411e-02 -7.76356009e-04 9.98565117e-01 1.91784161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.31, Y:156.72, Z:19.18 [[ 3.73622625e-01 -9.27347246e-01 -2.08139305e-02 3.00312967e+02] [ 9.26034088e-01 3.74200990e-01 -4.93405146e-02 1.56720709e+02] [ 5.35443838e-02 -8.39676539e-04 9.98565118e-01 1.91810759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.34, Y:156.77, Z:19.18 [[ 3.71569569e-01 -9.28172082e-01 -2.08000481e-02 3.00336629e+02] [ 9.26859881e-01 3.72150100e-01 -4.93463662e-02 1.56774290e+02] [ 5.35426595e-02 -9.43122087e-04 9.98565118e-01 1.91793405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:156.83, Z:19.19 [[ 3.74227042e-01 -9.27104136e-01 -2.07856312e-02 3.00362190e+02] [ 9.25789941e-01 3.74803045e-01 -4.93524382e-02 1.56825523e+02] [ 5.35453674e-02 -7.74111306e-04 9.98565118e-01 1.91864971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.370385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:300.39, Y:156.88, Z:19.19 [[ 3.74451977e-01 -9.27013527e-01 -2.07759087e-02 3.00388266e+02] [ 9.25698966e-01 3.75027143e-01 -4.93565307e-02 1.56877762e+02] [ 5.35457013e-02 -7.50586631e-04 9.98565118e-01 1.91900077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.430385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:300.41, Y:156.93, Z:19.19 [[ 3.74355978e-01 -9.27052605e-01 -2.07622022e-02 3.00414742e+02] [ 9.25737785e-01 3.74930551e-01 -4.93622958e-02 1.56929721e+02] [ 5.35458288e-02 -7.41284599e-04 9.98565118e-01 1.91924752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.490385723 meters Centerline goodness : 0.996206 with order 1 Centerline is valid? [True, True] Translation: X:300.44, Y:156.98, Z:19.19 [[ 3.74229428e-01 -9.27104002e-01 -2.07485940e-02 3.00439737e+02] [ 9.25788944e-01 3.74803456e-01 -4.93680151e-02 1.56982115e+02] [ 5.35459291e-02 -7.33854879e-04 9.98565118e-01 1.91899521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.550385723 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:300.47, Y:157.03, Z:19.19 [[ 3.72400168e-01 -9.27840742e-01 -2.07285310e-02 3.00466658e+02] [ 9.26526351e-01 3.72975721e-01 -4.93764377e-02 1.57033367e+02] [ 5.35447094e-02 -8.17736501e-04 9.98565118e-01 1.91925886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.610385723 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:300.49, Y:157.08, Z:19.20 [[ 3.70823929e-01 -9.28472280e-01 -2.07084509e-02 3.00491101e+02] [ 9.27158399e-01 3.71400645e-01 -4.93848579e-02 1.57084079e+02] [ 5.35436036e-02 -8.86927197e-04 9.98565119e-01 1.91966401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.670385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:300.52, Y:157.14, Z:19.20 [[ 3.67914512e-01 -9.29629426e-01 -2.06891653e-02 3.00518273e+02] [ 9.28316905e-01 3.68494316e-01 -4.93929360e-02 1.57135190e+02] [ 5.35409666e-02 -1.03372401e-03 9.98565119e-01 1.92003737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.55, Y:157.19, Z:19.20 [[ 3.64214543e-01 -9.31085542e-01 -2.06755924e-02 3.00545650e+02] [ 9.29775016e-01 3.64798843e-01 -4.93986169e-02 1.57185562e+02] [ 5.35367702e-02 -1.23195459e-03 9.98565119e-01 1.92042665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:157.24, Z:19.21 [[ 3.60238310e-01 -9.32631475e-01 -2.06613706e-02 3.00570670e+02] [ 9.31323115e-01 3.60827444e-01 -4.94045646e-02 1.57237745e+02] [ 5.35314415e-02 -1.44499522e-03 9.98565119e-01 1.92060926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:300.60, Y:157.29, Z:19.21 [[ 3.60088733e-01 -9.32689535e-01 -2.06478972e-02 3.00595794e+02] [ 9.31380949e-01 3.60677364e-01 -4.94101949e-02 1.57289705e+02] [ 5.35316009e-02 -1.43900357e-03 9.98565119e-01 1.92118904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.62, Y:157.34, Z:19.21 [[ 3.64733264e-01 -9.30883381e-01 -2.06343518e-02 3.00615631e+02] [ 9.29571559e-01 3.65314646e-01 -4.94158511e-02 1.57344788e+02] [ 5.35384254e-02 -1.15750191e-03 9.98565119e-01 1.92137777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.64, Y:157.40, Z:19.22 [[ 3.68367782e-01 -9.29451426e-01 -2.06209545e-02 3.00637955e+02] [ 9.28137030e-01 3.68943322e-01 -4.94214410e-02 1.57398314e+02] [ 5.35427923e-02 -9.33804854e-04 9.98565119e-01 1.92170466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.030385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:300.66, Y:157.45, Z:19.22 [[ 3.68208049e-01 -9.29515014e-01 -2.06075762e-02 3.00659018e+02] [ 9.28200405e-01 3.68783104e-01 -4.94270188e-02 1.57452176e+02] [ 5.35428820e-02 -9.28534413e-04 9.98565119e-01 1.92213781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.68, Y:157.51, Z:19.22 [[ 3.62019320e-01 -9.31943080e-01 -2.05938896e-02 3.00678114e+02] [ 9.30632002e-01 3.62602377e-01 -4.94327207e-02 1.57507256e+02] [ 5.35358753e-02 -1.26973278e-03 9.98565119e-01 1.92230665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.70, Y:157.56, Z:19.23 [[ 3.56465773e-01 -9.34081691e-01 -2.05802879e-02 3.00700796e+02] [ 9.32773781e-01 3.57055905e-01 -4.94383829e-02 1.57560955e+02] [ 5.35278016e-02 -1.57366164e-03 9.98565120e-01 1.92258840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.72, Y:157.62, Z:19.23 [[ 3.51064760e-01 -9.36125285e-01 -2.05666162e-02 3.00719010e+02] [ 9.34820476e-01 3.51661716e-01 -4.94440697e-02 1.57615717e+02] [ 5.35183354e-02 -1.86802349e-03 9.98565120e-01 1.92267950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:157.67, Z:19.23 [[ 3.46009727e-01 -9.38005697e-01 -2.05567573e-02 3.00734222e+02] [ 9.36703887e-01 3.46613194e-01 -4.94481683e-02 1.57672444e+02] [ 5.35079069e-02 -2.14604727e-03 9.98565120e-01 1.92267419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.76, Y:157.73, Z:19.23 [[ 3.48210428e-01 -9.37191262e-01 -2.05435499e-02 3.00756921e+02] [ 9.35887718e-01 3.48810141e-01 -4.94536548e-02 1.57725453e+02] [ 5.35133317e-02 -2.00617780e-03 9.98565120e-01 1.92294432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.390385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:300.77, Y:157.78, Z:19.23 [[ 3.52747375e-01 -9.35493344e-01 -2.05302844e-02 3.00773306e+02] [ 9.34186593e-01 3.53340065e-01 -4.94591613e-02 1.57780557e+02] [ 5.35228882e-02 -1.73252712e-03 9.98565120e-01 1.92328909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.79, Y:157.84, Z:19.23 [[ 3.53097369e-01 -9.35361600e-01 -2.05164627e-02 3.00786360e+02] [ 9.34054297e-01 3.53688840e-01 -4.94648941e-02 1.57838916e+02] [ 5.35240064e-02 -1.69756620e-03 9.98565120e-01 1.92317233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.80, Y:157.89, Z:19.24 [[ 3.55001450e-01 -9.34640900e-01 -2.05026698e-02 3.00804351e+02] [ 9.33332066e-01 3.55589528e-01 -4.94706104e-02 1.57893954e+02] [ 5.35277905e-02 -1.57366074e-03 9.98565120e-01 1.92350966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.570385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:300.83, Y:157.95, Z:19.24 [[ 3.55527685e-01 -9.34441163e-01 -2.04884931e-02 3.00825079e+02] [ 9.33131663e-01 3.56114276e-01 -4.94764811e-02 1.57948365e+02] [ 5.35291054e-02 -1.52820286e-03 9.98565120e-01 1.92412351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.630385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:300.85, Y:158.00, Z:19.25 [[ 3.55773447e-01 -9.34347929e-01 -2.04744023e-02 3.00849117e+02] [ 9.33037942e-01 3.56358948e-01 -4.94823115e-02 1.58000381e+02] [ 5.35299317e-02 -1.49890171e-03 9.98565120e-01 1.92474266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.690385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:300.87, Y:158.06, Z:19.25 [[ 3.53755658e-01 -9.35114026e-01 -2.04619650e-02 3.00866637e+02] [ 9.33805010e-01 3.54343329e-01 -4.94874540e-02 1.58055800e+02] [ 5.35269732e-02 -1.60101855e-03 9.98565121e-01 1.92497090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.750385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:300.88, Y:158.11, Z:19.25 [[ 3.51064880e-01 -9.36127828e-01 -2.04484546e-02 3.00881831e+02] [ 9.34820185e-01 3.51655599e-01 -4.94930360e-02 1.58112133e+02] [ 5.35226218e-02 -1.74036141e-03 9.98565121e-01 1.92529975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.90, Y:158.17, Z:19.26 [[ 3.54825271e-01 -9.34709278e-01 -2.04351023e-02 3.00903901e+02] [ 9.33398956e-01 3.55410022e-01 -4.94985484e-02 1.58165680e+02] [ 5.35295926e-02 -1.51076736e-03 9.98565121e-01 1.92563435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:300.92, Y:158.22, Z:19.26 [[ 3.56130020e-01 -9.34213226e-01 -2.04219787e-02 3.00921956e+02] [ 9.32901780e-01 3.56712246e-01 -4.95039623e-02 1.58220104e+02] [ 5.35320262e-02 -1.42185322e-03 9.98565121e-01 1.92566597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:300.93, Y:158.28, Z:19.26 [[ 3.52545467e-01 -9.35572119e-01 -2.04084386e-02 3.00934825e+02] [ 9.34262594e-01 3.53132002e-01 -4.95095437e-02 1.58277742e+02] [ 5.35266215e-02 -1.61247554e-03 9.98565121e-01 1.92571127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.96, Y:158.33, Z:19.26 [[ 3.54216707e-01 -9.34940964e-01 -2.03940814e-02 3.00958201e+02] [ 9.33630055e-01 3.54800141e-01 -4.95154571e-02 1.58330038e+02] [ 5.35298521e-02 -1.50132515e-03 9.98565121e-01 1.92617263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:300.98, Y:158.39, Z:19.26 [[ 3.50537683e-01 -9.36326814e-01 -2.03820967e-02 3.00976192e+02] [ 9.35017925e-01 3.51125635e-01 -4.95203898e-02 1.58385783e+02] [ 5.35239455e-02 -1.69886304e-03 9.98565121e-01 1.92645127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.99, Y:158.44, Z:19.27 [[ 3.48860639e-01 -9.36953239e-01 -2.03686648e-02 3.00992096e+02] [ 9.35645085e-01 3.49450224e-01 -4.95259140e-02 1.58440718e+02] [ 5.35213000e-02 -1.78019907e-03 9.98565121e-01 1.92675167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.170385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:301.01, Y:158.50, Z:19.27 [[ 3.48607878e-01 -9.37047619e-01 -2.03545376e-02 3.01012688e+02] [ 9.35739288e-01 3.49197070e-01 -4.95317194e-02 1.58495409e+02] [ 5.35213247e-02 -1.77939293e-03 9.98565121e-01 1.92714105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.230385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:301.03, Y:158.55, Z:19.27 [[ 3.48399497e-01 -9.37125411e-01 -2.03409446e-02 3.01026841e+02] [ 9.35816889e-01 3.48988262e-01 -4.95373010e-02 1.58551591e+02] [ 5.35214145e-02 -1.77662873e-03 9.98565121e-01 1.92739844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:301.04, Y:158.61, Z:19.28 [[ 3.49606897e-01 -9.36675954e-01 -2.03267118e-02 3.01043472e+02] [ 9.35366336e-01 3.50193224e-01 -4.95431405e-02 1.58607585e+02] [ 5.35241451e-02 -1.69229832e-03 9.98565122e-01 1.92761808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.350385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:301.06, Y:158.66, Z:19.28 [[ 3.51748261e-01 -9.35874201e-01 -2.03135597e-02 3.01062471e+02] [ 9.34562937e-01 3.52330895e-01 -4.95485325e-02 1.58662785e+02] [ 5.35282879e-02 -1.55568993e-03 9.98565122e-01 1.92779756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.410385723 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:301.08, Y:158.72, Z:19.28 [[ 3.47925659e-01 -9.37302312e-01 -2.03005307e-02 3.01075684e+02] [ 9.35993128e-01 3.48512952e-01 -4.95538700e-02 1.58720660e+02] [ 5.35219548e-02 -1.76009441e-03 9.98565122e-01 1.92759380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.470385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:301.09, Y:158.78, Z:19.27 [[ 3.47208348e-01 -9.37568568e-01 -2.02865402e-02 3.01092509e+02] [ 9.36259502e-01 3.47795905e-01 -4.95595968e-02 1.58776122e+02] [ 5.35210958e-02 -1.78596030e-03 9.98565122e-01 1.92724738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.530385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:301.12, Y:158.83, Z:19.29 [[ 3.58353357e-01 -9.33365825e-01 -2.02758197e-02 3.01122208e+02] [ 9.32049605e-01 3.58924707e-01 -4.95639825e-02 1.58826063e+02] [ 5.35388200e-02 -1.13665023e-03 9.98565122e-01 1.92886194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.590385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:301.14, Y:158.88, Z:19.29 [[ 3.59431354e-01 -9.32951520e-01 -2.02623431e-02 3.01141529e+02] [ 9.31634332e-01 3.60000467e-01 -4.95694912e-02 1.58880610e+02] [ 5.35403852e-02 -1.06026515e-03 9.98565122e-01 1.92912697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.650385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:158.93, Z:19.30 [[ 3.57071226e-01 -9.33857657e-01 -2.02488597e-02 3.01165013e+02] [ 9.32541601e-01 3.57642953e-01 -4.95749985e-02 1.58933554e+02] [ 5.35378539e-02 -1.18109849e-03 9.98565122e-01 1.92960834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.710385723 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:301.19, Y:158.99, Z:19.30 [[ 3.53742332e-01 -9.35124001e-01 -2.02352628e-02 3.01187050e+02] [ 9.33809674e-01 3.54318023e-01 -4.95805478e-02 1.58987478e+02] [ 5.35336785e-02 -1.35714556e-03 9.98565122e-01 1.92982420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.770385723 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:301.21, Y:159.04, Z:19.30 [[ 3.49447792e-01 -9.36737595e-01 -2.02217591e-02 3.01208569e+02] [ 9.35425607e-01 3.50028793e-01 -4.95860548e-02 1.59040178e+02] [ 5.35273196e-02 -1.58821398e-03 9.98565122e-01 1.92987364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:301.23, Y:159.09, Z:19.30 [[ 3.41838268e-01 -9.39541511e-01 -2.02076295e-02 3.01231751e+02] [ 9.38233943e-01 3.42429147e-01 -4.95918123e-02 1.59093343e+02] [ 5.35132476e-02 -2.00710466e-03 9.98565123e-01 1.93011421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.890385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.25, Y:159.15, Z:19.30 [[ 3.35147393e-01 -9.41949271e-01 -2.01939777e-02 3.01251246e+02] [ 9.40645608e-01 3.35746840e-01 -4.95973708e-02 1.59147723e+02] [ 5.34982714e-02 -2.37294692e-03 9.98565123e-01 1.93035676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.27, Y:159.20, Z:19.31 [[ 3.23411509e-01 -9.46043209e-01 -2.01802441e-02 3.01272096e+02] [ 9.44746759e-01 3.24026400e-01 -4.96029581e-02 1.59200629e+02] [ 5.34654735e-02 -3.02305274e-03 9.98565123e-01 1.93082294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.010385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.29, Y:159.26, Z:19.31 [[ 3.13089007e-01 -9.49509625e-01 -2.01679346e-02 3.01290988e+02] [ 9.48219637e-01 3.13717341e-01 -4.96079625e-02 1.59255389e+02] [ 5.34302687e-02 -3.59192385e-03 9.98565123e-01 1.93136746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.070385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:301.30, Y:159.31, Z:19.32 [[ 3.05669225e-01 -9.51924427e-01 -2.01546814e-02 3.01304582e+02] [ 9.50639041e-01 3.06306921e-01 -4.96133464e-02 1.59312780e+02] [ 5.34016747e-02 -3.99455390e-03 9.98565123e-01 1.93172661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.130385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:301.32, Y:159.37, Z:19.32 [[ 3.01194867e-01 -9.53349878e-01 -2.01410449e-02 3.01317146e+02] [ 9.52067149e-01 3.01837888e-01 -4.96188816e-02 1.59368870e+02] [ 5.33834852e-02 -4.23067475e-03 9.98565123e-01 1.93218047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.33, Y:159.43, Z:19.32 [[ 3.02587347e-01 -9.52909085e-01 -2.01289233e-02 3.01327510e+02] [ 9.51625104e-01 3.03227867e-01 -4.96237985e-02 1.59427615e+02] [ 5.33906189e-02 -4.13965521e-03 9.98565123e-01 1.93236845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.250385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.33, Y:159.49, Z:19.32 [[ 3.09636050e-01 -9.50642353e-01 -2.01155187e-02 3.01334684e+02] [ 9.49353324e-01 3.10266348e-01 -4.96292316e-02 1.59487824e+02] [ 5.34208180e-02 -3.72973532e-03 9.98565123e-01 1.93234996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.34, Y:159.55, Z:19.33 [[ 3.19632370e-01 -9.47328381e-01 -2.01019200e-02 3.01344475e+02] [ 9.46032447e-01 3.20248346e-01 -4.96347391e-02 1.59546668e+02] [ 5.34580036e-02 -3.15219928e-03 9.98565123e-01 1.93262821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.35, Y:159.60, Z:19.32 [[ 3.28308665e-01 -9.44356868e-01 -2.00879633e-02 3.01353902e+02] [ 9.43054999e-01 3.28911995e-01 -4.96403869e-02 1.59604108e+02] [ 5.34854124e-02 -2.64668508e-03 9.98565123e-01 1.93248762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.37, Y:159.66, Z:19.33 [[ 3.36493345e-01 -9.41471830e-01 -2.00754202e-02 3.01366043e+02] [ 9.40164474e-01 3.37084692e-01 -4.96454591e-02 1.59662167e+02] [ 5.35069180e-02 -2.16883028e-03 9.98565124e-01 1.93305313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.38, Y:159.72, Z:19.34 [[ 3.40099742e-01 -9.40175359e-01 -2.00613920e-02 3.01383146e+02] [ 9.38865416e-01 3.40685334e-01 -4.96511272e-02 1.59717796e+02] [ 5.35153883e-02 -1.94861158e-03 9.98565124e-01 1.93355254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.40, Y:159.77, Z:19.34 [[ 3.45582950e-01 -9.38174044e-01 -2.00471513e-02 3.01395332e+02] [ 9.36860373e-01 3.46160131e-01 -4.96568763e-02 1.59774560e+02] [ 5.35263170e-02 -1.62081181e-03 9.98565124e-01 1.93390772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.41, Y:159.83, Z:19.34 [[ 3.51164263e-01 -9.36099508e-01 -2.00342776e-02 3.01409812e+02] [ 9.34782128e-01 3.51732928e-01 -4.96620697e-02 1.59830774e+02] [ 5.35353541e-02 -1.28814056e-03 9.98565124e-01 1.93434428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.43, Y:159.88, Z:19.35 [[ 3.54335178e-01 -9.34904146e-01 -2.00204648e-02 3.01428621e+02] [ 9.33584533e-01 3.54898641e-01 -4.96676375e-02 1.59884634e+02] [ 5.35397160e-02 -1.09180509e-03 9.98565124e-01 1.93494609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.45, Y:159.94, Z:19.35 [[ 3.54356018e-01 -9.34896515e-01 -2.00079720e-02 3.01448901e+02] [ 9.33576606e-01 3.54918788e-01 -4.96726696e-02 1.59938613e+02] [ 5.35400108e-02 -1.07716519e-03 9.98565124e-01 1.93513025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.47, Y:159.99, Z:19.35 [[ 3.55424381e-01 -9.34491150e-01 -1.99949832e-02 3.01469199e+02] [ 9.33170306e-01 3.55984952e-01 -4.96778975e-02 1.59992529e+02] [ 5.35414687e-02 -1.00198860e-03 9.98565124e-01 1.93526053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.49, Y:160.05, Z:19.35 [[ 3.58051045e-01 -9.33488196e-01 -1.99809270e-02 3.01490575e+02] [ 9.32165466e-01 3.58607151e-01 -4.96835504e-02 1.60045962e+02] [ 5.35443111e-02 -8.36283018e-04 9.98565124e-01 1.93533199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.52, Y:160.10, Z:19.36 [[ 3.59837340e-01 -9.32801210e-01 -1.99747805e-02 3.01516121e+02] [ 9.31477281e-01 3.60390586e-01 -4.96860214e-02 1.60097763e+02] [ 5.35459037e-02 -7.27168471e-04 9.98565124e-01 1.93586807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.54, Y:160.15, Z:19.36 [[ 3.61227618e-01 -9.32264001e-01 -1.99609776e-02 3.01539311e+02] [ 9.30938943e-01 3.61778154e-01 -4.96915660e-02 1.60150835e+02] [ 5.35471037e-02 -6.32485423e-04 9.98565124e-01 1.93622225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.56, Y:160.20, Z:19.37 [[ 3.62908001e-01 -9.31611462e-01 -1.99465876e-02 3.01564138e+02] [ 9.30285097e-01 3.63455379e-01 -4.96973416e-02 1.60201703e+02] [ 5.35483076e-02 -5.20450285e-04 9.98565125e-01 1.93663580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.59, Y:160.25, Z:19.37 [[ 3.61948385e-01 -9.31984884e-01 -1.99384767e-02 3.01588899e+02] [ 9.30658904e-01 3.62496696e-01 -4.97005954e-02 1.60253599e+02] [ 5.35478356e-02 -5.66870624e-04 9.98565125e-01 1.93692862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.61, Y:160.31, Z:19.36 [[ 3.55400630e-01 -9.34501649e-01 -1.99263566e-02 3.01607149e+02] [ 9.33179278e-01 3.55957586e-01 -4.97054543e-02 1.60309647e+02] [ 5.35427668e-02 -9.29513346e-04 9.98565125e-01 1.93648738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.64, Y:160.36, Z:19.38 [[ 3.64313338e-01 -9.31063496e-01 -1.99137747e-02 3.01640538e+02] [ 9.29735588e-01 3.64856963e-01 -4.97104945e-02 1.60357607e+02] [ 5.35493062e-02 -4.04348810e-04 9.98565125e-01 1.93768454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.67, Y:160.41, Z:19.38 [[ 3.70344671e-01 -9.28681067e-01 -1.99072977e-02 3.01667732e+02] [ 9.27349522e-01 3.70879324e-01 -4.97130882e-02 1.60409729e+02] [ 5.35508089e-02 -5.00457632e-05 9.98565125e-01 1.93810026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:160.46, Z:19.38 [[ 3.76748106e-01 -9.26102080e-01 -1.98947623e-02 3.01695403e+02] [ 9.24766611e-01 3.77272880e-01 -4.97181043e-02 1.60459910e+02] [ 5.35497940e-02 3.33189694e-04 9.98565125e-01 1.93835264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.390385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:301.72, Y:160.51, Z:19.39 [[ 3.81501588e-01 -9.24154352e-01 -1.98814640e-02 3.01724708e+02] [ 9.22815927e-01 3.82018778e-01 -4.97234215e-02 1.60509394e+02] [ 5.35472089e-02 6.22632599e-04 9.98565125e-01 1.93867438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:160.56, Z:19.39 [[ 3.80841327e-01 -9.24426909e-01 -1.98689003e-02 3.01756115e+02] [ 9.23088593e-01 3.81358797e-01 -4.97284413e-02 1.60559045e+02] [ 5.35474892e-02 5.97890310e-04 9.98565125e-01 1.93917042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.78, Y:160.61, Z:19.40 [[ 3.78055148e-01 -9.25570136e-01 -1.98551849e-02 3.01784739e+02] [ 9.24233097e-01 3.78575910e-01 -4.97339169e-02 1.60609515e+02] [ 5.35489229e-02 4.51344298e-04 9.98565125e-01 1.93963228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:160.66, Z:19.40 [[ 3.72615270e-01 -9.27773776e-01 -1.98414069e-02 3.01819549e+02] [ 9.26439525e-01 3.73143134e-01 -4.97394130e-02 1.60656544e+02] [ 5.35506077e-02 1.51801265e-04 9.98565125e-01 1.94010447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.630385723 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:301.85, Y:160.71, Z:19.40 [[ 3.70175854e-01 -9.28750043e-01 -1.98291461e-02 3.01847968e+02] [ 9.27416922e-01 3.70706565e-01 -4.97443004e-02 1.60707681e+02] [ 5.35508158e-02 2.42532680e-05 9.98565125e-01 1.94044117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.88, Y:160.76, Z:19.41 [[ 3.68199516e-01 -9.29535614e-01 -1.98156362e-02 3.01879953e+02] [ 9.28203335e-01 3.68732338e-01 -4.97496815e-02 1.60757583e+02] [ 5.35507666e-02 -7.51309129e-05 9.98565125e-01 1.94075101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.91, Y:160.81, Z:19.41 [[ 3.65835872e-01 -9.30468694e-01 -1.98021342e-02 3.01909234e+02] [ 9.29137484e-01 3.66371356e-01 -4.97550552e-02 1.60808332e+02] [ 5.35504560e-02 -1.96721162e-04 9.98565126e-01 1.94075273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.810385723 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:301.94, Y:160.86, Z:19.41 [[ 3.63120905e-01 -9.31531872e-01 -1.97883681e-02 3.01935459e+02] [ 9.30201931e-01 3.63659534e-01 -4.97605296e-02 1.60859892e+02] [ 5.35497480e-02 -3.38089693e-04 9.98565126e-01 1.94063208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.870385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:301.96, Y:160.91, Z:19.41 [[ 3.57690873e-01 -9.33630594e-01 -1.97775971e-02 3.01964421e+02] [ 9.32303576e-01 3.58236662e-01 -4.97648103e-02 1.60911013e+02] [ 5.35470097e-02 -6.38306062e-04 9.98565126e-01 1.94098981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.930385723 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:301.99, Y:160.96, Z:19.41 [[ 3.49408466e-01 -9.36762030e-01 -1.97641860e-02 3.01990737e+02] [ 9.35439597e-01 3.49965274e-01 -4.97701359e-02 1.60964043e+02] [ 5.35395523e-02 -1.09809539e-03 9.98565126e-01 1.94130304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.990385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:302.01, Y:161.02, Z:19.42 [[ 3.46094703e-01 -9.37991642e-01 -1.97518403e-02 3.02013996e+02] [ 9.36670908e-01 3.46655529e-01 -4.97750350e-02 1.61017767e+02] [ 5.35356514e-02 -1.27409827e-03 9.98565126e-01 1.94164596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.050385723 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:302.04, Y:161.07, Z:19.42 [[ 3.43071170e-01 -9.39101982e-01 -1.97393157e-02 3.02041667e+02] [ 9.37782777e-01 3.43635584e-01 -4.97800014e-02 1.61068754e+02] [ 5.35316292e-02 -1.43310702e-03 9.98565126e-01 1.94212673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.110385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:302.06, Y:161.12, Z:19.42 [[ 3.38388796e-01 -9.40799424e-01 -1.97349186e-02 3.02061458e+02] [ 9.39482947e-01 3.38959542e-01 -4.97817445e-02 1.61124234e+02] [ 5.35239755e-02 -1.69503490e-03 9.98565126e-01 1.94242623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.170385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:302.08, Y:161.18, Z:19.43 [[ 3.42739022e-01 -9.39223620e-01 -1.97219292e-02 3.02084256e+02] [ 9.37904221e-01 3.43302981e-01 -4.97868900e-02 1.61177440e+02] [ 5.35316201e-02 -1.43337070e-03 9.98565126e-01 1.94299949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.230385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:302.11, Y:161.23, Z:19.43 [[ 3.48221377e-01 -9.37205003e-01 -1.97143480e-02 3.02106527e+02] [ 9.35882162e-01 3.48777214e-01 -4.97898918e-02 1.61231422e+02] [ 5.35392510e-02 -1.11240196e-03 9.98565126e-01 1.94332230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.290385723 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:302.12, Y:161.29, Z:19.43 [[ 3.44932637e-01 -9.38420561e-01 -1.97059872e-02 3.02123810e+02] [ 9.37099490e-01 3.45492667e-01 -4.97932006e-02 1.61288012e+02] [ 5.35352373e-02 -1.29117060e-03 9.98565126e-01 1.94313712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.350385723 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:302.15, Y:161.34, Z:19.43 [[ 3.44224903e-01 -9.38680653e-01 -1.96938491e-02 3.02145027e+02] [ 9.37359732e-01 3.44785285e-01 -4.97980009e-02 1.61341961e+02] [ 5.35345694e-02 -1.31850912e-03 9.98565126e-01 1.94345612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.17, Y:161.39, Z:19.45 [[ 3.43533063e-01 -9.38934353e-01 -1.96803272e-02 3.02170166e+02] [ 9.37613540e-01 3.44093702e-01 -4.98033443e-02 1.61393251e+02] [ 5.35339475e-02 -1.34344582e-03 9.98565126e-01 1.94459084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.470385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:302.19, Y:161.45, Z:19.45 [[ 3.40365769e-01 -9.40087327e-01 -1.96713089e-02 3.02190515e+02] [ 9.38768208e-01 3.40930380e-01 -4.98069060e-02 1.61447488e+02] [ 5.35293880e-02 -1.51423348e-03 9.98565126e-01 1.94479451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.530385723 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:302.21, Y:161.50, Z:19.44 [[ 3.37800452e-01 -9.41012437e-01 -1.96582553e-02 3.02207331e+02] [ 9.39694566e-01 3.38367969e-01 -4.98120576e-02 1.61504359e+02] [ 5.35254897e-02 -1.64622007e-03 9.98565127e-01 1.94408228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.590385723 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:302.23, Y:161.55, Z:19.45 [[ 3.45273414e-01 -9.38296502e-01 -1.96454465e-02 3.02233780e+02] [ 9.36973873e-01 3.45829752e-01 -4.98171088e-02 1.61554988e+02] [ 5.35371988e-02 -1.20674687e-03 9.98565127e-01 1.94497450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.25, Y:161.61, Z:19.45 [[ 3.49019608e-01 -9.36909771e-01 -1.96314781e-02 3.02253141e+02] [ 9.35584620e-01 3.49569915e-01 -4.98226127e-02 1.61609576e+02] [ 5.35418668e-02 -9.77840232e-04 9.98565127e-01 1.94536365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.710385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:302.28, Y:161.66, Z:19.46 [[ 3.51477673e-01 -9.35990698e-01 -1.96178264e-02 3.02276312e+02] [ 9.34663808e-01 3.52023773e-01 -4.98279876e-02 1.61662776e+02] [ 5.35444741e-02 -8.22647250e-04 9.98565127e-01 1.94562716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.770385723 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:302.29, Y:161.72, Z:19.45 [[ 3.48041118e-01 -9.37274269e-01 -1.96041846e-02 3.02294883e+02] [ 9.35949091e-01 3.48591358e-01 -4.98333542e-02 1.61718803e+02] [ 5.35413700e-02 -1.00446244e-03 9.98565127e-01 1.94510432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.830385723 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:302.32, Y:161.77, Z:19.46 [[ 3.49971705e-01 -9.36555391e-01 -1.95909268e-02 3.02321588e+02] [ 9.35228792e-01 3.50518508e-01 -4.98385657e-02 1.61769419e+02] [ 5.35435598e-02 -8.79910973e-04 9.98565127e-01 1.94628516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.890385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:302.35, Y:161.82, Z:19.47 [[ 3.47755420e-01 -9.37380871e-01 -1.95773176e-02 3.02346038e+02] [ 9.36055268e-01 3.48304636e-01 -4.98439110e-02 1.61821546e+02] [ 5.35415992e-02 -9.91961058e-04 9.98565127e-01 1.94661057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.950385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:302.37, Y:161.87, Z:19.47 [[ 3.48098377e-01 -9.37253852e-01 -1.95636728e-02 3.02370337e+02] [ 9.35927749e-01 3.48646383e-01 -4.98492660e-02 1.61874693e+02] [ 5.35422203e-02 -9.57735677e-04 9.98565127e-01 1.94721097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.010385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:302.39, Y:161.93, Z:19.47 [[ 3.48739301e-01 -9.37015826e-01 -1.95510305e-02 3.02393296e+02] [ 9.35689071e-01 3.49285727e-01 -4.98542239e-02 1.61928130e+02] [ 5.35430926e-02 -9.07558343e-04 9.98565127e-01 1.94747314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.070385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:302.42, Y:161.98, Z:19.48 [[ 3.48257577e-01 -9.37195250e-01 -1.95377394e-02 3.02419107e+02] [ 9.35868485e-01 3.48803978e-01 -4.98594321e-02 1.61979906e+02] [ 5.35428641e-02 -9.20829637e-04 9.98565127e-01 1.94777972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.130385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:302.44, Y:162.03, Z:19.48 [[ 3.47868613e-01 -9.37339970e-01 -1.95245703e-02 3.02443655e+02] [ 9.36013144e-01 3.48414864e-01 -4.98645884e-02 1.62032102e+02] [ 5.35427224e-02 -9.28929261e-04 9.98565128e-01 1.94781286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.190385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:302.47, Y:162.08, Z:19.48 [[ 3.45678451e-01 -9.38150188e-01 -1.95098099e-02 3.02468684e+02] [ 9.36824317e-01 3.46227016e-01 -4.98703629e-02 1.62083454e+02] [ 5.35407136e-02 -1.03815454e-03 9.98565128e-01 1.94843865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:302.49, Y:162.14, Z:19.49 [[ 3.45898276e-01 -9.38069468e-01 -1.94950399e-02 3.02494679e+02] [ 9.36743144e-01 3.46445745e-01 -4.98761360e-02 1.62135162e+02] [ 5.35412540e-02 -1.00977550e-03 9.98565128e-01 1.94913854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:162.19, Z:19.49 [[ 3.47309970e-01 -9.37547992e-01 -1.94819722e-02 3.02517245e+02] [ 9.36220560e-01 3.47854747e-01 -4.98812398e-02 1.62189067e+02] [ 5.35429528e-02 -9.15171030e-04 9.98565128e-01 1.94937867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:302.54, Y:162.24, Z:19.50 [[ 3.49791002e-01 -9.36625455e-01 -1.94682211e-02 3.02544943e+02] [ 9.35296287e-01 3.50331530e-01 -4.98866062e-02 1.62239882e+02] [ 5.35453969e-02 -7.58668888e-04 9.98565128e-01 1.94973203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.430385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:302.57, Y:162.29, Z:19.50 [[ 3.52416742e-01 -9.35640903e-01 -1.94561104e-02 3.02568179e+02] [ 9.34309964e-01 3.52952894e-01 -4.98913290e-02 1.62292026e+02] [ 5.35474586e-02 -5.95498219e-04 9.98565128e-01 1.94969253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.490385723 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:302.59, Y:162.35, Z:19.49 [[ 3.56356946e-01 -9.34147634e-01 -1.94403096e-02 3.02591240e+02] [ 9.32814112e-01 3.56886641e-01 -4.98974851e-02 1.62345594e+02] [ 5.35496044e-02 -3.52879758e-04 9.98565128e-01 1.94911762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.62, Y:162.40, Z:19.50 [[ 3.51925521e-01 -9.35826418e-01 -1.94253296e-02 3.02615931e+02] [ 9.34495100e-01 3.52460732e-01 -4.99033162e-02 1.62398111e+02] [ 5.35475075e-02 -5.90624731e-04 9.98565128e-01 1.94958378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.64, Y:162.45, Z:19.51 [[ 3.53041149e-01 -9.35406477e-01 -1.94080027e-02 3.02643586e+02] [ 9.34074152e-01 3.53573847e-01 -4.99100539e-02 1.62448517e+02] [ 5.35483499e-02 -5.08210915e-04 9.98565129e-01 1.95054782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:302.67, Y:162.50, Z:19.51 [[ 3.47799509e-01 -9.37368281e-01 -1.93960754e-02 3.02670501e+02] [ 9.36038701e-01 3.48339021e-01 -4.99146887e-02 1.62499815e+02] [ 5.35448559e-02 -7.95173043e-04 9.98565129e-01 1.95097434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.730385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:162.55, Z:19.51 [[ 3.42950943e-01 -9.39153322e-01 -1.93826893e-02 3.02696136e+02] [ 9.37826255e-01 3.43496608e-01 -4.99198862e-02 1.62550790e+02] [ 5.35403150e-02 -1.05752282e-03 9.98565129e-01 1.95102807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.790385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:302.72, Y:162.60, Z:19.51 [[ 3.42568475e-01 -9.39293189e-01 -1.93686896e-02 3.02720215e+02] [ 9.37966039e-01 3.43113936e-01 -4.99253175e-02 1.62604191e+02] [ 5.35401780e-02 -1.06433323e-03 9.98565129e-01 1.95129497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.74, Y:162.66, Z:19.52 [[ 3.47356691e-01 -9.37533200e-01 -1.93604539e-02 3.02744724e+02] [ 9.36203107e-01 3.47894936e-01 -4.99285110e-02 1.62657696e+02] [ 5.35450405e-02 -7.82314679e-04 9.98565129e-01 1.95162075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.76, Y:162.71, Z:19.52 [[ 3.45243471e-01 -9.38313708e-01 -1.93476599e-02 3.02761097e+02] [ 9.36984554e-01 3.45784030e-01 -4.99334683e-02 1.62713175e+02] [ 5.35433695e-02 -8.89254609e-04 9.98565129e-01 1.95185718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:302.78, Y:162.77, Z:19.52 [[ 3.43596448e-01 -9.38918339e-01 -1.93347652e-02 3.02777772e+02] [ 9.37589856e-01 3.44138653e-01 -4.99384607e-02 1.62768272e+02] [ 5.35419767e-02 -9.69401974e-04 9.98565129e-01 1.95195194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.80, Y:162.82, Z:19.52 [[ 3.41319318e-01 -9.39748733e-01 -1.93246410e-02 3.02798057e+02] [ 9.38421347e-01 3.41864204e-01 -4.99423782e-02 1.62822664e+02] [ 5.35396896e-02 -1.08835713e-03 9.98565129e-01 1.95202940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.81, Y:162.88, Z:19.53 [[ 3.40463080e-01 -9.40059563e-01 -1.93108415e-02 3.02814415e+02] [ 9.38732373e-01 3.41008442e-01 -4.99477133e-02 1.62877682e+02] [ 5.35389856e-02 -1.12235978e-03 9.98565129e-01 1.95266564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.84, Y:162.93, Z:19.53 [[ 3.44506979e-01 -9.38585420e-01 -1.92963942e-02 3.02835334e+02] [ 9.37255582e-01 3.45045854e-01 -4.99532942e-02 1.62930978e+02] [ 5.35435744e-02 -8.76394726e-04 9.98565129e-01 1.95266747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.210385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:302.86, Y:162.98, Z:19.53 [[ 3.44962565e-01 -9.38418358e-01 -1.92824886e-02 3.02856657e+02] [ 9.37087960e-01 3.45500055e-01 -4.99586613e-02 1.62984715e+02] [ 5.35442258e-02 -8.35519895e-04 9.98565129e-01 1.95335443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.270385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:163.04, Z:19.54 [[ 3.43305656e-01 -9.39026054e-01 -1.92690485e-02 3.02872929e+02] [ 9.37696317e-01 3.43844778e-01 -4.99638446e-02 1.63039907e+02] [ 5.35429136e-02 -9.15645368e-04 9.98565130e-01 1.95364342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.90, Y:163.09, Z:19.54 [[ 3.46842082e-01 -9.37725875e-01 -1.92549767e-02 3.02897159e+02] [ 9.36393815e-01 3.47375439e-01 -4.99692670e-02 1.63093134e+02] [ 5.35461806e-02 -6.98796412e-04 9.98565130e-01 1.95374120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.390385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:302.92, Y:163.15, Z:19.54 [[ 3.48844371e-01 -9.36983116e-01 -1.92417288e-02 3.02919390e+02] [ 9.35649640e-01 3.49374175e-01 -4.99743679e-02 1.63146973e+02] [ 5.35477021e-02 -5.70239634e-04 9.98565130e-01 1.95416468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.94, Y:163.20, Z:19.54 [[ 3.46924158e-01 -9.37696079e-01 -1.92273891e-02 3.02937168e+02] [ 9.36363385e-01 3.47455928e-01 -4.99798844e-02 1.63200845e+02] [ 5.35466120e-02 -6.64593859e-04 9.98565130e-01 1.95430068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:302.96, Y:163.25, Z:19.55 [[ 3.46403320e-01 -9.37888959e-01 -1.92104300e-02 3.02959162e+02] [ 9.36556200e-01 3.46934927e-01 -4.99864020e-02 1.63254858e+02] [ 5.35464637e-02 -6.76191719e-04 9.98565130e-01 1.95494050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.570385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:302.98, Y:163.31, Z:19.56 [[ 3.48139555e-01 -9.37246185e-01 -1.91947734e-02 3.02983086e+02] [ 9.35912113e-01 3.48667858e-01 -4.99924134e-02 1.63306507e+02] [ 5.35477993e-02 -5.60284357e-04 9.98565130e-01 1.95552552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.630385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:303.00, Y:163.36, Z:19.56 [[ 3.46588056e-01 -9.37821285e-01 -1.91821891e-02 3.03004571e+02] [ 9.36487823e-01 3.47117895e-01 -4.99972416e-02 1.63359243e+02] [ 5.35469585e-02 -6.35439730e-04 9.98565130e-01 1.95566574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.03, Y:163.41, Z:19.56 [[ 3.44200662e-01 -9.38700435e-01 -1.91676103e-02 3.03028431e+02] [ 9.37368015e-01 3.44733116e-01 -5.00028301e-02 1.63412406e+02] [ 5.35453884e-02 -7.56097603e-04 9.98565130e-01 1.95606267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.05, Y:163.47, Z:19.56 [[ 3.44084419e-01 -9.38743313e-01 -1.91547604e-02 3.03047829e+02] [ 9.37410686e-01 3.44616354e-01 -5.00077521e-02 1.63466702e+02] [ 5.35454866e-02 -7.48988718e-04 9.98565131e-01 1.95648335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:163.52, Z:19.57 [[ 3.44155065e-01 -9.38717697e-01 -1.91409462e-02 3.03069163e+02] [ 9.37384737e-01 3.44686164e-01 -5.00130390e-02 1.63521166e+02] [ 5.35457442e-02 -7.30190122e-04 9.98565131e-01 1.95674891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.870385723 meters Centerline goodness : 0.996234 with order 1 Centerline is valid? [True, True] Translation: X:303.09, Y:163.58, Z:19.57 [[ 3.43112967e-01 -9.39099380e-01 -1.91271093e-02 3.03088042e+02] [ 9.37766715e-01 3.43644808e-01 -5.00183303e-02 1.63575134e+02] [ 5.35451148e-02 -7.74828711e-04 9.98565131e-01 1.95660731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.930385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:303.11, Y:163.63, Z:19.57 [[ 3.41820649e-01 -9.39570920e-01 -1.91083760e-02 3.03106675e+02] [ 9.38238589e-01 3.42353326e-01 -5.00254860e-02 1.63629124e+02] [ 5.35443079e-02 -8.28471645e-04 9.98565131e-01 1.95727142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.13, Y:163.68, Z:19.57 [[ 3.38535253e-01 -9.40760053e-01 -1.90893810e-02 3.03125827e+02] [ 9.39429185e-01 3.39071573e-01 -5.00327333e-02 1.63683619e+02] [ 5.35414633e-02 -9.95277669e-04 9.98565131e-01 1.95736886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.050385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:303.14, Y:163.74, Z:19.58 [[ 3.34246932e-01 -9.42292510e-01 -1.90739052e-02 3.03143449e+02] [ 9.40963764e-01 3.34788487e-01 -5.00386324e-02 1.63737267e+02] [ 5.35367524e-02 -1.22259428e-03 9.98565131e-01 1.95801566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:303.16, Y:163.79, Z:19.58 [[ 3.32720405e-01 -9.42832953e-01 -1.90566002e-02 3.03160183e+02] [ 9.41504710e-01 3.33263193e-01 -5.00452219e-02 1.63793011e+02] [ 5.35351478e-02 -1.29081237e-03 9.98565131e-01 1.95840564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.170385723 meters Centerline goodness : 0.994564 with order 1 Centerline is valid? [True, True] Translation: X:303.18, Y:163.85, Z:19.58 [[ 3.31248034e-01 -9.43351504e-01 -1.90441519e-02 3.03178105e+02] [ 9.42023840e-01 3.31792235e-01 -5.00499586e-02 1.63847825e+02] [ 5.35334054e-02 -1.36109469e-03 9.98565132e-01 1.95845117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.230385723 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:303.19, Y:163.90, Z:19.59 [[ 3.32394088e-01 -9.42948661e-01 -1.90261340e-02 3.03190622e+02] [ 9.41619946e-01 3.32935719e-01 -5.00568070e-02 1.63904785e+02] [ 5.35354787e-02 -1.27680054e-03 9.98565132e-01 1.95866703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.290385723 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:303.21, Y:163.96, Z:19.59 [[ 3.36378794e-01 -9.41534949e-01 -1.90064688e-02 3.03208214e+02] [ 9.40203536e-01 3.36913757e-01 -5.00642728e-02 1.63959213e+02] [ 5.35408033e-02 -1.02938943e-03 9.98565132e-01 1.95887867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.350385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:303.22, Y:164.01, Z:19.59 [[ 3.38257703e-01 -9.40861976e-01 -1.89859890e-02 3.03221833e+02] [ 9.39529063e-01 3.38788917e-01 -5.00720382e-02 1.64014177e+02] [ 5.35431194e-02 -9.00635795e-04 9.98565132e-01 1.95944568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.410385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:303.24, Y:164.07, Z:19.60 [[ 3.39836304e-01 -9.40293379e-01 -1.89643673e-02 3.03235260e+02] [ 9.38959121e-01 3.40364129e-01 -5.00802259e-02 1.64070171e+02] [ 5.35448952e-02 -7.87686762e-04 9.98565132e-01 1.95965928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.470385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:303.25, Y:164.13, Z:19.60 [[ 3.37130142e-01 -9.41267322e-01 -1.89498287e-02 3.03250326e+02] [ 9.39934279e-01 3.37661030e-01 -5.00857265e-02 1.64126513e+02] [ 5.35426763e-02 -9.26185443e-04 9.98565133e-01 1.95972273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.530385723 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:303.27, Y:164.18, Z:19.60 [[ 3.38569504e-01 -9.40750835e-01 -1.89356353e-02 3.03268900e+02] [ 9.39416682e-01 3.39097596e-01 -5.00910920e-02 1.64179603e+02] [ 5.35442650e-02 -8.29135527e-04 9.98565133e-01 1.96016763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.590385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:303.28, Y:164.24, Z:19.61 [[ 3.35324678e-01 -9.41912724e-01 -1.89150749e-02 3.03278627e+02] [ 9.40579964e-01 3.35856273e-01 -5.00988547e-02 1.64235361e+02] [ 5.35414953e-02 -9.91758129e-04 9.98565133e-01 1.96072756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.650385723 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:303.29, Y:164.29, Z:19.61 [[ 3.31824449e-01 -9.43151891e-01 -1.88956507e-02 3.03292614e+02] [ 9.41820699e-01 3.32359958e-01 -5.01061798e-02 1.64292900e+02] [ 5.35378959e-02 -1.16985947e-03 9.98565133e-01 1.96084739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.31, Y:164.35, Z:19.61 [[ 3.30279742e-01 -9.43694222e-01 -1.88814141e-02 3.03307281e+02] [ 9.42363603e-01 3.30816675e-01 -5.01115440e-02 1.64349116e+02] [ 5.35362611e-02 -1.24232962e-03 9.98565133e-01 1.96108818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.32, Y:164.41, Z:19.61 [[ 3.29174640e-01 -9.44080560e-01 -1.88666848e-02 3.03321794e+02] [ 9.42750255e-01 3.29712349e-01 -5.01170889e-02 1.64405179e+02] [ 5.35351483e-02 -1.28929718e-03 9.98565133e-01 1.96139569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.33, Y:164.46, Z:19.62 [[ 3.27141570e-01 -9.44787302e-01 -1.88506630e-02 3.03331460e+02] [ 9.43457813e-01 3.27681292e-01 -5.01231145e-02 1.64462809e+02] [ 5.35326917e-02 -1.38745096e-03 9.98565134e-01 1.96196789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.35, Y:164.52, Z:19.62 [[ 3.25020373e-01 -9.45519448e-01 -1.88343086e-02 3.03346673e+02] [ 9.44190820e-01 3.25562212e-01 -5.01292591e-02 1.64519366e+02] [ 5.35299285e-02 -1.49015075e-03 9.98565134e-01 1.96203469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.950385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:303.36, Y:164.58, Z:19.62 [[ 3.24869113e-01 -9.45571719e-01 -1.88197624e-02 3.03356063e+02] [ 9.44242864e-01 3.25410394e-01 -5.01347195e-02 1.64577409e+02] [ 5.35301192e-02 -1.48320453e-03 9.98565134e-01 1.96219517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.37, Y:164.63, Z:19.63 [[ 3.28689685e-01 -9.44250739e-01 -1.88051154e-02 3.03370039e+02] [ 9.42919394e-01 3.29224811e-01 -5.01402128e-02 1.64633007e+02] [ 5.35360436e-02 -1.25113727e-03 9.98565134e-01 1.96293030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.38, Y:164.69, Z:19.63 [[ 3.30327841e-01 -9.43679161e-01 -1.87925276e-02 3.03382767e+02] [ 9.42346622e-01 3.30859987e-01 -5.01449303e-02 1.64688862e+02] [ 5.35384212e-02 -1.14480839e-03 9.98565134e-01 1.96322334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.39, Y:164.74, Z:19.63 [[ 3.33658581e-01 -9.42506941e-01 -1.87781284e-02 3.03394573e+02] [ 9.41172228e-01 3.34185252e-01 -5.01503219e-02 1.64744140e+02] [ 5.35424000e-02 -9.40367674e-04 9.98565134e-01 1.96319908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.41, Y:164.80, Z:19.64 [[ 3.35826396e-01 -9.41737016e-01 -1.87622835e-02 3.03410045e+02] [ 9.40400765e-01 3.36349151e-01 -5.01562491e-02 1.64798864e+02] [ 5.35446745e-02 -8.00273347e-04 9.98565134e-01 1.96373859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.42, Y:164.86, Z:19.64 [[ 3.35785451e-01 -9.41751939e-01 -1.87461032e-02 3.03424431e+02] [ 9.40415374e-01 3.36307402e-01 -5.01622959e-02 1.64855666e+02] [ 5.35448927e-02 -7.85354536e-04 9.98565134e-01 1.96367765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.44, Y:164.91, Z:19.64 [[ 3.37509800e-01 -9.41135614e-01 -1.87320776e-02 3.03442864e+02] [ 9.39797805e-01 3.38028555e-01 -5.01675329e-02 1.64909244e+02] [ 5.35464290e-02 -6.72331444e-04 9.98565135e-01 1.96431148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.370385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:303.46, Y:164.96, Z:19.64 [[ 3.35879515e-01 -9.41718891e-01 -1.87211845e-02 3.03461703e+02] [ 9.40381756e-01 3.36400005e-01 -5.01715976e-02 1.64964388e+02] [ 5.35453478e-02 -7.53448487e-04 9.98565135e-01 1.96444251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.48, Y:165.02, Z:19.65 [[ 3.34265787e-01 -9.42293205e-01 -1.87056282e-02 3.03481572e+02] [ 9.40956640e-01 3.34787739e-01 -5.01773968e-02 1.65017350e+02] [ 5.35442350e-02 -8.28598074e-04 9.98565135e-01 1.96502682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.50, Y:165.07, Z:19.65 [[ 3.33924381e-01 -9.42414593e-01 -1.86880623e-02 3.03501365e+02] [ 9.41077852e-01 3.34445882e-01 -5.01839382e-02 1.65071798e+02] [ 5.35442212e-02 -8.29281055e-04 9.98565135e-01 1.96532760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.52, Y:165.13, Z:19.66 [[ 3.34441675e-01 -9.42231411e-01 -1.86744154e-02 3.03521889e+02] [ 9.40894102e-01 3.34961716e-01 -5.01890160e-02 1.65125199e+02] [ 5.35448816e-02 -7.85348785e-04 9.98565135e-01 1.96567808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.54, Y:165.18, Z:19.66 [[ 3.34287641e-01 -9.42286354e-01 -1.86601211e-02 3.03542619e+02] [ 9.40948834e-01 3.34807139e-01 -5.01943300e-02 1.65179417e+02] [ 5.35449740e-02 -7.78875006e-04 9.98565135e-01 1.96587449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.57, Y:165.23, Z:19.66 [[ 3.34777000e-01 -9.42112866e-01 -1.86469359e-02 3.03565199e+02] [ 9.40774805e-01 3.35295101e-01 -5.01992278e-02 1.65231290e+02] [ 5.35455646e-02 -7.37020640e-04 9.98565135e-01 1.96618894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.730385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:303.59, Y:165.29, Z:19.67 [[ 3.33194544e-01 -9.42673965e-01 -1.86330813e-02 3.03587400e+02] [ 9.41336489e-01 3.33714153e-01 -5.02043698e-02 1.65286069e+02] [ 5.35444753e-02 -8.12177266e-04 9.98565135e-01 1.96650463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.61, Y:165.34, Z:19.67 [[ 3.34322810e-01 -9.42274673e-01 -1.86198564e-02 3.03608570e+02] [ 9.40936303e-01 3.34840114e-01 -5.02092742e-02 1.65339650e+02] [ 5.35456023e-02 -7.33993157e-04 9.98565135e-01 1.96657182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.63, Y:165.39, Z:19.67 [[ 3.35894170e-01 -9.41715803e-01 -1.86132364e-02 3.03633781e+02] [ 9.40376437e-01 3.36408888e-01 -5.02117282e-02 1.65392500e+02] [ 5.35468361e-02 -6.37622089e-04 9.98565135e-01 1.96672845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.66, Y:165.44, Z:19.67 [[ 3.37802510e-01 -9.41033205e-01 -1.86003102e-02 3.03658303e+02] [ 9.39692535e-01 3.38313822e-01 -5.02165161e-02 1.65444989e+02] [ 5.35481511e-02 -5.15307403e-04 9.98565136e-01 1.96712040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.68, Y:165.50, Z:19.67 [[ 3.36236302e-01 -9.41594210e-01 -1.85874700e-02 3.03678675e+02] [ 9.40254130e-01 3.36749158e-01 -5.02212684e-02 1.65500096e+02] [ 5.35473704e-02 -5.90731924e-04 9.98565136e-01 1.96736165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.71, Y:165.55, Z:19.68 [[ 3.39144632e-01 -9.40550875e-01 -1.85733680e-02 3.03707586e+02] [ 9.39208932e-01 3.39652592e-01 -5.02264833e-02 1.65549562e+02] [ 5.35490554e-02 -4.10230913e-04 9.98565136e-01 1.96800332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.73, Y:165.60, Z:19.68 [[ 3.41935984e-01 -9.39539972e-01 -1.85586569e-02 3.03734566e+02] [ 9.38196231e-01 3.42439171e-01 -5.02319184e-02 1.65600930e+02] [ 5.35501063e-02 -2.35561535e-04 9.98565136e-01 1.96840215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.150385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:303.76, Y:165.65, Z:19.68 [[ 3.43957444e-01 -9.38802108e-01 -1.85439815e-02 3.03758609e+02] [ 9.37456996e-01 3.44456952e-01 -5.02373355e-02 1.65653956e+02] [ 5.35505198e-02 -1.04679706e-04 9.98565136e-01 1.96847908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.210385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:303.78, Y:165.71, Z:19.69 [[ 3.43700368e-01 -9.38896546e-01 -1.85292450e-02 3.03784645e+02] [ 9.37551278e-01 3.44199456e-01 -5.02427703e-02 1.65705891e+02] [ 5.35505195e-02 -1.03658659e-04 9.98565136e-01 1.96888350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.270385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:303.81, Y:165.76, Z:19.69 [[ 3.40162666e-01 -9.40184377e-01 -1.85121049e-02 3.03808486e+02] [ 9.38840655e-01 3.40665899e-01 -5.02490848e-02 1.65758966e+02] [ 5.35498474e-02 -2.87054037e-04 9.98565136e-01 1.96886213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.84, Y:165.81, Z:19.70 [[ 3.39967599e-01 -9.40255220e-01 -1.84973870e-02 3.03839544e+02] [ 9.38911308e-01 3.40470324e-01 -5.02545021e-02 1.65808632e+02] [ 5.35498693e-02 -2.82503382e-04 9.98565136e-01 1.96954150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.390385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:303.87, Y:165.86, Z:19.69 [[ 3.31918864e-01 -9.43126656e-01 -1.84926613e-02 3.03865440e+02] [ 9.41786993e-01 3.32432805e-01 -5.02562410e-02 1.65862231e+02] [ 5.35455678e-02 -7.35153512e-04 9.98565136e-01 1.96899664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.450385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:303.90, Y:165.91, Z:19.70 [[ 3.33805834e-01 -9.42460702e-01 -1.84794606e-02 3.03895283e+02] [ 9.41119745e-01 3.34316389e-01 -5.02610945e-02 1.65911882e+02] [ 5.35470929e-02 -6.13938709e-04 9.98565137e-01 1.96995747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:303.92, Y:165.97, Z:19.69 [[ 3.27563070e-01 -9.44648772e-01 -1.84697821e-02 3.03916598e+02] [ 9.43311022e-01 3.28081972e-01 -5.02646509e-02 1.65967059e+02] [ 5.35420432e-02 -9.57905718e-04 9.98565137e-01 1.96945641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:303.95, Y:166.02, Z:19.71 [[ 3.33493235e-01 -9.42571810e-01 -1.84565540e-02 3.03946105e+02] [ 9.41230558e-01 3.34003014e-01 -5.02695076e-02 1.66015938e+02] [ 5.35471654e-02 -6.07331895e-04 9.98565137e-01 1.97075547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.97, Y:166.07, Z:19.71 [[ 3.33980297e-01 -9.42399541e-01 -1.84463073e-02 3.03974007e+02] [ 9.41057818e-01 3.34488836e-01 -5.02732673e-02 1.66067199e+02] [ 5.35475879e-02 -5.68760928e-04 9.98565137e-01 1.97121336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.690385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:304.00, Y:166.12, Z:19.71 [[ 3.35901524e-01 -9.41716738e-01 -1.84323564e-02 3.03997343e+02] [ 9.40373700e-01 3.36406581e-01 -5.02783818e-02 1.66120066e+02] [ 5.35487597e-02 -4.44718160e-04 9.98565137e-01 1.97135826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.02, Y:166.17, Z:19.71 [[ 3.35739445e-01 -9.41774806e-01 -1.84184892e-02 3.04020648e+02] [ 9.40431577e-01 3.36243993e-01 -5.02834613e-02 1.66173268e+02] [ 5.35488033e-02 -4.39187470e-04 9.98565137e-01 1.97128920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:304.05, Y:166.22, Z:19.72 [[ 3.40241969e-01 -9.40157782e-01 -1.84050935e-02 3.04048834e+02] [ 9.38811890e-01 3.40739367e-01 -5.02883640e-02 1.66223974e+02] [ 5.35503367e-02 -1.68708675e-04 9.98565137e-01 1.97190958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.870385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:304.07, Y:166.28, Z:19.72 [[ 3.42355596e-01 -9.39390425e-01 -1.83922666e-02 3.04072774e+02] [ 9.38043166e-01 3.42849279e-01 -5.02930548e-02 1.66276903e+02] [ 5.35505895e-02 -3.46312558e-05 9.98565137e-01 1.97199962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.10, Y:166.33, Z:19.72 [[ 3.42264438e-01 -9.39423913e-01 -1.83784465e-02 3.04099153e+02] [ 9.38076430e-01 3.42757512e-01 -5.02981045e-02 1.66328995e+02] [ 5.35505928e-02 -2.51350599e-05 9.98565137e-01 1.97225009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.12, Y:166.38, Z:19.73 [[ 3.40317497e-01 -9.40131240e-01 -1.83644484e-02 3.04124838e+02] [ 9.38784506e-01 3.40812613e-01 -5.03032149e-02 1.66381273e+02] [ 5.35504595e-02 -1.21195401e-04 9.98565137e-01 1.97264985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.15, Y:166.43, Z:19.73 [[ 3.38385848e-01 -9.40828505e-01 -1.83505627e-02 3.04148068e+02] [ 9.39482516e-01 3.38882986e-01 -5.03082799e-02 1.66433072e+02] [ 5.35501572e-02 -2.16422929e-04 9.98565138e-01 1.97292576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.17, Y:166.49, Z:19.73 [[ 3.37373829e-01 -9.41192164e-01 -1.83360077e-02 3.04171428e+02] [ 9.39846424e-01 3.37871637e-01 -5.03135843e-02 1.66486076e+02] [ 5.35499682e-02 -2.58544630e-04 9.98565138e-01 1.97326733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:166.54, Z:19.73 [[ 3.36369551e-01 -9.41551812e-01 -1.83224024e-02 3.04192634e+02] [ 9.40206334e-01 3.36868067e-01 -5.03185383e-02 1.66540717e+02] [ 5.35497432e-02 -3.01214639e-04 9.98565138e-01 1.97336456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.21, Y:166.60, Z:19.74 [[ 3.36196368e-01 -9.41613925e-01 -1.83089769e-02 3.04209881e+02] [ 9.40268273e-01 3.36694414e-01 -5.03234229e-02 1.66595708e+02] [ 5.35497660e-02 -2.96798043e-04 9.98565138e-01 1.97360850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.23, Y:166.65, Z:19.74 [[ 3.32707424e-01 -9.42852608e-01 -1.82956009e-02 3.04228857e+02] [ 9.41508543e-01 3.33209735e-01 -5.03282854e-02 1.66650632e+02] [ 5.35484275e-02 -4.80870350e-04 9.98565138e-01 1.97406288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:166.71, Z:19.74 [[ 3.26838365e-01 -9.44903410e-01 -1.82818968e-02 3.04246890e+02] [ 9.43562217e-01 3.27348295e-01 -5.03332630e-02 1.66705612e+02] [ 5.35446196e-02 -7.99265717e-04 9.98565138e-01 1.97434798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.27, Y:166.76, Z:19.75 [[ 3.23689639e-01 -9.45986943e-01 -1.82680657e-02 3.04265799e+02] [ 9.44647172e-01 3.24203296e-01 -5.03382824e-02 1.66759528e+02] [ 5.35419250e-02 -9.62896213e-04 9.98565138e-01 1.97450230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.28, Y:166.81, Z:19.75 [[ 3.23658410e-01 -9.45997903e-01 -1.82537959e-02 3.04283596e+02] [ 9.44657859e-01 3.24171352e-01 -5.03434564e-02 1.66813817e+02] [ 5.35421619e-02 -9.49508743e-04 9.98565138e-01 1.97472416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.30, Y:166.87, Z:19.75 [[ 3.24806017e-01 -9.45604764e-01 -1.82395959e-02 3.04300681e+02] [ 9.44263810e-01 3.25316577e-01 -5.03486006e-02 1.66867965e+02] [ 5.35435195e-02 -8.69461903e-04 9.98565138e-01 1.97500321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:166.92, Z:19.76 [[ 3.26724768e-01 -9.44943783e-01 -1.82256135e-02 3.04320656e+02] [ 9.43601514e-01 3.27231861e-01 -5.03536616e-02 1.66921175e+02] [ 5.35453809e-02 -7.45928116e-04 9.98565138e-01 1.97557136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:304.33, Y:166.98, Z:19.76 [[ 3.20161676e-01 -9.47187869e-01 -1.82110251e-02 3.04330132e+02] [ 9.45848852e-01 3.20677293e-01 -5.03589371e-02 1.66980742e+02] [ 5.35392365e-02 -1.10187551e-03 9.98565139e-01 1.97555171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.35, Y:167.03, Z:19.76 [[ 3.22367021e-01 -9.46439826e-01 -1.81978037e-02 3.04349109e+02] [ 9.45099343e-01 3.22878814e-01 -5.03637143e-02 1.67034079e+02] [ 5.35419103e-02 -9.63131808e-04 9.98565139e-01 1.97572030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.38, Y:167.08, Z:19.76 [[ 3.27661705e-01 -9.44620097e-01 -1.81845640e-02 3.04378193e+02] [ 9.43276505e-01 3.28165279e-01 -5.03684943e-02 1.67084729e+02] [ 5.35466345e-02 -6.49245201e-04 9.98565139e-01 1.97634520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.40, Y:167.14, Z:19.77 [[ 3.25951342e-01 -9.45211905e-01 -1.81707776e-02 3.04398955e+02] [ 9.43868950e-01 3.26456611e-01 -5.03734674e-02 1.67138272e+02] [ 5.35455715e-02 -7.31533475e-04 9.98565139e-01 1.97672787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:167.19, Z:19.77 [[ 3.22665930e-01 -9.46338760e-01 -1.81562414e-02 3.04418096e+02] [ 9.44997274e-01 3.23175088e-01 -5.03787061e-02 1.67192662e+02] [ 5.35429672e-02 -9.02106570e-04 9.98565139e-01 1.97696711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.44, Y:167.25, Z:19.77 [[ 3.20853157e-01 -9.46955169e-01 -1.81427779e-02 3.04438062e+02] [ 9.45614387e-01 3.21364167e-01 -5.03835542e-02 1.67245911e+02] [ 5.35414058e-02 -9.90349408e-04 9.98565139e-01 1.97734583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.010385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:304.46, Y:167.30, Z:19.78 [[ 3.19692946e-01 -9.47347673e-01 -1.81330266e-02 3.04455346e+02] [ 9.46007321e-01 3.20205080e-01 -5.03870635e-02 1.67300565e+02] [ 5.35403546e-02 -1.04558719e-03 9.98565139e-01 1.97752739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.47, Y:167.36, Z:19.78 [[ 3.19199671e-01 -9.47514174e-01 -1.81234613e-02 3.04472702e+02] [ 9.46173894e-01 3.19711994e-01 -5.03905037e-02 1.67355502e+02] [ 5.35400045e-02 -1.06331378e-03 9.98565139e-01 1.97774711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.49, Y:167.41, Z:19.78 [[ 3.14333674e-01 -9.49139805e-01 -1.81099993e-02 3.04485271e+02] [ 9.47801895e-01 3.14852153e-01 -5.03953414e-02 1.67412683e+02] [ 5.35341968e-02 -1.32373886e-03 9.98565139e-01 1.97787828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.50, Y:167.47, Z:19.78 [[ 3.13090253e-01 -9.49550966e-01 -1.80957730e-02 3.04502548e+02] [ 9.48213442e-01 3.13609730e-01 -5.04004493e-02 1.67467922e+02] [ 5.35328058e-02 -1.37876577e-03 9.98565139e-01 1.97800695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.52, Y:167.52, Z:19.78 [[ 3.15530615e-01 -9.48743116e-01 -1.80812543e-02 3.04521553e+02] [ 9.47403964e-01 3.16045880e-01 -5.04056573e-02 1.67522759e+02] [ 5.35365263e-02 -1.22572399e-03 9.98565140e-01 1.97837016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.54, Y:167.58, Z:19.79 [[ 3.19429556e-01 -9.47437782e-01 -1.80667415e-02 3.04541793e+02] [ 9.46096231e-01 3.19938538e-01 -5.04108586e-02 1.67575564e+02] [ 5.35413989e-02 -9.90157870e-04 9.98565140e-01 1.97906573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.56, Y:167.63, Z:19.79 [[ 3.17080692e-01 -9.48226708e-01 -1.80539528e-02 3.04555882e+02] [ 9.46886162e-01 3.17592317e-01 -5.04154383e-02 1.67632384e+02] [ 5.35390618e-02 -1.10927597e-03 9.98565140e-01 1.97891501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.57, Y:167.69, Z:19.79 [[ 3.19383777e-01 -9.47453727e-01 -1.80399364e-02 3.04574872e+02] [ 9.46111659e-01 3.19891398e-01 -5.04204532e-02 1.67687618e+02] [ 5.35418668e-02 -9.64319382e-04 9.98565140e-01 1.97940088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.60, Y:167.74, Z:19.80 [[ 3.22657751e-01 -9.46344052e-01 -1.80253116e-02 3.04595952e+02] [ 9.44999946e-01 3.23159949e-01 -5.04256811e-02 1.67740561e+02] [ 5.35451021e-02 -7.63681629e-04 9.98565140e-01 1.98037237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.61, Y:167.80, Z:19.80 [[ 3.18832517e-01 -9.47639899e-01 -1.80124682e-02 3.04610274e+02] [ 9.46297574e-01 3.19339457e-01 -5.04302684e-02 1.67796909e+02] [ 5.35418262e-02 -9.66345560e-04 9.98565140e-01 1.98012539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.63, Y:167.85, Z:19.81 [[ 3.18541007e-01 -9.47738193e-01 -1.79984603e-02 3.04631086e+02] [ 9.46395743e-01 3.19047615e-01 -5.04352673e-02 1.67850739e+02] [ 5.35417949e-02 -9.67965325e-04 9.98565140e-01 1.98099089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:304.65, Y:167.91, Z:19.81 [[ 3.12059367e-01 -9.49892364e-01 -1.79846769e-02 3.04646105e+02] [ 9.48553125e-01 3.12574402e-01 -5.04401818e-02 1.67907428e+02] [ 5.35342932e-02 -1.31909026e-03 9.98565140e-01 1.98090532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.66, Y:167.96, Z:19.81 [[ 3.11045793e-01 -9.50225013e-01 -1.79704918e-02 3.04662813e+02] [ 9.48886035e-01 3.11561505e-01 -5.04452351e-02 1.67962761e+02] [ 5.35332377e-02 -1.36117058e-03 9.98565140e-01 1.98112343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:168.02, Z:19.82 [[ 3.11407255e-01 -9.50106893e-01 -1.79558635e-02 3.04681266e+02] [ 9.48767421e-01 3.11921680e-01 -5.04504415e-02 1.68018104e+02] [ 5.35341354e-02 -1.32530486e-03 9.98565141e-01 1.98170340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.70, Y:168.07, Z:19.82 [[ 3.15225449e-01 -9.48847211e-01 -1.79412263e-02 3.04699455e+02] [ 9.47505385e-01 3.15733706e-01 -5.04556463e-02 1.68072166e+02] [ 5.35393491e-02 -1.09450481e-03 9.98565141e-01 1.98239432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.72, Y:168.13, Z:19.83 [[ 3.14528457e-01 -9.49078711e-01 -1.79290313e-02 3.04715230e+02] [ 9.47737013e-01 3.15037052e-01 -5.04599793e-02 1.68128551e+02] [ 5.35388013e-02 -1.12090714e-03 9.98565141e-01 1.98266591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:168.18, Z:19.83 [[ 3.13593419e-01 -9.49388332e-01 -1.79154120e-02 3.04731797e+02] [ 9.48046862e-01 3.14102612e-01 -5.04648143e-02 1.68184413e+02] [ 5.35379835e-02 -1.15921643e-03 9.98565141e-01 1.98300619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.75, Y:168.24, Z:19.83 [[ 3.13173979e-01 -9.49527029e-01 -1.79019598e-02 3.04745632e+02] [ 9.48185512e-01 3.13683049e-01 -5.04695859e-02 1.68239742e+02] [ 5.35377773e-02 -1.16861790e-03 9.98565141e-01 1.98313179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.76, Y:168.30, Z:19.83 [[ 3.09990860e-01 -9.50571244e-01 -1.78879021e-02 3.04757830e+02] [ 9.49231154e-01 3.10503677e-01 -5.04745678e-02 1.68297013e+02] [ 5.35339321e-02 -1.33309929e-03 9.98565141e-01 1.98343306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.78, Y:168.35, Z:19.84 [[ 3.10837971e-01 -9.50294849e-01 -1.78733236e-02 3.04775839e+02] [ 9.48954008e-01 3.11348819e-01 -5.04797297e-02 1.68350680e+02] [ 5.35354653e-02 -1.26994529e-03 9.98565141e-01 1.98371154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:168.41, Z:19.84 [[ 3.07393852e-01 -9.51414752e-01 -1.78602553e-02 3.04787956e+02] [ 9.50075504e-01 3.07908861e-01 -5.04843529e-02 1.68408211e+02] [ 5.35308890e-02 -1.45001129e-03 9.98565141e-01 1.98417382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.80, Y:168.47, Z:19.84 [[ 3.05477725e-01 -9.52031968e-01 -1.78463429e-02 3.04801646e+02] [ 9.50693474e-01 3.05994692e-01 -5.04892705e-02 1.68465280e+02] [ 5.35282858e-02 -1.54305420e-03 9.98565141e-01 1.98438362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.330385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.81, Y:168.52, Z:19.85 [[ 3.05770930e-01 -9.51938097e-01 -1.78324954e-02 3.04813235e+02] [ 9.50599162e-01 3.06286751e-01 -5.04941609e-02 1.68522411e+02] [ 5.35291725e-02 -1.51190864e-03 9.98565142e-01 1.98464636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.390385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:304.83, Y:168.58, Z:19.85 [[ 3.07409666e-01 -9.51410421e-01 -1.78187495e-02 3.04825983e+02] [ 9.50070320e-01 3.07922451e-01 -5.04990112e-02 1.68579156e+02] [ 5.35320785e-02 -1.40518089e-03 9.98565142e-01 1.98502841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.450385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:304.84, Y:168.64, Z:19.85 [[ 3.09707579e-01 -9.50665143e-01 -1.78045535e-02 3.04840015e+02] [ 9.49323521e-01 3.10216371e-01 -5.05040158e-02 1.68635980e+02] [ 5.35356714e-02 -1.26080495e-03 9.98565142e-01 1.98528425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.85, Y:168.69, Z:19.85 [[ 3.11639385e-01 -9.50033895e-01 -1.77902305e-02 3.04850975e+02] [ 9.48690955e-01 3.12144688e-01 -5.05090607e-02 1.68693747e+02] [ 5.35384456e-02 -1.13681814e-03 9.98565142e-01 1.98546187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.86, Y:168.75, Z:19.86 [[ 3.11765276e-01 -9.49992857e-01 -1.77759394e-02 3.04864706e+02] [ 9.48649565e-01 3.12269641e-01 -5.05140897e-02 1.68750380e+02] [ 5.35389106e-02 -1.11459805e-03 9.98565142e-01 1.98577762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.88, Y:168.81, Z:19.86 [[ 3.10028503e-01 -9.50561331e-01 -1.77618302e-02 3.04882368e+02] [ 9.49218681e-01 3.10534574e-01 -5.05190503e-02 1.68805785e+02] [ 5.35371181e-02 -1.19751546e-03 9.98565142e-01 1.98621881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.90, Y:168.86, Z:19.86 [[ 3.07330365e-01 -9.51437371e-01 -1.77475677e-02 3.04897072e+02] [ 9.50095874e-01 3.07839485e-01 -5.05240603e-02 1.68861091e+02] [ 5.35338812e-02 -1.33431296e-03 9.98565142e-01 1.98642063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.91, Y:168.92, Z:19.87 [[ 3.03902921e-01 -9.52537919e-01 -1.77349214e-02 3.04914008e+02] [ 9.51198007e-01 3.04416198e-01 -5.05284990e-02 1.68916710e+02] [ 5.35291087e-02 -1.51366342e-03 9.98565142e-01 1.98681026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.93, Y:168.97, Z:19.87 [[ 3.03335052e-01 -9.52719171e-01 -1.77208423e-02 3.04930535e+02] [ 9.51379279e-01 3.03848382e-01 -5.05334362e-02 1.68972153e+02] [ 5.35286227e-02 -1.53067963e-03 9.98565142e-01 1.98731672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.95, Y:169.03, Z:19.89 [[ 3.10408593e-01 -9.50438308e-01 -1.77066935e-02 3.04949127e+02] [ 9.49094357e-01 3.10911197e-01 -5.05383934e-02 1.69025320e+02] [ 5.35388344e-02 -1.11777124e-03 9.98565142e-01 1.98868440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.96, Y:169.08, Z:19.88 [[ 3.12171749e-01 -9.49860918e-01 -1.76927896e-02 3.04962468e+02] [ 9.48515762e-01 3.12671118e-01 -5.05432605e-02 1.69083181e+02] [ 5.35410922e-02 -1.00371178e-03 9.98565143e-01 1.98802736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.98, Y:169.14, Z:19.88 [[ 3.15564388e-01 -9.48739462e-01 -1.76790988e-02 3.04979497e+02] [ 9.47392262e-01 3.16058218e-01 -5.05480489e-02 1.69137617e+02] [ 5.35445531e-02 -7.97877323e-04 9.98565143e-01 1.98832548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.00, Y:169.19, Z:19.89 [[ 3.15414150e-01 -9.48789601e-01 -1.76693587e-02 3.04999271e+02] [ 9.47442289e-01 3.15907675e-01 -5.05514534e-02 1.69192370e+02] [ 5.35445793e-02 -7.96053907e-04 9.98565143e-01 1.98873763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.02, Y:169.25, Z:19.89 [[ 3.14702436e-01 -9.49026176e-01 -1.76548688e-02 3.05019531e+02] [ 9.47678952e-01 3.15196199e-01 -5.05565134e-02 1.69246521e+02] [ 5.35442021e-02 -8.20889636e-04 9.98565143e-01 1.98853431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.04, Y:169.30, Z:19.89 [[ 3.14620452e-01 -9.49053609e-01 -1.76413736e-02 3.05041221e+02] [ 9.47706164e-01 3.15113613e-01 -5.05612220e-02 1.69299913e+02] [ 5.35443472e-02 -8.11243954e-04 9.98565143e-01 1.98941806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.230385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:305.06, Y:169.35, Z:19.90 [[ 3.12598980e-01 -9.49721618e-01 -1.76274445e-02 3.05063778e+02] [ 9.48374953e-01 3.13094267e-01 -5.05660777e-02 1.69353696e+02] [ 5.35427490e-02 -9.10522491e-04 9.98565143e-01 1.98967878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.08, Y:169.41, Z:19.89 [[ 3.07771202e-01 -9.51297353e-01 -1.76134176e-02 3.05081789e+02] [ 9.49952944e-01 3.08272578e-01 -5.05709632e-02 1.69409837e+02] [ 5.35377571e-02 -1.16763177e-03 9.98565143e-01 1.98937424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.10, Y:169.46, Z:19.90 [[ 3.08827540e-01 -9.50955189e-01 -1.76005547e-02 3.05102554e+02] [ 9.49609969e-01 3.09326738e-01 -5.05754396e-02 1.69464024e+02] [ 5.35392988e-02 -1.09457363e-03 9.98565143e-01 1.98965369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.13, Y:169.52, Z:19.90 [[ 3.09258178e-01 -9.50815513e-01 -1.75851875e-02 3.05126165e+02] [ 9.49469766e-01 3.09755950e-01 -5.05807822e-02 1.69517010e+02] [ 5.35401089e-02 -1.05408331e-03 9.98565143e-01 1.99017700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.14, Y:169.57, Z:19.91 [[ 3.11992848e-01 -9.49921971e-01 -1.75701750e-02 3.05144269e+02] [ 9.48574504e-01 3.12485946e-01 -5.05859965e-02 1.69571241e+02] [ 5.35431823e-02 -8.84150932e-04 9.98565144e-01 1.99107554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.530385723 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:305.17, Y:169.63, Z:19.91 [[ 3.12734981e-01 -9.49678130e-01 -1.75579197e-02 3.05166146e+02] [ 9.48330040e-01 3.13226374e-01 -5.05902499e-02 1.69625049e+02] [ 5.35440574e-02 -8.29361888e-04 9.98565144e-01 1.99132550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.19, Y:169.68, Z:19.92 [[ 3.11801302e-01 -9.49985345e-01 -1.75440206e-02 3.05189251e+02] [ 9.48637468e-01 3.12293280e-01 -5.05950695e-02 1.69677445e+02] [ 5.35434542e-02 -8.67306774e-04 9.98565144e-01 1.99180928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.650385723 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:305.21, Y:169.73, Z:19.92 [[ 3.10567556e-01 -9.50389663e-01 -1.75294583e-02 3.05207842e+02] [ 9.49042143e-01 3.11060508e-01 -5.06001143e-02 1.69732325e+02] [ 5.35425478e-02 -9.21440796e-04 9.98565144e-01 1.99186591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.710385723 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:305.23, Y:169.79, Z:19.92 [[ 3.10248458e-01 -9.50494127e-01 -1.75159606e-02 3.05229409e+02] [ 9.49146510e-01 3.10741144e-01 -5.06047863e-02 1.69786143e+02] [ 5.35424818e-02 -9.25155989e-04 9.98565144e-01 1.99218594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.770385723 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:305.25, Y:169.84, Z:19.93 [[ 3.08601367e-01 -9.51030417e-01 -1.75026541e-02 3.05250475e+02] [ 9.49683395e-01 3.09095679e-01 -5.06093882e-02 1.69840500e+02] [ 5.35410623e-02 -1.00385363e-03 9.98565144e-01 1.99264646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.830385723 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:305.27, Y:169.90, Z:19.93 [[ 3.05042336e-01 -9.52178192e-01 -1.74889866e-02 3.05268938e+02] [ 9.50832759e-01 3.05540956e-01 -5.06141108e-02 1.69896115e+02] [ 5.35372542e-02 -1.18965476e-03 9.98565144e-01 1.99268935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.890385723 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:305.29, Y:169.95, Z:19.93 [[ 3.04390775e-01 -9.52386942e-01 -1.74747893e-02 3.05290086e+02] [ 9.51041571e-01 3.04889562e-01 -5.06190120e-02 1.69950311e+02] [ 5.35367670e-02 -1.21129075e-03 9.98565144e-01 1.99293942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.950385723 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:305.31, Y:170.00, Z:19.93 [[ 3.05113393e-01 -9.52155943e-01 -1.74607478e-02 3.05310846e+02] [ 9.50809918e-01 3.05610413e-01 -5.06238551e-02 1.70004805e+02] [ 5.35379909e-02 -1.15583595e-03 9.98565144e-01 1.99333193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.010385723 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:305.33, Y:170.06, Z:19.93 [[ 3.09861694e-01 -9.50621561e-01 -1.74464470e-02 3.05330568e+02] [ 9.49272796e-01 3.10351228e-01 -5.06287831e-02 1.70059487e+02] [ 5.35433391e-02 -8.73517081e-04 9.98565145e-01 1.99343712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.070385723 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:305.35, Y:170.11, Z:19.94 [[ 3.12082535e-01 -9.49895050e-01 -1.74322951e-02 3.05351824e+02] [ 9.48544874e-01 3.12568161e-01 -5.06336554e-02 1.70112452e+02] [ 5.35454391e-02 -7.33434664e-04 9.98565145e-01 1.99377964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.130385723 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:305.38, Y:170.17, Z:19.95 [[ 3.13379442e-01 -9.49468166e-01 -1.74220300e-02 3.05376282e+02] [ 9.48117132e-01 3.13862677e-01 -5.06371871e-02 1.70165944e+02] [ 5.35465222e-02 -6.49471660e-04 9.98565145e-01 1.99453536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.190385723 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:170.22, Z:19.95 [[ 3.14017375e-01 -9.49257613e-01 -1.74089829e-02 3.05399045e+02] [ 9.47906006e-01 3.14499006e-01 -5.06416723e-02 1.70219561e+02] [ 5.35471008e-02 -5.99714458e-04 9.98565145e-01 1.99465136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.250385723 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:305.42, Y:170.27, Z:19.95 [[ 3.14483933e-01 -9.49103298e-01 -1.74007097e-02 3.05421636e+02] [ 9.47751298e-01 3.14964459e-01 -5.06445149e-02 1.70272871e+02] [ 5.35474812e-02 -5.64658957e-04 9.98565145e-01 1.99505081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.310385723 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:305.44, Y:170.33, Z:19.95 [[ 3.14495754e-01 -9.49099636e-01 -1.73868361e-02 3.05443135e+02] [ 9.47747367e-01 3.14975522e-01 -5.06492774e-02 1.70326403e+02] [ 5.35476385e-02 -5.49345498e-04 9.98565145e-01 1.99533812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.370385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:305.47, Y:170.38, Z:19.96 [[ 3.11265771e-01 -9.50164090e-01 -1.73730089e-02 3.05465702e+02] [ 9.48813197e-01 3.11749399e-01 -5.06540198e-02 1.70379975e+02] [ 5.35456557e-02 -7.16877549e-04 9.98565145e-01 1.99576467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.430385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:305.49, Y:170.43, Z:19.96 [[ 3.08139222e-01 -9.51182887e-01 -1.73589896e-02 3.05487702e+02] [ 9.49833322e-01 3.08626544e-01 -5.06588237e-02 1.70433933e+02] [ 5.35432512e-02 -8.78176165e-04 9.98565145e-01 1.99599321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.490385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:305.51, Y:170.49, Z:19.96 [[ 3.05143732e-01 -9.52148335e-01 -1.73450906e-02 3.05509176e+02] [ 9.50800041e-01 3.05634560e-01 -5.06635822e-02 1.70487703e+02] [ 5.35405045e-02 -1.03203835e-03 9.98565145e-01 1.99619411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.550385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:305.53, Y:170.54, Z:19.96 [[ 3.04215124e-01 -9.52445685e-01 -1.73313198e-02 3.05529580e+02] [ 9.51097604e-01 3.04706534e-01 -5.06682925e-02 1.70541652e+02] [ 5.35397630e-02 -1.06971579e-03 9.98565145e-01 1.99648197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.610385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:305.55, Y:170.60, Z:19.97 [[ 3.02885833e-01 -9.52869500e-01 -1.73172712e-02 3.05552833e+02] [ 9.51521833e-01 3.03378377e-01 -5.06730936e-02 1.70595178e+02] [ 5.35385310e-02 -1.12959946e-03 9.98565145e-01 1.99670774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:305.57, Y:170.65, Z:19.97 [[ 3.02161749e-01 -9.53099617e-01 -1.73031057e-02 3.05571101e+02] [ 9.51752049e-01 3.02654564e-01 -5.06779301e-02 1.70650397e+02] [ 5.35379797e-02 -1.15533430e-03 9.98565146e-01 1.99715238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.59, Y:170.70, Z:19.97 [[ 3.05484812e-01 -9.52039996e-01 -1.72880484e-02 3.05594912e+02] [ 9.50690427e-01 3.05972122e-01 -5.06830662e-02 1.70702896e+02] [ 5.35419670e-02 -9.52675176e-04 9.98565146e-01 1.99718477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.62, Y:170.76, Z:19.98 [[ 3.04542444e-01 -9.52342038e-01 -1.72783638e-02 3.05615621e+02] [ 9.50992766e-01 3.05030575e-01 -5.06863676e-02 1.70756969e+02] [ 5.35411878e-02 -9.95448667e-04 9.98565146e-01 1.99770475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.850385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:305.64, Y:170.81, Z:19.98 [[ 3.01933869e-01 -9.53172538e-01 -1.72641692e-02 3.05637833e+02] [ 9.51824332e-01 3.02424937e-01 -5.06912019e-02 1.70810288e+02] [ 5.35385769e-02 -1.12706567e-03 9.98565146e-01 1.99759208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.910385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:305.66, Y:170.86, Z:19.98 [[ 2.94834117e-01 -9.55392715e-01 -1.72511602e-02 3.05657050e+02] [ 9.54047944e-01 2.95334513e-01 -5.06956287e-02 1.70864513e+02] [ 5.35290974e-02 -1.51163296e-03 9.98565146e-01 1.99826905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.68, Y:170.92, Z:19.98 [[ 2.91646072e-01 -9.56370980e-01 -1.72370972e-02 3.05678361e+02] [ 9.55027605e-01 2.92150205e-01 -5.07004099e-02 1.70918566e+02] [ 5.35242221e-02 -1.67532832e-03 9.98565146e-01 1.99829155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:305.70, Y:170.97, Z:19.98 [[ 2.87924245e-01 -9.57498302e-01 -1.72229872e-02 3.05697690e+02] [ 9.56156615e-01 2.88432852e-01 -5.07052026e-02 1.70972751e+02] [ 5.35178207e-02 -1.86861601e-03 9.98565146e-01 1.99838572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.090385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:305.71, Y:171.03, Z:19.99 [[ 2.82347688e-01 -9.59157785e-01 -1.72083401e-02 3.05713111e+02] [ 9.57818782e-01 2.82863322e-01 -5.07101731e-02 1.71028526e+02] [ 5.35066655e-02 -2.16457117e-03 9.98565146e-01 1.99857657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:305.73, Y:171.08, Z:19.99 [[ 2.84065721e-01 -9.58650637e-01 -1.71936718e-02 3.05733199e+02] [ 9.57310417e-01 2.84578180e-01 -5.07151460e-02 1.71083085e+02] [ 5.35110508e-02 -2.05324665e-03 9.98565146e-01 1.99914374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:305.75, Y:171.14, Z:19.99 [[ 2.86686647e-01 -9.57870367e-01 -1.71792370e-02 3.05753984e+02] [ 9.56528461e-01 2.87194675e-01 -5.07200352e-02 1.71136880e+02] [ 5.35170041e-02 -1.89167229e-03 9.98565147e-01 1.99919461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:305.77, Y:171.19, Z:19.99 [[ 2.88500593e-01 -9.57325717e-01 -1.71720470e-02 3.05770906e+02] [ 9.55982708e-01 2.89005698e-01 -5.07224693e-02 1.71192197e+02] [ 5.35207437e-02 -1.78271750e-03 9.98565147e-01 1.99947601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.79, Y:171.25, Z:20.00 [[ 2.90553520e-01 -9.56704897e-01 -1.71578384e-02 3.05787118e+02] [ 9.55360527e-01 2.91054990e-01 -5.07272752e-02 1.71247131e+02] [ 5.35249071e-02 -1.65293312e-03 9.98565147e-01 1.99969867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:305.80, Y:171.30, Z:20.00 [[ 2.94256777e-01 -9.55572639e-01 -1.71429533e-02 3.05804183e+02] [ 9.54226046e-01 2.94752246e-01 -5.07323050e-02 1.71302776e+02] [ 5.35313266e-02 -1.42992795e-03 9.98565147e-01 1.99996119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.450385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:305.82, Y:171.36, Z:20.00 [[ 2.99835976e-01 -9.53836979e-01 -1.71290590e-02 3.05819504e+02] [ 9.52487247e-01 3.00322830e-01 -5.07369958e-02 1.71358920e+02] [ 5.35390703e-02 -1.10243357e-03 9.98565147e-01 2.00019160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:305.83, Y:171.42, Z:20.00 [[ 3.00242018e-01 -9.53709493e-01 -1.71153006e-02 3.05830271e+02] [ 9.52359290e-01 3.00727565e-01 -5.07416366e-02 1.71416689e+02] [ 5.35398232e-02 -1.06514420e-03 9.98565147e-01 2.00006097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:305.85, Y:171.47, Z:20.01 [[ 3.08526391e-01 -9.51062057e-01 -1.71005661e-02 3.05853541e+02] [ 9.49707408e-01 3.08999389e-01 -5.07466018e-02 1.71468871e+02] [ 5.35472320e-02 -5.83868358e-04 9.98565147e-01 2.00088934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.630385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:305.87, Y:171.52, Z:20.01 [[ 3.09612660e-01 -9.50709218e-01 -1.70875459e-02 3.05870749e+02] [ 9.49353787e-01 3.10083416e-01 -5.07509857e-02 1.71524199e+02] [ 5.35479944e-02 -5.08978700e-04 9.98565147e-01 2.00123500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.690385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:305.89, Y:171.58, Z:20.02 [[ 3.07626088e-01 -9.51354131e-01 -1.70736250e-02 3.05891044e+02] [ 9.49999427e-01 3.08098930e-01 -5.07556685e-02 1.71577923e+02] [ 5.35469805e-02 -6.06166240e-04 9.98565147e-01 2.00183590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:305.91, Y:171.63, Z:20.02 [[ 3.04846664e-01 -9.52248647e-01 -1.70594826e-02 3.05910775e+02] [ 9.50895065e-01 3.05322707e-01 -5.07604214e-02 1.71632889e+02] [ 5.35451900e-02 -7.47632699e-04 9.98565147e-01 2.00209114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.810385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:305.93, Y:171.69, Z:20.02 [[ 3.01194826e-01 -9.53410261e-01 -1.70455558e-02 3.05931105e+02] [ 9.52058250e-01 3.01675312e-01 -5.07650977e-02 1.71686461e+02] [ 5.35421884e-02 -9.38177303e-04 9.98565148e-01 2.00210273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.870385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:305.95, Y:171.74, Z:20.03 [[ 2.98943877e-01 -9.54118625e-01 -1.70355083e-02 3.05949847e+02] [ 9.52767560e-01 2.99427018e-01 -5.07684692e-02 1.71741481e+02] [ 5.35400334e-02 -1.05395666e-03 9.98565148e-01 2.00258705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.97, Y:171.80, Z:20.03 [[ 2.99500647e-01 -9.53944260e-01 -1.70208988e-02 3.05969912e+02] [ 9.52592637e-01 2.99982223e-01 -5.07733668e-02 1.71796405e+02] [ 5.35409288e-02 -1.00732662e-03 9.98565148e-01 2.00293917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:305.99, Y:171.85, Z:20.03 [[ 3.01387798e-01 -9.53349982e-01 -1.70060729e-02 3.05990202e+02] [ 9.51997129e-01 3.01865908e-01 -5.07783321e-02 1.71850536e+02] [ 5.35430756e-02 -8.85762902e-04 9.98565148e-01 2.00263160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.050385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:306.01, Y:171.91, Z:20.03 [[ 3.02268951e-01 -9.53071229e-01 -1.69915719e-02 3.06008056e+02] [ 9.51717663e-01 3.02745038e-01 -5.07831840e-02 1.71906298e+02] [ 5.35441057e-02 -8.20999362e-04 9.98565148e-01 2.00308581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:306.03, Y:171.96, Z:20.03 [[ 3.02921181e-01 -9.52864380e-01 -1.69774070e-02 3.06025996e+02] [ 9.51510223e-01 3.03395587e-01 -5.07879190e-02 1.71960939e+02] [ 5.35448693e-02 -7.69439892e-04 9.98565148e-01 2.00318606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.170385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:306.05, Y:172.01, Z:20.04 [[ 3.03055334e-01 -9.52821952e-01 -1.69644195e-02 3.06050218e+02] [ 9.51467487e-01 3.03528857e-01 -5.07922568e-02 1.72014445e+02] [ 5.35451682e-02 -7.48229283e-04 9.98565148e-01 2.00353899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.07, Y:172.07, Z:20.04 [[ 2.99966755e-01 -9.53799055e-01 -1.69501861e-02 3.06073464e+02] [ 9.52445864e-01 3.00443907e-01 -5.07970063e-02 1.72068342e+02] [ 5.35427167e-02 -9.06721473e-04 9.98565148e-01 2.00385683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.10, Y:172.12, Z:20.04 [[ 2.96956431e-01 -9.54740825e-01 -1.69361910e-02 3.06095732e+02] [ 9.53388881e-01 2.97437104e-01 -5.08016720e-02 1.72122264e+02] [ 5.35398818e-02 -1.06089299e-03 9.98565148e-01 2.00415311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.350385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:306.12, Y:172.17, Z:20.05 [[ 2.99823731e-01 -9.53844522e-01 -1.69221241e-02 3.06124079e+02] [ 9.52490877e-01 3.00299591e-01 -5.08063573e-02 1.72173058e+02] [ 5.35430725e-02 -8.85217206e-04 9.98565148e-01 2.00477944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.14, Y:172.23, Z:20.05 [[ 2.95331799e-01 -9.55245126e-01 -1.69079124e-02 3.06138628e+02] [ 9.53893466e-01 2.95813268e-01 -5.08110863e-02 1.72230729e+02] [ 5.35386274e-02 -1.12221768e-03 9.98565149e-01 2.00469883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.16, Y:172.28, Z:20.05 [[ 3.00920768e-01 -9.53499474e-01 -1.68950862e-02 3.06164252e+02] [ 9.52144779e-01 3.01393630e-01 -5.08153508e-02 1.72282142e+02] [ 5.35444816e-02 -7.95173780e-04 9.98565149e-01 2.00514785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.19, Y:172.34, Z:20.06 [[ 2.99248684e-01 -9.54025751e-01 -1.68846835e-02 3.06188692e+02] [ 9.52671692e-01 2.99723366e-01 -5.08188071e-02 1.72335372e+02] [ 5.35431848e-02 -8.78098845e-04 9.98565149e-01 2.00567681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:172.39, Z:20.06 [[ 2.98880663e-01 -9.54141362e-01 -1.68704166e-02 3.06210162e+02] [ 9.52787220e-01 2.99355108e-01 -5.08235429e-02 1.72389609e+02] [ 5.35430898e-02 -8.83743090e-04 9.98565149e-01 2.00597442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.23, Y:172.44, Z:20.06 [[ 3.00475532e-01 -9.53640560e-01 -1.68563470e-02 3.06230187e+02] [ 9.52285366e-01 3.00946962e-01 -5.08282089e-02 1.72443230e+02] [ 5.35447080e-02 -7.79419487e-04 9.98565149e-01 2.00627629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.25, Y:172.50, Z:20.06 [[ 3.02647437e-01 -9.52953770e-01 -1.68416261e-02 3.06251260e+02] [ 9.51597235e-01 3.03114994e-01 -5.08330861e-02 1.72497612e+02] [ 5.35465304e-02 -6.41941635e-04 9.98565149e-01 2.00645053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:172.55, Z:20.07 [[ 3.02607632e-01 -9.52966656e-01 -1.68277635e-02 3.06270864e+02] [ 9.51609886e-01 3.03074506e-01 -5.08376748e-02 1.72551469e+02] [ 5.35466750e-02 -6.29597680e-04 9.98565149e-01 2.00661163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.830385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:306.29, Y:172.61, Z:20.07 [[ 3.01339274e-01 -9.53368741e-01 -1.68132509e-02 3.06291592e+02] [ 9.52012326e-01 3.01807179e-01 -5.08424740e-02 1.72605122e+02] [ 5.35459852e-02 -6.85587951e-04 9.98565149e-01 2.00716279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:172.66, Z:20.07 [[ 2.99779440e-01 -9.53860614e-01 -1.67993314e-02 3.06309509e+02] [ 9.52504709e-01 3.00248821e-01 -5.08470728e-02 1.72660601e+02] [ 5.35449995e-02 -7.58535270e-04 9.98565149e-01 2.00742482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.33, Y:172.71, Z:20.08 [[ 2.98269785e-01 -9.54334000e-01 -1.67854928e-02 3.06329145e+02] [ 9.52978583e-01 2.98740574e-01 -5.08516408e-02 1.72714945e+02] [ 5.35439575e-02 -8.28707196e-04 9.98565150e-01 2.00775983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.35, Y:172.77, Z:20.08 [[ 2.97265467e-01 -9.54647551e-01 -1.67718620e-02 3.06345545e+02] [ 9.53292378e-01 2.97736956e-01 -5.08561361e-02 1.72769489e+02] [ 5.35432889e-02 -8.70715117e-04 9.98565150e-01 2.00801435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:172.83, Z:20.08 [[ 2.97467644e-01 -9.54584823e-01 -1.67576000e-02 3.06361557e+02] [ 9.53229286e-01 2.97938087e-01 -5.08608351e-02 1.72825688e+02] [ 5.35437086e-02 -8.44382223e-04 9.98565150e-01 2.00832457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.38, Y:172.88, Z:20.09 [[ 2.98686934e-01 -9.54204248e-01 -1.67441926e-02 3.06376714e+02] [ 9.52847865e-01 2.99154930e-01 -5.08652487e-02 1.72880514e+02] [ 5.35449442e-02 -7.61882976e-04 9.98565150e-01 2.00857205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.39, Y:172.94, Z:20.08 [[ 2.96567521e-01 -9.54865349e-01 -1.67293135e-02 3.06388201e+02] [ 9.53509734e-01 2.97037735e-01 -5.08701419e-02 1.72938606e+02] [ 5.35433732e-02 -8.65131438e-04 9.98565150e-01 2.00828748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.41, Y:172.99, Z:20.09 [[ 2.96435800e-01 -9.54906495e-01 -1.67153269e-02 3.06405679e+02] [ 9.53550686e-01 2.96905456e-01 -5.08747373e-02 1.72992215e+02] [ 5.35434888e-02 -8.57817977e-04 9.98565150e-01 2.00907556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.42, Y:173.05, Z:20.09 [[ 2.93837236e-01 -9.55709581e-01 -1.66995837e-02 3.06421026e+02] [ 9.54354762e-01 2.94309740e-01 -5.08799045e-02 1.73047346e+02] [ 5.35412623e-02 -9.86916787e-04 9.98565150e-01 2.00940325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.44, Y:173.10, Z:20.10 [[ 2.91513095e-01 -9.56421315e-01 -1.66848214e-02 3.06435863e+02] [ 9.55067374e-01 2.91988107e-01 -5.08847449e-02 1.73103270e+02] [ 5.35390241e-02 -1.10155911e-03 9.98565150e-01 2.00977026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.45, Y:173.16, Z:20.10 [[ 2.90495600e-01 -9.56731094e-01 -1.66709365e-02 3.06449797e+02] [ 9.55377399e-01 2.90971314e-01 -5.08892935e-02 1.73159675e+02] [ 5.35381338e-02 -1.14392012e-03 9.98565150e-01 2.01015261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.46, Y:173.22, Z:20.10 [[ 2.93647419e-01 -9.55768660e-01 -1.66571790e-02 3.06463501e+02] [ 9.54413150e-01 2.94117936e-01 -5.08937963e-02 1.73216709e+02] [ 5.35418706e-02 -9.52998746e-04 9.98565151e-01 2.01046373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:173.27, Z:20.11 [[ 2.95250507e-01 -9.55274902e-01 -1.66433244e-02 3.06478043e+02] [ 9.53918350e-01 2.95718011e-01 -5.08983266e-02 1.73273141e+02] [ 5.35436248e-02 -8.48615790e-04 9.98565151e-01 2.01067052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.49, Y:173.33, Z:20.11 [[ 2.97813153e-01 -9.54479325e-01 -1.66296317e-02 3.06494161e+02] [ 9.53121274e-01 2.98276285e-01 -5.09027999e-02 1.73328620e+02] [ 5.35458949e-02 -6.90532410e-04 9.98565151e-01 2.01101940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.670385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:306.51, Y:173.38, Z:20.11 [[ 2.98740202e-01 -9.54189811e-01 -1.66161361e-02 3.06509793e+02] [ 9.52831067e-01 2.99201294e-01 -5.09072049e-02 1.73384495e+02] [ 5.35467057e-02 -6.24342012e-04 9.98565151e-01 2.01121605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.53, Y:173.44, Z:20.12 [[ 2.98070496e-01 -9.54399470e-01 -1.66021208e-02 3.06526102e+02] [ 9.53040796e-01 2.98531794e-01 -5.09117753e-02 1.73440078e+02] [ 5.35464323e-02 -6.47200297e-04 9.98565151e-01 2.01172292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.790385723 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:306.55, Y:173.50, Z:20.12 [[ 2.99385777e-01 -9.53987941e-01 -1.65881042e-02 3.06545555e+02] [ 9.52628380e-01 2.99844454e-01 -5.09163418e-02 1.73495226e+02] [ 5.35474271e-02 -5.58670309e-04 9.98565151e-01 2.01186646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.56, Y:173.55, Z:20.13 [[ 2.98349509e-01 -9.54312836e-01 -1.65704766e-02 3.06558266e+02] [ 9.52953456e-01 2.98808722e-01 -5.09220780e-02 1.73550436e+02] [ 5.35469956e-02 -5.98315923e-04 9.98565151e-01 2.01252915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.58, Y:173.61, Z:20.13 [[ 2.99097706e-01 -9.54078828e-01 -1.65575227e-02 3.06576766e+02] [ 9.52718856e-01 2.99555161e-01 -5.09262896e-02 1.73605935e+02] [ 5.35475861e-02 -5.42727751e-04 9.98565151e-01 2.01255776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.59, Y:173.66, Z:20.13 [[ 3.00137677e-01 -9.53752436e-01 -1.65428470e-02 3.06590314e+02] [ 9.52391703e-01 3.00592866e-01 -5.09310564e-02 1.73660278e+02] [ 5.35482809e-02 -4.68941252e-04 9.98565151e-01 2.01291867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.61, Y:173.71, Z:20.13 [[ 3.02993134e-01 -9.52849469e-01 -1.65242364e-02 3.06606780e+02] [ 9.51487050e-01 3.03443250e-01 -5.09370938e-02 1.73714579e+02] [ 5.35495508e-02 -2.89007221e-04 9.98565152e-01 2.01332090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.63, Y:173.77, Z:20.14 [[ 3.05017536e-01 -9.52203667e-01 -1.65069835e-02 3.06627886e+02] [ 9.50839992e-01 3.05463832e-01 -5.09426843e-02 1.73768988e+02] [ 5.35500972e-02 -1.57088027e-04 9.98565152e-01 2.01408962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.150385723 meters Centerline goodness : 0.995519 with order 1 Centerline is valid? [True, True] Translation: X:306.64, Y:173.82, Z:20.14 [[ 3.02801409e-01 -9.52910937e-01 -1.64940440e-02 3.06644319e+02] [ 9.51548076e-01 3.03250185e-01 -5.09468734e-02 1.73824993e+02] [ 5.35496548e-02 -2.68090813e-04 9.98565152e-01 2.01368676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.66, Y:173.88, Z:20.14 [[ 2.99179588e-01 -9.54054460e-01 -1.64821531e-02 3.06662232e+02] [ 9.52693102e-01 2.99632903e-01 -5.09507200e-02 1.73878010e+02] [ 5.35483571e-02 -4.59018130e-04 9.98565152e-01 2.01428815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:173.93, Z:20.16 [[ 3.00359749e-01 -9.53683864e-01 -1.64654052e-02 3.06686591e+02] [ 9.52321650e-01 3.00810485e-01 -5.09561318e-02 1.73930694e+02] [ 5.35490072e-02 -3.75190894e-04 9.98565152e-01 2.01581031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.71, Y:173.99, Z:20.16 [[ 2.97497618e-01 -9.54580805e-01 -1.64515566e-02 3.06705103e+02] [ 9.53219703e-01 2.97951699e-01 -5.09606025e-02 1.73986713e+02] [ 5.35477822e-02 -5.21290015e-04 9.98565152e-01 2.01614677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.72, Y:174.04, Z:20.16 [[ 2.90798284e-01 -9.56643164e-01 -1.64382472e-02 3.06718707e+02] [ 9.55285036e-01 2.91261186e-01 -5.09648953e-02 1.74043873e+02] [ 5.35430421e-02 -8.82707507e-04 9.98565152e-01 2.01550372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:174.10, Z:20.16 [[ 2.88981229e-01 -9.57193759e-01 -1.64303684e-02 3.06736824e+02] [ 9.55836370e-01 2.89446290e-01 -5.09674352e-02 1.74099336e+02] [ 5.35414201e-02 -9.76111622e-04 9.98565152e-01 2.01570072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.510385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:174.15, Z:20.16 [[ 2.90316324e-01 -9.56789917e-01 -1.64160284e-02 3.06755421e+02] [ 9.55431621e-01 2.90778727e-01 -5.09720536e-02 1.74153882e+02] [ 5.35429788e-02 -8.86373454e-04 9.98565152e-01 2.01593987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.570385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:306.77, Y:174.21, Z:20.15 [[ 2.90187242e-01 -9.56829321e-01 -1.64016994e-02 3.06771345e+02] [ 9.55470827e-01 2.90649065e-01 -5.09766639e-02 1.74210192e+02] [ 5.35431053e-02 -8.78567749e-04 9.98565153e-01 2.01537316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.79, Y:174.26, Z:20.16 [[ 2.96824158e-01 -9.54791553e-01 -1.63862510e-02 3.06792721e+02] [ 9.53429612e-01 2.97275713e-01 -5.09816293e-02 1.74263256e+02] [ 5.35480635e-02 -4.90557778e-04 9.98565153e-01 2.01634740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.81, Y:174.32, Z:20.16 [[ 2.97791083e-01 -9.54490642e-01 -1.63732844e-02 3.06810284e+02] [ 9.53128016e-01 2.98240566e-01 -5.09857933e-02 1.74320072e+02] [ 5.35486402e-02 -4.22721476e-04 9.98565153e-01 2.01592409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.83, Y:174.37, Z:20.17 [[ 2.99555137e-01 -9.53938707e-01 -1.63604201e-02 3.06831479e+02] [ 9.52575026e-01 3.00001412e-01 -5.09899209e-02 1.74374520e+02] [ 5.35494083e-02 -3.10234885e-04 9.98565153e-01 2.01653248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.85, Y:174.43, Z:20.17 [[ 3.00424361e-01 -9.53665568e-01 -1.63458915e-02 3.06849632e+02] [ 9.52301228e-01 3.00868616e-01 -5.09945779e-02 1.74428890e+02] [ 5.35497389e-02 -2.46199042e-04 9.98565153e-01 2.01699849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.87, Y:174.48, Z:20.17 [[ 3.00157809e-01 -9.53749747e-01 -1.63312646e-02 3.06869622e+02] [ 9.52385277e-01 3.00601664e-01 -5.09992618e-02 1.74483791e+02] [ 5.35497384e-02 -2.45829269e-04 9.98565153e-01 2.01737905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.89, Y:174.54, Z:20.18 [[ 2.99547146e-01 -9.53941975e-01 -1.63161441e-02 3.06890022e+02] [ 9.52577526e-01 2.99991065e-01 -5.10040989e-02 1.74538588e+02] [ 5.35496483e-02 -2.64259898e-04 9.98565153e-01 2.01774707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.91, Y:174.59, Z:20.18 [[ 2.98239838e-01 -9.54351744e-01 -1.63017602e-02 3.06909068e+02] [ 9.52987654e-01 2.98684858e-01 -5.10086958e-02 1.74592928e+02] [ 5.35493267e-02 -3.22550975e-04 9.98565153e-01 2.01802415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.93, Y:174.65, Z:20.18 [[ 2.97657000e-01 -9.54533951e-01 -1.62863990e-02 3.06929640e+02] [ 9.53169865e-01 2.98102032e-01 -5.10136000e-02 1.74646612e+02] [ 5.35492218e-02 -3.39149648e-04 9.98565154e-01 2.01827975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.110385723 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:306.95, Y:174.70, Z:20.19 [[ 2.98223914e-01 -9.54357159e-01 -1.62760407e-02 3.06948387e+02] [ 9.52992629e-01 2.98667582e-01 -5.10169046e-02 1.74699528e+02] [ 5.35494739e-02 -2.96485801e-04 9.98565154e-01 2.01851747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.97, Y:174.75, Z:20.19 [[ 2.99806370e-01 -9.53861476e-01 -1.62611394e-02 3.06966400e+02] [ 9.52495955e-01 3.00246977e-01 -5.10216538e-02 1.74753210e+02] [ 5.35499480e-02 -1.92052667e-04 9.98565154e-01 2.01910502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.99, Y:174.81, Z:20.20 [[ 3.00496059e-01 -9.53644746e-01 -1.62424462e-02 3.06987892e+02] [ 9.52278585e-01 3.00934678e-01 -5.10276040e-02 1.74807458e+02] [ 5.35501218e-02 -1.33739780e-04 9.98565154e-01 2.01953050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.01, Y:174.86, Z:20.20 [[ 2.99791546e-01 -9.53866691e-01 -1.62285190e-02 3.07008135e+02] [ 9.52500615e-01 3.00230429e-01 -5.10320329e-02 1.74862035e+02] [ 5.35500516e-02 -1.58702300e-04 9.98565154e-01 2.01999051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.03, Y:174.92, Z:20.20 [[ 2.98609415e-01 -9.54237663e-01 -1.62141872e-02 3.07025865e+02] [ 9.52871885e-01 2.99049224e-01 -5.10365861e-02 1.74916372e+02] [ 5.35498728e-02 -2.10037958e-04 9.98565154e-01 2.02020740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.04, Y:174.97, Z:20.20 [[ 2.97594084e-01 -9.54554974e-01 -1.62038137e-02 3.07044705e+02] [ 9.53189485e-01 2.98034791e-01 -5.10398794e-02 1.74971076e+02] [ 5.35496710e-02 -2.56138689e-04 9.98565154e-01 2.02047603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.06, Y:175.03, Z:20.21 [[ 2.96035252e-01 -9.55039799e-01 -1.61898834e-02 3.07063386e+02] [ 9.53674790e-01 2.96477444e-01 -5.10442978e-02 1.75026156e+02] [ 5.35492711e-02 -3.28972093e-04 9.98565154e-01 2.02073210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.530385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:307.08, Y:175.08, Z:20.21 [[ 2.95022299e-01 -9.55353430e-01 -1.61761515e-02 3.07079050e+02] [ 9.53988652e-01 2.95465204e-01 -5.10486491e-02 1.75081101e+02] [ 5.35489919e-02 -3.71375197e-04 9.98565154e-01 2.02098494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:175.14, Z:20.21 [[ 2.94054849e-01 -9.55651819e-01 -1.61662105e-02 3.07094675e+02] [ 9.54287318e-01 2.94498605e-01 -5.10517971e-02 1.75137074e+02] [ 5.35486692e-02 -4.15181147e-04 9.98565154e-01 2.02132332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.11, Y:175.19, Z:20.22 [[ 2.92750639e-01 -9.56052385e-01 -1.61524445e-02 3.07111107e+02] [ 9.54688251e-01 2.93195521e-01 -5.10561521e-02 1.75191178e+02] [ 5.35481804e-02 -4.73827845e-04 9.98565155e-01 2.02166317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.13, Y:175.25, Z:20.22 [[ 2.95198685e-01 -9.55299587e-01 -1.61380289e-02 3.07125766e+02] [ 9.53934069e-01 2.95639301e-01 -5.10607083e-02 1.75246293e+02] [ 5.35493091e-02 -3.21561610e-04 9.98565155e-01 2.02192806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.14, Y:175.30, Z:20.22 [[ 2.96069857e-01 -9.55030193e-01 -1.61235792e-02 3.07140054e+02] [ 9.53664026e-01 2.96508455e-01 -5.10652707e-02 1.75300806e+02] [ 5.35496529e-02 -2.57590073e-04 9.98565155e-01 2.02223043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.16, Y:175.36, Z:20.23 [[ 2.98669509e-01 -9.54220664e-01 -1.61074227e-02 3.07155399e+02] [ 9.52853033e-01 2.99103520e-01 -5.10703664e-02 1.75356737e+02] [ 5.35501858e-02 -9.48453203e-05 9.98565155e-01 2.02264252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.17, Y:175.41, Z:20.23 [[ 2.99367525e-01 -9.54002148e-01 -1.60930852e-02 3.07170493e+02] [ 9.52633957e-01 2.99799768e-01 -5.10748840e-02 1.75411767e+02] [ 5.35502522e-02 -4.06578421e-05 9.98565155e-01 2.02295474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.19, Y:175.47, Z:20.23 [[ 2.99015993e-01 -9.54112640e-01 -1.60781413e-02 3.07185809e+02] [ 9.52744356e-01 2.99447939e-01 -5.10795878e-02 1.75467641e+02] [ 5.35502467e-02 -4.47447339e-05 9.98565155e-01 2.02337360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.20, Y:175.52, Z:20.24 [[ 2.97806824e-01 -9.54490989e-01 -1.60638430e-02 3.07200938e+02] [ 9.53123011e-01 2.98239739e-01 -5.10840841e-02 1.75524234e+02] [ 5.35501743e-02 -9.76295948e-05 9.98565155e-01 2.02363838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:307.22, Y:175.58, Z:20.24 [[ 2.95285621e-01 -9.55274192e-01 -1.60505561e-02 3.07216423e+02] [ 9.53907135e-01 2.95721436e-01 -5.10882585e-02 1.75579366e+02] [ 5.35497883e-02 -2.25111889e-04 9.98565155e-01 2.02389875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.130385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:307.23, Y:175.64, Z:20.24 [[ 2.92290333e-01 -9.56195177e-01 -1.60357564e-02 3.07231043e+02] [ 9.54829238e-01 2.92729639e-01 -5.10929035e-02 1.75635228e+02] [ 5.35489290e-02 -3.77447270e-04 9.98565155e-01 2.02407389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:307.25, Y:175.69, Z:20.24 [[ 2.88744770e-01 -9.57272036e-01 -1.60220547e-02 3.07245491e+02] [ 9.55907497e-01 2.89188404e-01 -5.10971998e-02 1.75691096e+02] [ 5.35473129e-02 -5.61553001e-04 9.98565156e-01 2.02422090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.26, Y:175.75, Z:20.25 [[ 2.87246948e-01 -9.57722778e-01 -1.60085109e-02 3.07262148e+02] [ 9.56358698e-01 2.87691993e-01 -5.11014426e-02 1.75746742e+02] [ 5.35465360e-02 -6.31145250e-04 9.98565156e-01 2.02452754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.310385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:307.28, Y:175.80, Z:20.25 [[ 2.85405663e-01 -9.58273324e-01 -1.59951182e-02 3.07275943e+02] [ 9.56909869e-01 2.85852615e-01 -5.11056343e-02 1.75803130e+02] [ 5.35454124e-02 -7.20048978e-04 9.98565156e-01 2.02492504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:307.29, Y:175.86, Z:20.25 [[ 2.83400558e-01 -9.58868450e-01 -1.59818404e-02 3.07289916e+02] [ 9.57505699e-01 2.83849654e-01 -5.11097862e-02 1.75859777e+02] [ 5.35440014e-02 -8.18161368e-04 9.98565156e-01 2.02521322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:307.31, Y:175.91, Z:20.26 [[ 2.81061103e-01 -9.59557025e-01 -1.59678595e-02 3.07306597e+02] [ 9.58195126e-01 2.81512777e-01 -5.11141538e-02 1.75914077e+02] [ 5.35421018e-02 -9.34124755e-04 9.98565156e-01 2.02564244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.490385723 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:307.32, Y:175.97, Z:20.26 [[ 2.80504142e-01 -9.59720230e-01 -1.59532611e-02 3.07319865e+02] [ 9.58358336e-01 2.80955829e-01 -5.11187097e-02 1.75970630e+02] [ 5.35418215e-02 -9.49930919e-04 9.98565156e-01 2.02605521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.550385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:307.33, Y:176.03, Z:20.26 [[ 2.83043630e-01 -9.58974582e-01 -1.59390911e-02 3.07332356e+02] [ 9.57611249e-01 2.83490955e-01 -5.11231276e-02 1.76027136e+02] [ 5.35443681e-02 -7.93377352e-04 9.98565156e-01 2.02643311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.34, Y:176.08, Z:20.27 [[ 2.89988193e-01 -9.56897719e-01 -1.59249200e-02 3.07343814e+02] [ 9.55530937e-01 2.90424866e-01 -5.11275416e-02 1.76084084e+02] [ 5.35488207e-02 -3.90370377e-04 9.98565156e-01 2.02697514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:307.36, Y:176.14, Z:20.27 [[ 2.92523646e-01 -9.56125914e-01 -1.59107968e-02 3.07355920e+02] [ 9.54757740e-01 2.92955939e-01 -5.11319363e-02 1.76140895e+02] [ 5.35497317e-02 -2.33656000e-04 9.98565156e-01 2.02715007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.37, Y:176.20, Z:20.27 [[ 2.92088572e-01 -9.56259150e-01 -1.58966978e-02 3.07369023e+02] [ 9.54890935e-01 2.92520734e-01 -5.11363193e-02 1.76197758e+02] [ 5.35496869e-02 -2.43278147e-04 9.98565157e-01 2.02741539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.790385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:307.38, Y:176.26, Z:20.27 [[ 2.83216073e-01 -9.58924606e-01 -1.58825807e-02 3.07379840e+02] [ 9.57560209e-01 2.83660140e-01 -5.11407035e-02 1.76256786e+02] [ 5.35453341e-02 -7.24658121e-04 9.98565157e-01 2.02684242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.850385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:307.40, Y:176.31, Z:20.28 [[ 2.83671410e-01 -9.58790207e-01 -1.58704223e-02 3.07397849e+02] [ 9.57425389e-01 2.84114181e-01 -5.11444764e-02 1.76310871e+02] [ 5.35458351e-02 -6.86519517e-04 9.98565157e-01 2.02766553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:307.41, Y:176.37, Z:20.28 [[ 2.81752615e-01 -9.59355977e-01 -1.58610583e-02 3.07411541e+02] [ 9.57991884e-01 2.82197617e-01 -5.11473802e-02 1.76365870e+02] [ 5.35444978e-02 -7.83857026e-04 9.98565157e-01 2.02806853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.970385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:307.43, Y:176.42, Z:20.28 [[ 2.81576812e-01 -9.59407760e-01 -1.58508062e-02 3.07426122e+02] [ 9.58043571e-01 2.82021517e-01 -5.11505572e-02 1.76422025e+02] [ 5.35445099e-02 -7.82952156e-04 9.98565157e-01 2.02843702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.44, Y:176.48, Z:20.29 [[ 2.81494274e-01 -9.59432223e-01 -1.58361320e-02 3.07439858e+02] [ 9.58067817e-01 2.81938314e-01 -5.11550999e-02 1.76477991e+02] [ 5.35446636e-02 -7.72220681e-04 9.98565157e-01 2.02851564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.090385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:307.45, Y:176.53, Z:20.29 [[ 2.80848972e-01 -9.59621565e-01 -1.58211234e-02 3.07453900e+02] [ 9.58257197e-01 2.81293130e-01 -5.11597413e-02 1.76534256e+02] [ 5.35443643e-02 -7.92544587e-04 9.98565157e-01 2.02871787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.150385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:307.47, Y:176.59, Z:20.28 [[ 2.74998910e-01 -9.61314590e-01 -1.58069251e-02 3.07465258e+02] [ 9.59952702e-01 2.75450615e-01 -5.11641278e-02 1.76592575e+02] [ 5.35388498e-02 -1.10382107e-03 9.98565157e-01 2.02811276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.48, Y:176.65, Z:20.28 [[ 2.76552856e-01 -9.60868912e-01 -1.57940718e-02 3.07481117e+02] [ 9.59506070e-01 2.77001673e-01 -5.11680953e-02 1.76647829e+02] [ 5.35408163e-02 -1.00382488e-03 9.98565157e-01 2.02846611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.50, Y:176.70, Z:20.30 [[ 2.85462094e-01 -9.58260096e-01 -1.57791439e-02 3.07501245e+02] [ 9.56892892e-01 2.85897442e-01 -5.11726983e-02 1.76701646e+02] [ 5.35479717e-02 -4.91085078e-04 9.98565157e-01 2.02953101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.52, Y:176.76, Z:20.30 [[ 2.89507763e-01 -9.57045672e-01 -1.57745707e-02 3.07517180e+02] [ 9.55676565e-01 2.89937087e-01 -5.11741080e-02 1.76757899e+02] [ 5.35495916e-02 -2.60086021e-04 9.98565157e-01 2.03004896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.390385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:307.53, Y:176.81, Z:20.30 [[ 2.90647552e-01 -9.56700365e-01 -1.57611016e-02 3.07533751e+02] [ 9.55330523e-01 2.91074524e-01 -5.11782560e-02 1.76813480e+02] [ 5.35499113e-02 -1.82226606e-04 9.98565158e-01 2.03035538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.450385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:307.55, Y:176.87, Z:20.31 [[ 2.89955787e-01 -9.56910485e-01 -1.57468861e-02 3.07550680e+02] [ 9.55540715e-01 2.90382989e-01 -5.11826296e-02 1.76867732e+02] [ 5.35498228e-02 -2.06091159e-04 9.98565158e-01 2.03054469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.57, Y:176.92, Z:20.31 [[ 2.84913015e-01 -9.58424268e-01 -1.57320167e-02 3.07565865e+02] [ 9.57056514e-01 2.85346630e-01 -5.11871996e-02 1.76924246e+02] [ 5.35481322e-02 -4.72529702e-04 9.98565158e-01 2.03066325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.58, Y:176.98, Z:20.30 [[ 2.81352748e-01 -9.59475687e-01 -1.57174263e-02 3.07579789e+02] [ 9.58109303e-01 2.81790660e-01 -5.11916793e-02 1.76979460e+02] [ 5.35461956e-02 -6.56092688e-04 9.98565158e-01 2.03048595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.60, Y:177.03, Z:20.31 [[ 2.80240724e-01 -9.59801232e-01 -1.57076967e-02 3.07602264e+02] [ 9.58435190e-01 2.80679699e-01 -5.11946645e-02 1.77033488e+02] [ 5.35455337e-02 -7.07979455e-04 9.98565158e-01 2.03119025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.690385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:307.62, Y:177.09, Z:20.32 [[ 2.80272890e-01 -9.59792081e-01 -1.56929330e-02 3.07624221e+02] [ 9.58425771e-01 2.80711032e-01 -5.11991898e-02 1.77085895e+02] [ 5.35457563e-02 -6.90766530e-04 9.98565158e-01 2.03173401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:177.14, Z:20.32 [[ 2.77157062e-01 -9.60696675e-01 -1.56799480e-02 3.07642904e+02] [ 9.59331570e-01 2.77598944e-01 -5.12031661e-02 1.77140356e+02] [ 5.35434485e-02 -8.50950079e-04 9.98565158e-01 2.03197663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.810385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:307.66, Y:177.19, Z:20.32 [[ 2.75021700e-01 -9.61310374e-01 -1.56661767e-02 3.07662586e+02] [ 9.59946016e-01 2.75465880e-01 -5.12073793e-02 1.77194556e+02] [ 5.35416821e-02 -9.55543422e-04 9.98565158e-01 2.03228397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.68, Y:177.25, Z:20.33 [[ 2.74110452e-01 -9.61570828e-01 -1.56525582e-02 3.07680159e+02] [ 9.60206655e-01 2.74555201e-01 -5.12115417e-02 1.77249555e+02] [ 5.35410158e-02 -9.92071701e-04 9.98565158e-01 2.03259043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:177.30, Z:20.32 [[ 2.75758431e-01 -9.61099743e-01 -1.56387749e-02 3.07697998e+02] [ 9.59734572e-01 2.76200106e-01 -5.12157505e-02 1.77303923e+02] [ 5.35428759e-02 -8.85897971e-04 9.98565158e-01 2.03218679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.990385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:307.72, Y:177.36, Z:20.33 [[ 2.80557520e-01 -9.59710038e-01 -1.56243460e-02 3.07716116e+02] [ 9.58342432e-01 2.80991598e-01 -5.12201519e-02 1.77359223e+02] [ 5.35468039e-02 -6.03274963e-04 9.98565159e-01 2.03304664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.050385723 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:307.73, Y:177.42, Z:20.33 [[ 2.81230683e-01 -9.59513234e-01 -1.56094850e-02 3.07732334e+02] [ 9.58145073e-01 2.81663009e-01 -5.12246805e-02 1.77416321e+02] [ 5.35473733e-02 -5.50199253e-04 9.98565159e-01 2.03301683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.110385723 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:177.47, Z:20.34 [[ 2.82522735e-01 -9.59133803e-01 -1.55965634e-02 3.07754884e+02] [ 9.57764844e-01 2.82952527e-01 -5.12286144e-02 1.77469944e+02] [ 5.35481828e-02 -4.64591868e-04 9.98565159e-01 2.03367241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.170385723 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:307.77, Y:177.53, Z:20.34 [[ 2.80703510e-01 -9.59668040e-01 -1.55818230e-02 3.07772168e+02] [ 9.58299650e-01 2.81135111e-01 -5.12330975e-02 1.77525517e+02] [ 5.35473638e-02 -5.50745185e-04 9.98565159e-01 2.03395296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.230385723 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:307.80, Y:177.58, Z:20.35 [[ 2.78498957e-01 -9.60310363e-01 -1.55671904e-02 3.07795566e+02] [ 9.58942721e-01 2.78932918e-01 -5.12375433e-02 1.77577560e+02] [ 5.35461456e-02 -6.58441545e-04 9.98565159e-01 2.03474196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.290385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:307.82, Y:177.63, Z:20.35 [[ 2.75535507e-01 -9.61164995e-01 -1.55575103e-02 3.07816897e+02] [ 9.59798532e-01 2.75973169e-01 -5.12404823e-02 1.77630976e+02] [ 5.35440134e-02 -8.13503229e-04 9.98565159e-01 2.03527982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.350385723 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:307.84, Y:177.68, Z:20.35 [[ 2.72360895e-01 -9.62069627e-01 -1.55426758e-02 3.07838326e+02] [ 9.60704361e-01 2.72802276e-01 -5.12449817e-02 1.77684383e+02] [ 5.35413177e-02 -9.74787306e-04 9.98565159e-01 2.03538007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.410385723 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:307.86, Y:177.74, Z:20.36 [[ 2.68193200e-01 -9.63240019e-01 -1.55265428e-02 3.07856271e+02] [ 9.61876395e-01 2.68639630e-01 -5.12498693e-02 1.77738541e+02] [ 5.35369698e-02 -1.18974855e-03 9.98565159e-01 2.03555076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.470385723 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:307.88, Y:177.79, Z:20.36 [[ 2.66642800e-01 -9.63670626e-01 -1.55094055e-02 3.07875164e+02] [ 9.62307424e-01 2.67090512e-01 -5.12550549e-02 1.77792767e+02] [ 5.35354059e-02 -1.25802470e-03 9.98565159e-01 2.03618145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.530385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:307.90, Y:177.85, Z:20.37 [[ 2.68776331e-01 -9.63077990e-01 -1.54941456e-02 3.07898305e+02] [ 9.61713535e-01 2.69220212e-01 -5.12596675e-02 1.77845373e+02] [ 5.35383947e-02 -1.12354415e-03 9.98565160e-01 2.03671381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.590385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:307.92, Y:177.90, Z:20.37 [[ 2.67851345e-01 -9.63335807e-01 -1.54848337e-02 3.07918633e+02] [ 9.61971618e-01 2.68296040e-01 -5.12624803e-02 1.77899759e+02] [ 5.35375024e-02 -1.16524620e-03 9.98565160e-01 2.03703372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.650385723 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:307.94, Y:177.95, Z:20.37 [[ 2.66337800e-01 -9.63755584e-01 -1.54709688e-02 3.07937541e+02] [ 9.62391854e-01 2.66783900e-01 -5.12666644e-02 1.77954266e+02] [ 5.35359395e-02 -1.23488372e-03 9.98565160e-01 2.03739549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.710385723 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:307.95, Y:178.01, Z:20.38 [[ 2.64620789e-01 -9.64228667e-01 -1.54569182e-02 3.07954622e+02] [ 9.62865488e-01 2.65068571e-01 -5.12709003e-02 1.78010241e+02] [ 5.35340151e-02 -1.31558704e-03 9.98565160e-01 2.03793971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.770385723 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:307.97, Y:178.06, Z:20.38 [[ 2.67142873e-01 -9.63533178e-01 -1.54434448e-02 3.07973008e+02] [ 9.62168599e-01 2.67586370e-01 -5.12749584e-02 1.78063940e+02] [ 5.35375789e-02 -1.16145801e-03 9.98565160e-01 2.03816106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.830385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:307.99, Y:178.12, Z:20.38 [[ 2.67530891e-01 -9.63425727e-01 -1.54301877e-02 3.07988559e+02] [ 9.62060741e-01 2.67973134e-01 -5.12789475e-02 1.78118939e+02] [ 5.35383331e-02 -1.12607531e-03 9.98565160e-01 2.03829970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.890385723 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:308.01, Y:178.17, Z:20.39 [[ 2.66506085e-01 -9.63709924e-01 -1.54171584e-02 3.08005706e+02] [ 9.62345184e-01 2.66949086e-01 -5.12828645e-02 1.78174269e+02] [ 5.35374018e-02 -1.16943272e-03 9.98565160e-01 2.03864478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.950385723 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:308.02, Y:178.23, Z:20.39 [[ 2.63859863e-01 -9.64438039e-01 -1.54026681e-02 3.08024652e+02] [ 9.63074268e-01 2.64305838e-01 -5.12872163e-02 1.78228624e+02] [ 5.35343574e-02 -1.30127550e-03 9.98565160e-01 2.03911486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.010385723 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:308.04, Y:178.29, Z:20.39 [[ 2.59792833e-01 -9.65541763e-01 -1.53878869e-02 3.08041953e+02] [ 9.64179624e-01 2.60243768e-01 -5.12916508e-02 1.78285145e+02] [ 5.35288326e-02 -1.51148369e-03 9.98565160e-01 2.03944097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.070385723 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:308.06, Y:178.34, Z:20.39 [[ 2.56567982e-01 -9.66403892e-01 -1.53749365e-02 3.08055048e+02] [ 9.65043036e-01 2.57022775e-01 -5.12955324e-02 1.78341481e+02] [ 5.35239110e-02 -1.67668417e-03 9.98565160e-01 2.03910973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.130385723 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:308.07, Y:178.40, Z:20.40 [[ 2.59756977e-01 -9.65551761e-01 -1.53658526e-02 3.08073903e+02] [ 9.64189252e-01 2.60206792e-01 -5.12982534e-02 1.78396810e+02] [ 5.35294182e-02 -1.49051076e-03 9.98565161e-01 2.04017522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.190385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:308.09, Y:178.45, Z:20.40 [[ 2.63202036e-01 -9.64618559e-01 -1.53532877e-02 3.08087283e+02] [ 9.63254236e-01 2.63646317e-01 -5.13020137e-02 1.78453256e+02] [ 5.35347124e-02 -1.28632496e-03 9.98565161e-01 2.04038914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:308.10, Y:178.51, Z:20.40 [[ 2.62456749e-01 -9.64821829e-01 -1.53392543e-02 3.08097141e+02] [ 9.63457606e-01 2.62901339e-01 -5.13062094e-02 1.78511356e+02] [ 5.35340613e-02 -1.31306028e-03 9.98565161e-01 2.03960260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.12, Y:178.57, Z:20.41 [[ 2.66328036e-01 -9.63760601e-01 -1.53258473e-02 3.08116577e+02] [ 9.62394375e-01 2.66766431e-01 -5.13102139e-02 1.78566090e+02] [ 5.35391842e-02 -1.08416078e-03 9.98565161e-01 2.04093595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.370385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:308.13, Y:178.62, Z:20.41 [[ 2.65787293e-01 -9.63910090e-01 -1.53118982e-02 3.08131293e+02] [ 9.62543872e-01 2.66225713e-01 -5.13143763e-02 1.78621258e+02] [ 5.35388660e-02 -1.09966457e-03 9.98565161e-01 2.04120545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.14, Y:178.68, Z:20.41 [[ 2.61350375e-01 -9.65122784e-01 -1.52968372e-02 3.08140057e+02] [ 9.63758337e-01 2.61794275e-01 -5.13188656e-02 1.78680291e+02] [ 5.35336308e-02 -1.33024956e-03 9.98565161e-01 2.04060968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.490385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:308.15, Y:178.74, Z:20.41 [[ 2.61535411e-01 -9.65072854e-01 -1.52844969e-02 3.08154977e+02] [ 9.63708109e-01 2.61978393e-01 -5.13225407e-02 1.78736451e+02] [ 5.35341987e-02 -1.30713182e-03 9.98565161e-01 2.04098192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.550385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:308.17, Y:178.79, Z:20.42 [[ 2.65187125e-01 -9.64076045e-01 -1.52698571e-02 3.08171780e+02] [ 9.62709383e-01 2.65624158e-01 -5.13268960e-02 1.78790797e+02] [ 5.35390739e-02 -1.08920271e-03 9.98565161e-01 2.04173493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:178.85, Z:20.42 [[ 2.61278734e-01 -9.65142835e-01 -1.52555090e-02 3.08183409e+02] [ 9.63777709e-01 2.61720539e-01 -5.13311603e-02 1.78847622e+02] [ 5.35345816e-02 -1.29117893e-03 9.98565161e-01 2.04220129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.20, Y:178.90, Z:20.42 [[ 2.60678641e-01 -9.65305324e-01 -1.52406619e-02 3.08197918e+02] [ 9.63940217e-01 2.61120505e-01 -5.13355681e-02 1.78902410e+02] [ 5.35341466e-02 -1.30900079e-03 9.98565161e-01 2.04241181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.21, Y:178.96, Z:20.43 [[ 2.64244451e-01 -9.64335517e-01 -1.52276100e-02 3.08214581e+02] [ 9.62968565e-01 2.64680573e-01 -5.13394394e-02 1.78957425e+02] [ 5.35388974e-02 -1.09754770e-03 9.98565162e-01 2.04306341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.790385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:308.23, Y:179.01, Z:20.43 [[ 2.66318896e-01 -9.63764912e-01 -1.52131550e-02 3.08227732e+02] [ 9.62396781e-01 2.66751305e-01 -5.13437225e-02 1.79014186e+02] [ 5.35414071e-02 -9.67287879e-04 9.98565162e-01 2.04313599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.24, Y:179.07, Z:20.43 [[ 2.70783182e-01 -9.62520370e-01 -1.51988972e-02 3.08242556e+02] [ 9.61150012e-01 2.71208485e-01 -5.13479427e-02 1.79069926e+02] [ 5.35455107e-02 -7.04260905e-04 9.98565162e-01 2.04345463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.910385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:308.26, Y:179.13, Z:20.44 [[ 2.72287420e-01 -9.62096144e-01 -1.51845500e-02 3.08257046e+02] [ 9.60724888e-01 2.72709814e-01 -5.13521851e-02 1.79125576e+02] [ 5.35467151e-02 -6.05621162e-04 9.98565162e-01 2.04378331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.970385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:308.27, Y:179.18, Z:20.44 [[ 2.72220682e-01 -9.62115266e-01 -1.51695251e-02 3.08271801e+02] [ 9.60743793e-01 2.72642370e-01 -5.13566231e-02 1.79182036e+02] [ 5.35468464e-02 -5.93692090e-04 9.98565162e-01 2.04407134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:179.24, Z:20.44 [[ 2.71600249e-01 -9.62290819e-01 -1.51553234e-02 3.08288603e+02] [ 9.60919385e-01 2.72022063e-01 -5.13608137e-02 1.79237913e+02] [ 5.35466218e-02 -6.13434232e-04 9.98565162e-01 2.04434480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.090385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:308.31, Y:179.29, Z:20.45 [[ 2.69071370e-01 -9.63001215e-01 -1.51412253e-02 3.08305298e+02] [ 9.61630661e-01 2.69496034e-01 -5.13649695e-02 1.79293319e+02] [ 5.35450282e-02 -7.39423742e-04 9.98565162e-01 2.04469810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.150385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:308.32, Y:179.35, Z:20.45 [[ 2.65985157e-01 -9.63858424e-01 -1.51273180e-02 3.08320703e+02] [ 9.62489004e-01 2.66413468e-01 -5.13690650e-02 1.79348914e+02] [ 5.35426272e-02 -8.96468469e-04 9.98565162e-01 2.04506539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.210385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:308.34, Y:179.40, Z:20.45 [[ 2.65281948e-01 -9.64052419e-01 -1.51136155e-02 3.08337726e+02] [ 9.62683084e-01 2.65710528e-01 -5.13730962e-02 1.79403456e+02] [ 5.35422044e-02 -9.21266926e-04 9.98565162e-01 2.04530316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.35, Y:179.46, Z:20.46 [[ 2.65787009e-01 -9.63913519e-01 -1.50994841e-02 3.08353826e+02] [ 9.62543725e-01 2.66214118e-01 -5.13772493e-02 1.79457672e+02] [ 5.35429210e-02 -8.78508272e-04 9.98565163e-01 2.04571466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.37, Y:179.51, Z:20.46 [[ 2.66463458e-01 -9.63726987e-01 -1.50837412e-02 3.08368424e+02] [ 9.62356633e-01 2.66888767e-01 -5.13818708e-02 1.79512685e+02] [ 5.35437767e-02 -8.24547378e-04 9.98565163e-01 2.04608462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.39, Y:179.57, Z:20.47 [[ 2.66470589e-01 -9.63725248e-01 -1.50689315e-02 3.08386351e+02] [ 9.62354646e-01 2.66895098e-01 -5.13862138e-02 1.79567767e+02] [ 5.35440155e-02 -8.08741618e-04 9.98565163e-01 2.04667205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.40, Y:179.62, Z:20.47 [[ 2.65298765e-01 -9.64048714e-01 -1.50546276e-02 3.08401872e+02] [ 9.62678393e-01 2.65724178e-01 -5.13904041e-02 1.79622970e+02] [ 5.35432315e-02 -8.58953923e-04 9.98565163e-01 2.04703738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.42, Y:179.68, Z:20.47 [[ 2.63456347e-01 -9.64554002e-01 -1.50442740e-02 3.08416556e+02] [ 9.63184324e-01 2.63883826e-01 -5.13934348e-02 1.79679400e+02] [ 5.35416838e-02 -9.50482269e-04 9.98565163e-01 2.04726687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.43, Y:179.73, Z:20.48 [[ 2.62266457e-01 -9.64878430e-01 -1.50306824e-02 3.08433254e+02] [ 9.63509053e-01 2.62694902e-01 -5.13974096e-02 1.79734006e+02] [ 5.35407355e-02 -1.00238204e-03 9.98565163e-01 2.04751327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.45, Y:179.79, Z:20.47 [[ 2.57538018e-01 -9.66151502e-01 -1.50147975e-02 3.08445825e+02] [ 9.64783972e-01 2.57972318e-01 -5.14020496e-02 1.79791047e+02] [ 5.35355696e-02 -1.24805402e-03 9.98565163e-01 2.04713633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:179.85, Z:20.48 [[ 2.54624981e-01 -9.66923545e-01 -1.49992367e-02 3.08460710e+02] [ 9.65557065e-01 2.55062575e-01 -5.14065899e-02 1.79847326e+02] [ 5.35319861e-02 -1.39321692e-03 9.98565163e-01 2.04764674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.48, Y:179.90, Z:20.49 [[ 2.58823303e-01 -9.65808467e-01 -1.49834213e-02 3.08477389e+02] [ 9.64439834e-01 2.59254114e-01 -5.14111992e-02 1.79901960e+02] [ 5.35378851e-02 -1.14419194e-03 9.98565163e-01 2.04853060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.810385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:308.49, Y:179.96, Z:20.49 [[ 2.58656599e-01 -9.65853256e-01 -1.49749998e-02 3.08492254e+02] [ 9.64484556e-01 2.59087199e-01 -5.14136521e-02 1.79958177e+02] [ 5.35378741e-02 -1.14467563e-03 9.98565164e-01 2.04885811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.870385723 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:308.51, Y:180.01, Z:20.49 [[ 2.61189070e-01 -9.65171693e-01 -1.49623488e-02 3.08506004e+02] [ 9.63801659e-01 2.61615405e-01 -5.14173335e-02 1.80014091e+02] [ 5.35409358e-02 -9.91091054e-04 9.98565164e-01 2.04914281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.930385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:180.07, Z:20.50 [[ 2.64592694e-01 -9.64244386e-01 -1.49489094e-02 3.08520026e+02] [ 9.62872636e-01 2.65013476e-01 -5.14212406e-02 1.80068299e+02] [ 5.35443050e-02 -7.88211195e-04 9.98565164e-01 2.04960823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:180.12, Z:20.50 [[ 2.63970557e-01 -9.64415118e-01 -1.49340087e-02 3.08534736e+02] [ 9.63043396e-01 2.64391429e-01 -5.14255677e-02 1.80124193e+02] [ 5.35440189e-02 -8.07262687e-04 9.98565164e-01 2.05002973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.55, Y:180.18, Z:20.50 [[ 2.59246177e-01 -9.65696030e-01 -1.49197056e-02 3.08550211e+02] [ 9.64326147e-01 2.59672998e-01 -5.14297171e-02 1.80179205e+02] [ 5.35397183e-02 -1.05450471e-03 9.98565164e-01 2.05037334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.110385723 meters Centerline goodness : 0.994697 with order 1 Centerline is valid? [True, True] Translation: X:308.56, Y:180.23, Z:20.50 [[ 2.56242219e-01 -9.66497613e-01 -1.49093574e-02 3.08563918e+02] [ 9.65128891e-01 2.56672747e-01 -5.14327168e-02 1.80234689e+02] [ 5.35364238e-02 -1.21021808e-03 9.98565164e-01 2.04998476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.170385723 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:308.58, Y:180.29, Z:20.50 [[ 2.53008343e-01 -9.67349540e-01 -1.48877986e-02 3.08575828e+02] [ 9.65981901e-01 2.53442301e-01 -5.14389565e-02 1.80290504e+02] [ 5.35326488e-02 -1.36685881e-03 9.98565164e-01 2.05042827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.230385723 meters Centerline goodness : 0.993168 with order 1 Centerline is valid? [True, True] Translation: X:308.59, Y:180.34, Z:20.50 [[ 2.55411702e-01 -9.66718065e-01 -1.48675845e-02 3.08590145e+02] [ 9.65349015e-01 2.55841184e-01 -5.14447984e-02 1.80344952e+02] [ 5.35363564e-02 -1.21280452e-03 9.98565164e-01 2.05033680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.290385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:308.60, Y:180.40, Z:20.51 [[ 2.55122355e-01 -9.66794771e-01 -1.48477509e-02 3.08600405e+02] [ 9.65425519e-01 2.55551192e-01 -5.14505221e-02 1.80401731e+02] [ 5.35364561e-02 -1.20821931e-03 9.98565165e-01 2.05065296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.62, Y:180.46, Z:20.51 [[ 2.57224143e-01 -9.66238019e-01 -1.48266755e-02 3.08616266e+02] [ 9.64867490e-01 2.57648880e-01 -5.14565947e-02 1.80456357e+02] [ 5.35393945e-02 -1.06989869e-03 9.98565165e-01 2.05101722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.63, Y:180.51, Z:20.52 [[ 2.57123629e-01 -9.66265005e-01 -1.48114804e-02 3.08633966e+02] [ 9.64894269e-01 2.57547700e-01 -5.14609682e-02 1.80511430e+02] [ 5.35395954e-02 -1.05968162e-03 9.98565165e-01 2.05164551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.65, Y:180.57, Z:20.52 [[ 2.55747404e-01 -9.66630393e-01 -1.47968772e-02 3.08649354e+02] [ 9.65260022e-01 2.56172649e-01 -5.14651668e-02 1.80566409e+02] [ 5.35383497e-02 -1.12075114e-03 9.98565165e-01 2.05202453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.67, Y:180.62, Z:20.52 [[ 2.53422381e-01 -9.67242749e-01 -1.47837919e-02 3.08665721e+02] [ 9.65873187e-01 2.53850224e-01 -5.14689254e-02 1.80621547e+02] [ 5.35358138e-02 -1.23589061e-03 9.98565165e-01 2.05229647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.69, Y:180.68, Z:20.53 [[ 2.49943537e-01 -9.68147773e-01 -1.47688237e-02 3.08685678e+02] [ 9.66779506e-01 2.50375506e-01 -5.14732201e-02 1.80676188e+02] [ 5.35314351e-02 -1.41279732e-03 9.98565165e-01 2.05291515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.70, Y:180.73, Z:20.53 [[ 2.51665999e-01 -9.67701684e-01 -1.47538447e-02 3.08703583e+02] [ 9.66332401e-01 2.52094735e-01 -5.14775132e-02 1.80731867e+02] [ 5.35342428e-02 -1.30197845e-03 9.98565165e-01 2.05329567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.72, Y:180.79, Z:20.53 [[ 2.54003403e-01 -9.67091009e-01 -1.47394497e-02 3.08716901e+02] [ 9.65720457e-01 2.54428064e-01 -5.14816346e-02 1.80787910e+02] [ 5.35375556e-02 -1.15767770e-03 9.98565166e-01 2.05305278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.74, Y:180.84, Z:20.53 [[ 2.55143323e-01 -9.66791101e-01 -1.47258805e-02 3.08735461e+02] [ 9.65419827e-01 2.55565646e-01 -5.14855156e-02 1.80843266e+02] [ 5.35391675e-02 -1.08047148e-03 9.98565166e-01 2.05335019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.76, Y:180.90, Z:20.54 [[ 2.57667607e-01 -9.66121613e-01 -1.47116836e-02 3.08755742e+02] [ 9.64749010e-01 2.58085590e-01 -5.14895720e-02 1.80896650e+02] [ 5.35420619e-02 -9.25887390e-04 9.98565166e-01 2.05415112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.890385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:308.77, Y:180.95, Z:20.54 [[ 2.49814210e-01 -9.68182184e-01 -1.47009643e-02 3.08768204e+02] [ 9.66812842e-01 2.50242756e-01 -5.14926323e-02 1.80953783e+02] [ 5.35330591e-02 -1.34948979e-03 9.98565166e-01 2.05364200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.78, Y:181.01, Z:20.54 [[ 2.48461647e-01 -9.68530390e-01 -1.46865353e-02 3.08784455e+02] [ 9.67161407e-01 2.48891338e-01 -5.14967474e-02 1.81008781e+02] [ 5.35315163e-02 -1.40928352e-03 9.98565166e-01 2.05405076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.010385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:308.80, Y:181.07, Z:20.54 [[ 2.49123089e-01 -9.68360695e-01 -1.46714247e-02 3.08800333e+02] [ 9.66991168e-01 2.49551042e-01 -5.15010521e-02 1.81065014e+02] [ 5.35328639e-02 -1.35703691e-03 9.98565166e-01 2.05413684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:181.12, Z:20.55 [[ 2.49857969e-01 -9.68171553e-01 -1.46573934e-02 3.08815996e+02] [ 9.66801469e-01 2.50284136e-01 -5.15050451e-02 1.81119711e+02] [ 5.35342326e-02 -1.30184349e-03 9.98565166e-01 2.05482189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.130385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:308.84, Y:181.17, Z:20.56 [[ 2.52650225e-01 -9.67446874e-01 -1.46427426e-02 3.08837012e+02] [ 9.66075327e-01 2.53071658e-01 -5.15092100e-02 1.81172676e+02] [ 5.35380873e-02 -1.13217881e-03 9.98565166e-01 2.05592117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.85, Y:181.23, Z:20.56 [[ 2.50048698e-01 -9.68122717e-01 -1.46305487e-02 3.08852044e+02] [ 9.66752107e-01 2.50473168e-01 -5.15126733e-02 1.81229396e+02] [ 5.35351491e-02 -1.26343693e-03 9.98565166e-01 2.05571902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.250385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:308.87, Y:181.28, Z:20.56 [[ 2.53120955e-01 -9.67324217e-01 -1.46164628e-02 3.08868430e+02] [ 9.65952037e-01 2.53540322e-01 -5.15166698e-02 1.81284205e+02] [ 5.35391849e-02 -1.07885337e-03 9.98565167e-01 2.05628414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.89, Y:181.34, Z:20.57 [[ 2.57692476e-01 -9.66116633e-01 -1.46026967e-02 3.08886429e+02] [ 9.64742265e-01 2.58104616e-01 -5.15205716e-02 1.81338771e+02] [ 5.35439046e-02 -8.11374986e-04 9.98565167e-01 2.05658539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.370385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:308.90, Y:181.39, Z:20.56 [[ 2.61851630e-01 -9.64997890e-01 -1.45875315e-02 3.08902552e+02] [ 9.63621521e-01 2.62257036e-01 -5.15248651e-02 1.81394450e+02] [ 5.35470689e-02 -5.64989381e-04 9.98565167e-01 2.05638875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:308.92, Y:181.45, Z:20.57 [[ 2.67218942e-01 -9.63525655e-01 -1.45721971e-02 3.08921347e+02] [ 9.62146814e-01 2.67615861e-01 -5.15292016e-02 1.81448459e+02] [ 5.35494588e-02 -2.51014330e-04 9.98565167e-01 2.05678558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.95, Y:181.50, Z:20.57 [[ 2.68007104e-01 -9.63306932e-01 -1.45584005e-02 3.08945364e+02] [ 9.61927556e-01 2.68402156e-01 -5.15330992e-02 1.81502191e+02] [ 5.35496978e-02 -1.92889968e-04 9.98565167e-01 2.05721396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.97, Y:181.56, Z:20.58 [[ 2.68209365e-01 -9.63250866e-01 -1.45432727e-02 3.08966465e+02] [ 9.61871175e-01 2.68603318e-01 -5.15373681e-02 1.81555154e+02] [ 5.35497857e-02 -1.65949994e-04 9.98565167e-01 2.05777936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.610385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:308.99, Y:181.61, Z:20.58 [[ 2.66153246e-01 -9.63821214e-01 -1.45298677e-02 3.08987685e+02] [ 9.62442161e-01 2.66549426e-01 -5.15411471e-02 1.81609515e+02] [ 5.35493789e-02 -2.66313702e-04 9.98565167e-01 2.05802505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.670385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:309.01, Y:181.66, Z:20.58 [[ 2.66793189e-01 -9.63644491e-01 -1.45151147e-02 3.09009426e+02] [ 9.62264950e-01 2.67187664e-01 -5.15453015e-02 1.81662955e+02] [ 5.35496055e-02 -2.15450749e-04 9.98565167e-01 2.05833419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.03, Y:181.72, Z:20.59 [[ 2.66737028e-01 -9.63660199e-01 -1.45044027e-02 3.09030165e+02] [ 9.62280517e-01 2.67131011e-01 -5.15483156e-02 1.81716968e+02] [ 5.35496359e-02 -2.07459591e-04 9.98565167e-01 2.05853089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.05, Y:181.77, Z:20.59 [[ 2.64454847e-01 -9.64289207e-01 -1.44899769e-02 3.09050143e+02] [ 9.62910240e-01 2.64851324e-01 -5.15523703e-02 1.81772029e+02] [ 5.35490839e-02 -3.19272868e-04 9.98565167e-01 2.05892750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.07, Y:181.83, Z:20.59 [[ 2.60752580e-01 -9.65297128e-01 -1.44757554e-02 3.09073477e+02] [ 9.63919471e-01 2.61153586e-01 -5.15563634e-02 1.81825802e+02] [ 5.35476049e-02 -5.10007669e-04 9.98565168e-01 2.05918514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.09, Y:181.88, Z:20.60 [[ 2.54291644e-01 -9.67019452e-01 -1.44616657e-02 3.09093534e+02] [ 9.65644284e-01 2.54701102e-01 -5.15603153e-02 1.81880112e+02] [ 5.35432300e-02 -8.53467474e-04 9.98565168e-01 2.05955397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.11, Y:181.94, Z:20.60 [[ 2.48429753e-01 -9.68542168e-01 -1.44473700e-02 3.09111823e+02] [ 9.67169274e-01 2.48846773e-01 -5.15643207e-02 1.81935456e+02] [ 5.35374003e-02 -1.16294094e-03 9.98565168e-01 2.06007357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.030385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:309.13, Y:181.99, Z:20.60 [[ 2.47094513e-01 -9.68883890e-01 -1.44329521e-02 3.09132752e+02] [ 9.67511338e-01 2.47512658e-01 -5.15683559e-02 1.81988461e+02] [ 5.35360876e-02 -1.22178703e-03 9.98565168e-01 2.06012929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.15, Y:182.04, Z:20.61 [[ 2.46527452e-01 -9.69028558e-01 -1.44176836e-02 3.09149592e+02] [ 9.67656003e-01 2.46945588e-01 -5.15726244e-02 1.82044417e+02] [ 5.35357292e-02 -1.23729037e-03 9.98565168e-01 2.06057881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:182.10, Z:20.61 [[ 2.49655524e-01 -9.68227573e-01 -1.44043784e-02 3.09164512e+02] [ 9.66853463e-01 2.50068516e-01 -5.15763404e-02 1.82100038e+02] [ 5.35397164e-02 -1.05060488e-03 9.98565168e-01 2.06087059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.18, Y:182.16, Z:20.61 [[ 2.52258649e-01 -9.67552838e-01 -1.43902532e-02 3.09179470e+02] [ 9.66177398e-01 2.52667192e-01 -5.15802811e-02 1.82156358e+02] [ 5.35425923e-02 -8.91965367e-04 9.98565168e-01 2.06115502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.19, Y:182.21, Z:20.61 [[ 2.59028644e-01 -9.65762646e-01 -1.43761454e-02 3.09192985e+02] [ 9.64384161e-01 2.59426791e-01 -5.15842129e-02 1.82212782e+02] [ 5.35476632e-02 -5.02338151e-04 9.98565168e-01 2.06147317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:309.21, Y:182.27, Z:20.62 [[ 2.60975856e-01 -9.65238484e-01 -1.43621689e-02 3.09206290e+02] [ 9.63858985e-01 2.61370475e-01 -5.15881039e-02 1.82269768e+02] [ 5.35486701e-02 -3.79855941e-04 9.98565168e-01 2.06166938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.22, Y:182.33, Z:20.62 [[ 2.59568952e-01 -9.65617983e-01 -1.43481321e-02 3.09221093e+02] [ 9.64238846e-01 2.59964831e-01 -5.15920077e-02 1.82325639e+02] [ 5.35481802e-02 -4.43342988e-04 9.98565169e-01 2.06209171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.450385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:309.24, Y:182.38, Z:20.63 [[ 2.52073192e-01 -9.67602006e-01 -1.43340177e-02 3.09236538e+02] [ 9.66225757e-01 2.52479001e-01 -5.15959289e-02 1.82381268e+02] [ 5.35433627e-02 -8.43946673e-04 9.98565169e-01 2.06257647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.25, Y:182.44, Z:20.63 [[ 2.47150884e-01 -9.68871189e-01 -1.43198838e-02 3.09251511e+02] [ 9.67496796e-01 2.47562932e-01 -5.15998513e-02 1.82437626e+02] [ 5.35386817e-02 -1.10149281e-03 9.98565169e-01 2.06295363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.570385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:309.27, Y:182.49, Z:20.63 [[ 2.41419518e-01 -9.70315393e-01 -1.43057672e-02 3.09266233e+02] [ 9.68943230e-01 2.41838932e-01 -5.16037647e-02 1.82494049e+02] [ 5.35316187e-02 -1.40332031e-03 9.98565169e-01 2.06347148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:182.55, Z:20.64 [[ 2.39069712e-01 -9.70897224e-01 -1.42917377e-02 3.09278353e+02] [ 9.69525851e-01 2.39491702e-01 -5.16076499e-02 1.82549640e+02] [ 5.35284766e-02 -1.51838318e-03 9.98565169e-01 2.06354639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.690385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:309.29, Y:182.61, Z:20.64 [[ 2.41030473e-01 -9.70412524e-01 -1.42773795e-02 3.09291630e+02] [ 9.69040069e-01 2.41448929e-01 -5.16116219e-02 1.82606081e+02] [ 5.35318223e-02 -1.39537921e-03 9.98565169e-01 2.06382424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.30, Y:182.66, Z:20.64 [[ 2.43303799e-01 -9.69845257e-01 -1.42631909e-02 3.09303549e+02] [ 9.68471597e-01 2.43718283e-01 -5.16155427e-02 1.82662784e+02] [ 5.35352897e-02 -1.25523761e-03 9.98565169e-01 2.06428008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.810385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:309.32, Y:182.72, Z:20.65 [[ 2.44308923e-01 -9.69592758e-01 -1.42490111e-02 3.09315479e+02] [ 9.68218442e-01 2.44721228e-01 -5.16194569e-02 1.82720098e+02] [ 5.35368870e-02 -1.18506146e-03 9.98565169e-01 2.06452800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.33, Y:182.78, Z:20.65 [[ 2.45140189e-01 -9.69383135e-01 -1.42346922e-02 3.09330476e+02] [ 9.68008238e-01 2.45550554e-01 -5.16234052e-02 1.82775831e+02] [ 5.35381949e-02 -1.12432799e-03 9.98565169e-01 2.06493735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:182.83, Z:20.65 [[ 2.46908733e-01 -9.68934392e-01 -1.42204764e-02 3.09343520e+02] [ 9.67558525e-01 2.47315831e-01 -5.16273209e-02 1.82832562e+02] [ 5.35404357e-02 -1.01190684e-03 9.98565170e-01 2.06532729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.36, Y:182.89, Z:20.66 [[ 2.48772271e-01 -9.68457813e-01 -1.42064074e-02 3.09355389e+02] [ 9.67080945e-01 2.49175972e-01 -5.16311920e-02 1.82889717e+02] [ 5.35425266e-02 -8.94337012e-04 9.98565170e-01 2.06555757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.37, Y:182.95, Z:20.66 [[ 2.50474474e-01 -9.68019169e-01 -1.41924934e-02 3.09371421e+02] [ 9.66641378e-01 2.50875012e-01 -5.16350164e-02 1.82945167e+02] [ 5.35442276e-02 -7.85797830e-04 9.98565170e-01 2.06604120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.110385723 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:309.38, Y:183.00, Z:20.66 [[ 2.44119663e-01 -9.69641457e-01 -1.41787057e-02 3.09377638e+02] [ 9.68266105e-01 2.44528495e-01 -5.16388022e-02 1.83004628e+02] [ 5.35382209e-02 -1.12271316e-03 9.98565170e-01 2.06563236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.170385723 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:309.39, Y:183.06, Z:20.65 [[ 2.40454946e-01 -9.70556849e-01 -1.41711936e-02 3.09387870e+02] [ 9.69182930e-01 2.40868571e-01 -5.16408636e-02 1.83062003e+02] [ 5.35337890e-02 -1.31717790e-03 9.98565170e-01 2.06548024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.230385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:309.41, Y:183.11, Z:20.67 [[ 2.44339101e-01 -9.69586517e-01 -1.41559231e-02 3.09410326e+02] [ 9.68210713e-01 2.44746409e-01 -5.16450493e-02 1.83114492e+02] [ 5.35389548e-02 -1.08701152e-03 9.98565170e-01 2.06667246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.290385723 meters Centerline goodness : 0.994216 with order 1 Centerline is valid? [True, True] Translation: X:309.42, Y:183.17, Z:20.67 [[ 2.41047773e-01 -9.70410157e-01 -1.41456150e-02 3.09421766e+02] [ 9.69035579e-01 2.41459199e-01 -5.16478725e-02 1.83171250e+02] [ 5.35352089e-02 -1.25799957e-03 9.98565170e-01 2.06656044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.350385723 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:309.42, Y:183.23, Z:20.66 [[ 2.34267161e-01 -9.72069633e-01 -1.41253389e-02 3.09424498e+02] [ 9.70697631e-01 2.34687097e-01 -5.16534173e-02 1.83229860e+02] [ 5.35257532e-02 -1.61073353e-03 9.98565170e-01 2.06615162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.410385723 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:309.44, Y:183.29, Z:20.66 [[ 2.34836154e-01 -9.71932644e-01 -1.41037459e-02 3.09436448e+02] [ 9.70560047e-01 2.35254141e-01 -5.16593125e-02 1.83285338e+02] [ 5.35273368e-02 -1.55705801e-03 9.98565171e-01 2.06644351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.470385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:309.45, Y:183.34, Z:20.68 [[ 2.39841980e-01 -9.70709633e-01 -1.40937187e-02 3.09452039e+02] [ 9.69334741e-01 2.40252354e-01 -5.16620480e-02 1.83340370e+02] [ 5.35348968e-02 -1.27080326e-03 9.98565171e-01 2.06752996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.46, Y:183.40, Z:20.67 [[ 2.37542339e-01 -9.71275140e-01 -1.40797245e-02 3.09456490e+02] [ 9.69901000e-01 2.37955224e-01 -5.16658617e-02 1.83400326e+02] [ 5.35321110e-02 -1.38310922e-03 9.98565171e-01 2.06673628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.590385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:183.46, Z:20.67 [[ 2.41436068e-01 -9.70314796e-01 -1.40649118e-02 3.09469029e+02] [ 9.68938778e-01 2.41842649e-01 -5.16698938e-02 1.83457201e+02] [ 5.35375580e-02 -1.15306249e-03 9.98565171e-01 2.06738650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.650385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:309.48, Y:183.51, Z:20.68 [[ 2.39581187e-01 -9.70774660e-01 -1.40504152e-02 3.09479856e+02] [ 9.69399192e-01 2.39989626e-01 -5.16738355e-02 1.83514555e+02] [ 5.35356040e-02 -1.24038228e-03 9.98565171e-01 2.06752681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.710385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.49, Y:183.57, Z:20.68 [[ 2.36883362e-01 -9.71436711e-01 -1.40353190e-02 3.09494783e+02] [ 9.70062142e-01 2.37294819e-01 -5.16779355e-02 1.83569468e+02] [ 5.35323522e-02 -1.37348845e-03 9.98565171e-01 2.06821864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:309.51, Y:183.63, Z:20.69 [[ 2.33144251e-01 -9.72341067e-01 -1.40216991e-02 3.09505830e+02] [ 9.70967873e-01 2.33560269e-01 -5.16816307e-02 1.83626674e+02] [ 5.35270838e-02 -1.56534427e-03 9.98565171e-01 2.06863348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.52, Y:183.68, Z:20.69 [[ 2.32133297e-01 -9.72583123e-01 -1.40071709e-02 3.09517732e+02] [ 9.71210128e-01 2.32549972e-01 -5.16855680e-02 1.83682743e+02] [ 5.35258783e-02 -1.60596498e-03 9.98565171e-01 2.06883797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.53, Y:183.74, Z:20.69 [[ 2.34959212e-01 -9.71904518e-01 -1.39919888e-02 3.09530265e+02] [ 9.70530076e-01 2.35371088e-01 -5.16896777e-02 1.83739244e+02] [ 5.35307409e-02 -1.43467997e-03 9.98565171e-01 2.06933309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.950385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:309.54, Y:183.80, Z:20.69 [[ 2.37350197e-01 -9.71323582e-01 -1.39779326e-02 3.09540023e+02] [ 9.69947909e-01 2.37757942e-01 -5.16934785e-02 1.83796980e+02] [ 5.35344592e-02 -1.28840919e-03 9.98565171e-01 2.06921180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.55, Y:183.85, Z:20.70 [[ 2.40841903e-01 -9.70463902e-01 -1.39640199e-02 3.09553836e+02] [ 9.69086554e-01 2.41243956e-01 -5.16972364e-02 1.83853616e+02] [ 5.35390372e-02 -1.08148318e-03 9.98565172e-01 2.06956298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.070385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.57, Y:183.91, Z:20.70 [[ 2.44096963e-01 -9.69650489e-01 -1.39499833e-02 3.09566704e+02] [ 9.68271585e-01 2.44493644e-01 -5.17010238e-02 1.83909679e+02] [ 5.35426053e-02 -8.87309522e-04 9.98565172e-01 2.07005947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.130385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:309.58, Y:183.97, Z:20.70 [[ 2.43457259e-01 -9.69811502e-01 -1.39360293e-02 3.09579914e+02] [ 9.68432646e-01 2.43854106e-01 -5.17047849e-02 1.83966066e+02] [ 5.35422530e-02 -9.08200482e-04 9.98565172e-01 2.07007448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.190385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:309.59, Y:184.02, Z:20.71 [[ 2.41991342e-01 -9.70178530e-01 -1.39215825e-02 3.09593121e+02] [ 9.68800053e-01 2.42389503e-01 -5.17086744e-02 1.84021719e+02] [ 5.35410912e-02 -9.74178356e-04 9.98565172e-01 2.07055177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.61, Y:184.08, Z:20.71 [[ 2.38988785e-01 -9.70922675e-01 -1.39111400e-02 3.09605992e+02] [ 9.69545274e-01 2.39390653e-01 -5.17114836e-02 1.84078458e+02] [ 5.35380488e-02 -1.12901538e-03 9.98565172e-01 2.07075594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.62, Y:184.13, Z:20.71 [[ 2.38215720e-01 -9.71112856e-01 -1.38957323e-02 3.09618590e+02] [ 9.69735536e-01 2.38617864e-01 -5.17156236e-02 1.84133782e+02] [ 5.35374769e-02 -1.15571091e-03 9.98565172e-01 2.07091741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.63, Y:184.19, Z:20.71 [[ 2.39128216e-01 -9.70888713e-01 -1.38853904e-02 3.09630916e+02] [ 9.69510855e-01 2.39528514e-01 -5.17184002e-02 1.84190435e+02] [ 5.35387579e-02 -1.09470794e-03 9.98565172e-01 2.07095804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.64, Y:184.25, Z:20.71 [[ 2.38448565e-01 -9.71056049e-01 -1.38719741e-02 3.09643801e+02] [ 9.69678264e-01 2.38849114e-01 -5.17219984e-02 1.84246883e+02] [ 5.35382682e-02 -1.11831548e-03 9.98565172e-01 2.07125892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.66, Y:184.30, Z:20.72 [[ 2.41685297e-01 -9.70255739e-01 -1.38570862e-02 3.09660158e+02] [ 9.68876398e-01 2.42080456e-01 -5.17259868e-02 1.84302753e+02] [ 5.35419653e-02 -9.24393308e-04 9.98565172e-01 2.07171847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.550385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.68, Y:184.36, Z:20.72 [[ 2.44251573e-01 -9.69613092e-01 -1.38427019e-02 3.09676507e+02] [ 9.68232494e-01 2.44642314e-01 -5.17298360e-02 1.84357114e+02] [ 5.35444369e-02 -7.67859995e-04 9.98565172e-01 2.07203787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.69, Y:184.41, Z:20.72 [[ 2.48652136e-01 -9.68494138e-01 -1.38282060e-02 3.09691362e+02] [ 9.67111565e-01 2.49035829e-01 -5.17337107e-02 1.84413779e+02] [ 5.35475143e-02 -5.09720309e-04 9.98565173e-01 2.07216445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.670385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:309.70, Y:184.47, Z:20.72 [[ 2.49233265e-01 -9.68344962e-01 -1.38135883e-02 3.09703695e+02] [ 9.66961942e-01 2.49615347e-01 -5.17376136e-02 1.84470139e+02] [ 5.35479411e-02 -4.62479820e-04 9.98565173e-01 2.07213245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.73, Y:184.52, Z:20.73 [[ 2.55595094e-01 -9.66685409e-01 -1.38010414e-02 3.09726241e+02] [ 9.65299726e-01 2.55967403e-01 -5.17409602e-02 1.84524072e+02] [ 5.35498480e-02 -9.74059333e-05 9.98565173e-01 2.07271627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:309.74, Y:184.58, Z:20.73 [[ 2.56618314e-01 -9.66414484e-01 -1.37871482e-02 3.09744002e+02] [ 9.65028210e-01 2.56988412e-01 -5.17446620e-02 1.84579717e+02] [ 5.35499282e-02 -2.63590149e-05 9.98565173e-01 2.07301945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.76, Y:184.63, Z:20.73 [[ 2.59236175e-01 -9.65715751e-01 -1.37729807e-02 3.09762540e+02] [ 9.64328278e-01 2.59601755e-01 -5.17484327e-02 1.84633810e+02] [ 5.35497665e-02 1.33390942e-04 9.98565173e-01 2.07349416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.78, Y:184.69, Z:20.74 [[ 2.59021443e-01 -9.65773597e-01 -1.37569031e-02 3.09782040e+02] [ 9.64385979e-01 2.59386470e-01 -5.17527065e-02 1.84688232e+02] [ 5.35497520e-02 1.38096234e-04 9.98565173e-01 2.07377745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.970385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:309.80, Y:184.74, Z:20.74 [[ 2.54649341e-01 -9.66935808e-01 -1.37425421e-02 3.09803629e+02] [ 9.65549650e-01 2.55019874e-01 -5.17565197e-02 1.84741821e+02] [ 5.35498535e-02 -8.93431334e-05 9.98565173e-01 2.07388329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.030385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:184.80, Z:20.74 [[ 2.52125529e-01 -9.67597167e-01 -1.37273191e-02 3.09824856e+02] [ 9.66211762e-01 2.52498864e-01 -5.17605570e-02 1.84795881e+02] [ 5.35495008e-02 -2.13339307e-04 9.98565173e-01 2.07415451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.85, Y:184.85, Z:20.75 [[ 2.46641743e-01 -9.69009709e-01 -1.37125473e-02 3.09849069e+02] [ 9.67626223e-01 2.47022129e-01 -5.17644700e-02 1.84847850e+02] [ 5.35475767e-02 -5.01341249e-04 9.98565173e-01 2.07454060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.87, Y:184.90, Z:20.75 [[ 2.41656450e-01 -9.70265112e-01 -1.37030107e-02 3.09872301e+02] [ 9.68883457e-01 2.42043435e-01 -5.17669944e-02 1.84901424e+02] [ 5.35444324e-02 -7.66792320e-04 9.98565174e-01 2.07496400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.210385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:309.90, Y:184.95, Z:20.75 [[ 2.38310107e-01 -9.71092648e-01 -1.36880034e-02 3.09895942e+02] [ 9.69712109e-01 2.38701053e-01 -5.17709623e-02 1.84954246e+02] [ 5.35417417e-02 -9.35879013e-04 9.98565174e-01 2.07519053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.92, Y:185.01, Z:20.76 [[ 2.37054420e-01 -9.71400102e-01 -1.36764263e-02 3.09916379e+02] [ 9.70019894e-01 2.37446534e-01 -5.17740205e-02 1.85008989e+02] [ 5.35407088e-02 -9.93145206e-04 9.98565174e-01 2.07565235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:185.06, Z:20.76 [[ 2.37800801e-01 -9.71217866e-01 -1.36614844e-02 3.09936669e+02] [ 9.69837132e-01 2.38191058e-01 -5.17779629e-02 1.85063902e+02] [ 5.35417260e-02 -9.36573742e-04 9.98565174e-01 2.07590703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:309.96, Y:185.12, Z:20.76 [[ 2.38561794e-01 -9.71031434e-01 -1.36464455e-02 3.09956943e+02] [ 9.69650169e-01 2.38950167e-01 -5.17819262e-02 1.85117978e+02] [ 5.35426984e-02 -8.79089019e-04 9.98565174e-01 2.07636860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.98, Y:185.17, Z:20.76 [[ 2.43207132e-01 -9.69878602e-01 -1.36304015e-02 3.09975648e+02] [ 9.68495258e-01 2.43588032e-01 -5.17861491e-02 1.85172414e+02] [ 5.35464805e-02 -6.06218386e-04 9.98565174e-01 2.07631578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.00, Y:185.23, Z:20.77 [[ 2.46597349e-01 -9.69022386e-01 -1.36148033e-02 3.09996458e+02] [ 9.67637493e-01 2.46972575e-01 -5.17902496e-02 1.85225563e+02] [ 5.35483943e-02 -4.02855865e-04 9.98565174e-01 2.07659854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.01, Y:185.28, Z:20.77 [[ 2.48106157e-01 -9.68637382e-01 -1.35998797e-02 3.10013744e+02] [ 9.67251692e-01 2.48478428e-01 -5.17941682e-02 1.85280412e+02] [ 5.35490442e-02 -3.04054624e-04 9.98565174e-01 2.07705306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.03, Y:185.34, Z:20.78 [[ 2.49062985e-01 -9.68392011e-01 -1.35846417e-02 3.10030093e+02] [ 9.67005736e-01 2.49433072e-01 -5.17981645e-02 1.85336443e+02] [ 5.35493876e-02 -2.35421013e-04 9.98565174e-01 2.07751669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.05, Y:185.39, Z:20.78 [[ 2.47526050e-01 -9.68786199e-01 -1.35703488e-02 3.10045836e+02] [ 9.67400308e-01 2.47897573e-01 -5.18019087e-02 1.85392143e+02] [ 5.35490308e-02 -3.05637774e-04 9.98565175e-01 2.07803117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.06, Y:185.45, Z:20.78 [[ 2.47075195e-01 -9.68901479e-01 -1.35562139e-02 3.10059488e+02] [ 9.67515558e-01 2.47446607e-01 -5.18056075e-02 1.85447230e+02] [ 5.35489689e-02 -3.15967303e-04 9.98565175e-01 2.07825684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.07, Y:185.50, Z:20.79 [[ 2.45251499e-01 -9.69364912e-01 -1.35414335e-02 3.10073313e+02] [ 9.67979479e-01 2.45624728e-01 -5.18094707e-02 1.85503898e+02] [ 5.35483939e-02 -4.01479408e-04 9.98565175e-01 2.07865754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.09, Y:185.56, Z:20.79 [[ 2.41200395e-01 -9.70381048e-01 -1.35273961e-02 3.10087306e+02] [ 9.68996982e-01 2.41578658e-01 -5.18131356e-02 1.85559994e+02] [ 5.35464150e-02 -6.10657232e-04 9.98565175e-01 2.07899208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.10, Y:185.62, Z:20.79 [[ 2.37855333e-01 -9.71206573e-01 -1.35141909e-02 3.10098946e+02] [ 9.69823623e-01 2.38237659e-01 -5.18165796e-02 1.85615105e+02] [ 5.35441919e-02 -7.81531822e-04 9.98565175e-01 2.07914759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.11, Y:185.67, Z:20.79 [[ 2.33642273e-01 -9.72228938e-01 -1.34974484e-02 3.10109738e+02] [ 9.70847408e-01 2.34029699e-01 -5.18209404e-02 1.85670677e+02] [ 5.35406216e-02 -9.96400453e-04 9.98565175e-01 2.07941834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.12, Y:185.73, Z:20.80 [[ 2.27246508e-01 -9.73743947e-01 -1.34814713e-02 3.10119715e+02] [ 9.72364750e-01 2.27642157e-01 -5.18250966e-02 1.85728216e+02] [ 5.35333253e-02 -1.33183526e-03 9.98565175e-01 2.07989073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.13, Y:185.79, Z:20.80 [[ 2.22166801e-01 -9.74915668e-01 -1.34667194e-02 3.10130612e+02] [ 9.73538324e-01 2.22568852e-01 -5.18289296e-02 1.85785989e+02] [ 5.35261078e-02 -1.59569997e-03 9.98565175e-01 2.08021260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.14, Y:185.84, Z:20.81 [[ 2.24305842e-01 -9.74425942e-01 -1.34526053e-02 3.10141469e+02] [ 9.73047502e-01 2.24704119e-01 -5.18325928e-02 1.85842319e+02] [ 5.35298789e-02 -1.46367069e-03 9.98565176e-01 2.08062921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.230385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.15, Y:185.90, Z:20.81 [[ 2.31665661e-01 -9.72702660e-01 -1.34371235e-02 3.10151805e+02] [ 9.71321018e-01 2.32052682e-01 -5.18366060e-02 1.85899370e+02] [ 5.35397251e-02 -1.04299884e-03 9.98565176e-01 2.08101474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.16, Y:185.96, Z:20.81 [[ 2.41457433e-01 -9.70318586e-01 -1.34219797e-02 3.10163710e+02] [ 9.68932896e-01 2.41829699e-01 -5.18405268e-02 1.85955397e+02] [ 5.35476600e-02 -4.87717179e-04 9.98565176e-01 2.08138817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.18, Y:186.01, Z:20.82 [[ 2.46135387e-01 -9.69142706e-01 -1.34084255e-02 3.10175617e+02] [ 9.67755045e-01 2.46500240e-01 -5.18440324e-02 1.86011769e+02] [ 5.35494460e-02 -2.15420482e-04 9.98565176e-01 2.08179024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.19, Y:186.07, Z:20.82 [[ 2.46586506e-01 -9.69028221e-01 -1.33940703e-02 3.10188001e+02] [ 9.67640190e-01 2.46949945e-01 -5.18477408e-02 1.86068537e+02] [ 5.35495890e-02 -1.75687433e-04 9.98565176e-01 2.08222773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.470385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.20, Y:186.12, Z:20.82 [[ 2.46072751e-01 -9.69159025e-01 -1.33785075e-02 3.10200742e+02] [ 9.67770968e-01 2.46436093e-01 -5.18517563e-02 1.86124007e+02] [ 5.35495447e-02 -1.88026783e-04 9.98565176e-01 2.08229070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.530385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:186.18, Z:20.83 [[ 2.42498354e-01 -9.70059705e-01 -1.33684882e-02 3.10216360e+02] [ 9.68672855e-01 2.42866275e-01 -5.18543393e-02 1.86178806e+02] [ 5.35485601e-02 -3.75099649e-04 9.98565176e-01 2.08271362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.23, Y:186.23, Z:20.83 [[ 2.34666429e-01 -9.71984234e-01 -1.33534742e-02 3.10230284e+02] [ 9.70600178e-01 2.35044723e-01 -5.18582055e-02 1.86234823e+02] [ 5.35440218e-02 -7.91504498e-04 9.98565176e-01 2.08331618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.24, Y:186.29, Z:20.84 [[ 2.31600801e-01 -9.72719464e-01 -1.33384140e-02 3.10244016e+02] [ 9.71336385e-01 2.31982653e-01 -5.18620788e-02 1.86290882e+02] [ 5.35415342e-02 -9.44787910e-04 9.98565176e-01 2.08352659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.710385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:310.26, Y:186.35, Z:20.84 [[ 2.25940824e-01 -9.74049918e-01 -1.33230013e-02 3.10258033e+02] [ 9.72668851e-01 2.26329892e-01 -5.18660379e-02 1.86345984e+02] [ 5.35355034e-02 -1.24021306e-03 9.98565177e-01 2.08377214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.770385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:310.27, Y:186.40, Z:20.84 [[ 2.22041347e-01 -9.74946358e-01 -1.33131065e-02 3.10271126e+02] [ 9.73566710e-01 2.22435412e-01 -5.18685776e-02 1.86402021e+02] [ 5.35303872e-02 -1.44422850e-03 9.98565177e-01 2.08356942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:186.46, Z:20.84 [[ 2.17102321e-01 -9.76058242e-01 -1.33000088e-02 3.10281114e+02] [ 9.74680404e-01 2.17502671e-01 -5.18719359e-02 1.86459285e+02] [ 5.35228180e-02 -1.70174033e-03 9.98565177e-01 2.08399845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.29, Y:186.52, Z:20.84 [[ 2.17121406e-01 -9.76054209e-01 -1.32844104e-02 3.10293960e+02] [ 9.74676123e-01 2.17520902e-01 -5.18759303e-02 1.86516080e+02] [ 5.35233571e-02 -1.68462274e-03 9.98565177e-01 2.08433467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.31, Y:186.57, Z:20.84 [[ 2.21603868e-01 -9.75046487e-01 -1.32692447e-02 3.10306032e+02] [ 9.73666351e-01 2.21996221e-01 -5.18798092e-02 1.86572130e+02] [ 5.35309480e-02 -1.42305069e-03 9.98565177e-01 2.08447060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.32, Y:186.63, Z:20.85 [[ 2.23187734e-01 -9.74685323e-01 -1.32573464e-02 3.10317864e+02] [ 9.73304372e-01 2.23577211e-01 -5.18828496e-02 1.86628576e+02] [ 5.35334925e-02 -1.32381756e-03 9.98565177e-01 2.08473366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.33, Y:186.68, Z:20.85 [[ 2.25415683e-01 -9.74172671e-01 -1.32430182e-02 3.10332529e+02] [ 9.72790620e-01 2.25801239e-01 -5.18865066e-02 1.86684639e+02] [ 5.35367066e-02 -1.18665156e-03 9.98565177e-01 2.08525736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:186.74, Z:20.85 [[ 2.24467269e-01 -9.74391838e-01 -1.32284254e-02 3.10342704e+02] [ 9.73009947e-01 2.24853393e-01 -5.18902267e-02 1.86742480e+02] [ 5.35358697e-02 -1.22373199e-03 9.98565177e-01 2.08527817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:186.80, Z:20.86 [[ 2.27438276e-01 -9.73702830e-01 -1.32147436e-02 3.10359337e+02] [ 9.72319566e-01 2.27819455e-01 -5.18937108e-02 1.86797305e+02] [ 5.35396287e-02 -1.04633762e-03 9.98565177e-01 2.08591296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:186.85, Z:20.86 [[ 2.23381926e-01 -9.74641551e-01 -1.32046609e-02 3.10372634e+02] [ 9.73259736e-01 2.23768325e-01 -5.18962763e-02 1.86852857e+02] [ 5.35350520e-02 -1.25887467e-03 9.98565177e-01 2.08606656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:186.91, Z:20.87 [[ 2.21732003e-01 -9.75018433e-01 -1.31899386e-02 3.10387611e+02] [ 9.73637054e-01 2.22119957e-01 -5.19000178e-02 1.86908984e+02] [ 5.35332226e-02 -1.33431799e-03 9.98565177e-01 2.08654965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:186.96, Z:20.87 [[ 2.21780526e-01 -9.75007598e-01 -1.31750841e-02 3.10401722e+02] [ 9.73625978e-01 2.22167621e-01 -5.19037884e-02 1.86963946e+02] [ 5.35336652e-02 -1.31635466e-03 9.98565178e-01 2.08677714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:187.02, Z:20.87 [[ 2.23238735e-01 -9.74674943e-01 -1.31613876e-02 3.10415222e+02] [ 9.73292543e-01 2.23623034e-01 -5.19072613e-02 1.87019127e+02] [ 5.35358964e-02 -1.22216904e-03 9.98565178e-01 2.08726022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.43, Y:187.08, Z:20.87 [[ 2.25328232e-01 -9.74194216e-01 -1.31459945e-02 3.10428177e+02] [ 9.72810770e-01 2.25708746e-01 -5.19111595e-02 1.87076405e+02] [ 5.35387172e-02 -1.09151521e-03 9.98565178e-01 2.08743900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.550385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:310.44, Y:187.13, Z:20.88 [[ 2.30423687e-01 -9.73001775e-01 -1.31328123e-02 3.10442245e+02] [ 9.71616167e-01 2.30796252e-01 -5.19144942e-02 1.87131182e+02] [ 5.35438988e-02 -7.97723576e-04 9.98565178e-01 2.08777630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:187.19, Z:20.88 [[ 2.33328126e-01 -9.72309541e-01 -1.31202751e-02 3.10457428e+02] [ 9.70922649e-01 2.33695882e-01 -5.19176625e-02 1.87187236e+02] [ 5.35461928e-02 -6.24921349e-04 9.98565178e-01 2.08809126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.47, Y:187.24, Z:20.88 [[ 2.36022234e-01 -9.71659292e-01 -1.31044113e-02 3.10471531e+02] [ 9.70271164e-01 2.36385298e-01 -5.19216663e-02 1.87242617e+02] [ 5.35478597e-02 -4.60164663e-04 9.98565178e-01 2.08838793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.730385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.49, Y:187.30, Z:20.89 [[ 2.34171291e-01 -9.72107274e-01 -1.30864067e-02 3.10485342e+02] [ 9.70719587e-01 2.34536036e-01 -5.19262038e-02 1.87297677e+02] [ 5.35470744e-02 -5.43605148e-04 9.98565178e-01 2.08895591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.50, Y:187.35, Z:20.89 [[ 2.28417492e-01 -9.73475552e-01 -1.30690322e-02 3.10502311e+02] [ 9.72089798e-01 2.28789511e-01 -5.19305764e-02 1.87353032e+02] [ 5.35432040e-02 -8.42420861e-04 9.98565178e-01 2.08941533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.52, Y:187.41, Z:20.89 [[ 2.23806583e-01 -9.74546144e-01 -1.30547847e-02 3.10516591e+02] [ 9.73161959e-01 2.24184400e-01 -5.19341578e-02 1.87409574e+02] [ 5.35389123e-02 -1.08121341e-03 9.98565179e-01 2.08944549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.53, Y:187.47, Z:20.90 [[ 2.21765400e-01 -9.75012854e-01 -1.30400301e-02 3.10532293e+02] [ 9.73629248e-01 2.22145328e-01 -5.19378622e-02 1.87465429e+02] [ 5.35368650e-02 -1.17813387e-03 9.98565179e-01 2.08992013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.54, Y:187.52, Z:20.90 [[ 2.20745207e-01 -9.75244546e-01 -1.30242035e-02 3.10543569e+02] [ 9.73861106e-01 2.21125740e-01 -5.19418307e-02 1.87521230e+02] [ 5.35359737e-02 -1.21785504e-03 9.98565179e-01 2.09036734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.56, Y:187.58, Z:20.90 [[ 2.22818294e-01 -9.74773130e-01 -1.30135614e-02 3.10558138e+02] [ 9.73388730e-01 2.23195318e-01 -5.19444968e-02 1.87577962e+02] [ 5.35386658e-02 -1.09306989e-03 9.98565179e-01 2.09043554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.57, Y:187.63, Z:20.91 [[ 2.24791235e-01 -9.74320245e-01 -1.29985082e-02 3.10571696e+02] [ 9.72934868e-01 2.25164654e-01 -5.19482635e-02 1.87634306e+02] [ 5.35410494e-02 -9.69187546e-04 9.98565179e-01 2.09077705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.58, Y:187.69, Z:20.91 [[ 2.26815826e-01 -9.73851146e-01 -1.29818092e-02 3.10581095e+02] [ 9.72464758e-01 2.27185473e-01 -5.19524362e-02 1.87690938e+02] [ 5.35432180e-02 -8.40717253e-04 9.98565179e-01 2.09129214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.60, Y:187.75, Z:20.92 [[ 2.28663387e-01 -9.73419225e-01 -1.29640869e-02 3.10595117e+02] [ 9.72031889e-01 2.29029458e-01 -5.19568582e-02 1.87746955e+02] [ 5.35449625e-02 -7.20874703e-04 9.98565179e-01 2.09151468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:187.80, Z:20.92 [[ 2.29084382e-01 -9.73320430e-01 -1.29493973e-02 3.10607992e+02] [ 9.71932729e-01 2.29449068e-01 -5.19605191e-02 1.87803484e+02] [ 5.35454619e-02 -6.82599602e-04 9.98565179e-01 2.09178226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.330385723 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:310.62, Y:187.86, Z:20.92 [[ 2.29698243e-01 -9.73175938e-01 -1.29348949e-02 3.10621581e+02] [ 9.71787804e-01 2.30061280e-01 -5.19641290e-02 1.87858836e+02] [ 5.35460585e-02 -6.33903968e-04 9.98565180e-01 2.09186353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.64, Y:187.91, Z:20.92 [[ 2.29869639e-01 -9.73135726e-01 -1.29153968e-02 3.10639329e+02] [ 9.71747258e-01 2.30231390e-01 -5.19689747e-02 1.87913750e+02] [ 5.35463957e-02 -6.04411952e-04 9.98565180e-01 2.09226149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.65, Y:187.97, Z:20.93 [[ 2.29053808e-01 -9.73328337e-01 -1.28957597e-02 3.10650755e+02] [ 9.71939899e-01 2.29415675e-01 -5.19738471e-02 1.87969184e+02] [ 5.35461076e-02 -6.29095773e-04 9.98565180e-01 2.09265187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.67, Y:188.02, Z:20.93 [[ 2.31513266e-01 -9.72746516e-01 -1.28772041e-02 3.10668623e+02] [ 9.71356913e-01 2.31870631e-01 -5.19784441e-02 1.88024589e+02] [ 5.35476959e-02 -4.74661875e-04 9.98565180e-01 2.09296711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.68, Y:188.08, Z:20.93 [[ 2.31871974e-01 -9.72661272e-01 -1.28622178e-02 3.10681146e+02] [ 9.71271332e-01 2.32228026e-01 -5.19821523e-02 1.88080618e+02] [ 5.35479938e-02 -4.39499164e-04 9.98565180e-01 2.09306348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.630385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:310.70, Y:188.14, Z:20.93 [[ 2.32361658e-01 -9.72544632e-01 -1.28452095e-02 3.10696497e+02] [ 9.71154280e-01 2.32716100e-01 -5.19863548e-02 1.88136333e+02] [ 5.35483374e-02 -3.95044562e-04 9.98565180e-01 2.09324382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.71, Y:188.19, Z:20.93 [[ 2.31442519e-01 -9.72763967e-01 -1.28306507e-02 3.10713163e+02] [ 9.71373752e-01 2.31797498e-01 -5.19899478e-02 1.88191563e+02] [ 5.35480606e-02 -4.30672834e-04 9.98565181e-01 2.09332723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.73, Y:188.25, Z:20.94 [[ 2.29966323e-01 -9.73114193e-01 -1.28163309e-02 3.10730485e+02] [ 9.71724322e-01 2.30322645e-01 -5.19934776e-02 1.88246714e+02] [ 5.35474822e-02 -4.97191615e-04 9.98565181e-01 2.09365861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.75, Y:188.30, Z:20.94 [[ 2.25640052e-01 -9.74126620e-01 -1.28021472e-02 3.10747795e+02] [ 9.72738149e-01 2.26001790e-01 -5.19969698e-02 1.88302511e+02] [ 5.35449406e-02 -7.20537989e-04 9.98565181e-01 2.09401848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.77, Y:188.36, Z:20.94 [[ 2.22287016e-01 -9.74897403e-01 -1.27881315e-02 3.10765608e+02] [ 9.73509988e-01 2.22652781e-01 -5.20004166e-02 1.88357493e+02] [ 5.35423841e-02 -8.90356285e-04 9.98565181e-01 2.09426990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.78, Y:188.41, Z:20.95 [[ 2.20554354e-01 -9.75291030e-01 -1.27743230e-02 3.10782885e+02] [ 9.73904072e-01 2.20921848e-01 -5.20038085e-02 1.88412662e+02] [ 5.35409751e-02 -9.71298787e-04 9.98565181e-01 2.09458540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.80, Y:188.47, Z:20.95 [[ 2.20037973e-01 -9.75407849e-01 -1.27600588e-02 3.10799104e+02] [ 9.74020883e-01 2.20405441e-01 -5.20073083e-02 1.88467978e+02] [ 5.35407231e-02 -9.84981088e-04 9.98565181e-01 2.09494210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.81, Y:188.52, Z:20.95 [[ 2.21091436e-01 -9.75169795e-01 -1.27454888e-02 3.10814695e+02] [ 9.73782229e-01 2.21456629e-01 -5.20108787e-02 1.88522489e+02] [ 5.35420110e-02 -9.12170661e-04 9.98565181e-01 2.09504176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.83, Y:188.58, Z:20.95 [[ 2.23401820e-01 -9.74643303e-01 -1.27302514e-02 3.10830952e+02] [ 9.73254664e-01 2.23762911e-01 -5.20146080e-02 1.88578585e+02] [ 5.35442474e-02 -7.69618419e-04 9.98565181e-01 2.09529201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.170385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:310.85, Y:188.63, Z:20.96 [[ 2.25264224e-01 -9.74214724e-01 -1.27161899e-02 3.10846189e+02] [ 9.72825204e-01 2.25621909e-01 -5.20180454e-02 1.88634935e+02] [ 5.35457968e-02 -6.52825408e-04 9.98565181e-01 2.09550297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.230385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:310.86, Y:188.69, Z:20.96 [[ 2.25835400e-01 -9.74082665e-01 -1.27017222e-02 3.10861292e+02] [ 9.72692738e-01 2.26191498e-01 -5.20215779e-02 1.88690889e+02] [ 5.35463388e-02 -6.06559114e-04 9.98565181e-01 2.09581592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:188.75, Z:20.96 [[ 2.23195281e-01 -9.74691182e-01 -1.26872641e-02 3.10876147e+02] [ 9.73302025e-01 2.23554372e-01 -5.20251038e-02 1.88747101e+02] [ 5.35447033e-02 -7.36782182e-04 9.98565182e-01 2.09610484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.350385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:310.89, Y:188.80, Z:20.96 [[ 2.19071466e-01 -9.75626511e-01 -1.26729838e-02 3.10891547e+02] [ 9.74238685e-01 2.19435667e-01 -5.20285822e-02 1.88803495e+02] [ 5.35413687e-02 -9.48533330e-04 9.98565182e-01 2.09647406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.90, Y:188.86, Z:20.96 [[ 2.12793638e-01 -9.77015158e-01 -1.26589120e-02 3.10900422e+02] [ 9.75629501e-01 2.13166007e-01 -5.20320057e-02 1.88861578e+02] [ 5.35345080e-02 -1.27832816e-03 9.98565182e-01 2.09647602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.92, Y:188.92, Z:20.97 [[ 2.18032349e-01 -9.75859564e-01 -1.26493278e-02 3.10917730e+02] [ 9.74471795e-01 2.18396767e-01 -5.20343356e-02 1.88916275e+02] [ 5.35407764e-02 -9.81244735e-04 9.98565182e-01 2.09695680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.93, Y:188.97, Z:20.97 [[ 2.20256862e-01 -9.75360034e-01 -1.26380079e-02 3.10928594e+02] [ 9.73971281e-01 2.20617512e-01 -5.20370848e-02 1.88972968e+02] [ 5.35430586e-02 -8.47531734e-04 9.98565182e-01 2.09706193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.94, Y:189.03, Z:20.97 [[ 2.20519722e-01 -9.75300837e-01 -1.26225992e-02 3.10940257e+02] [ 9.73911774e-01 2.20879175e-01 -5.20408222e-02 1.89029708e+02] [ 5.35435268e-02 -8.17270371e-04 9.98565182e-01 2.09715119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.95, Y:189.08, Z:20.98 [[ 2.18242589e-01 -9.75813101e-01 -1.26081201e-02 3.10953611e+02] [ 9.74424679e-01 2.18604512e-01 -5.20443299e-02 1.89084819e+02] [ 5.35417309e-02 -9.27374063e-04 9.98565182e-01 2.09752658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.96, Y:189.14, Z:20.98 [[ 2.13261104e-01 -9.76914019e-01 -1.25976368e-02 3.10960549e+02] [ 9.75527314e-01 2.13629547e-01 -5.20468673e-02 1.89142662e+02] [ 5.35365418e-02 -1.18976638e-03 9.98565182e-01 2.09773247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:189.20, Z:20.98 [[ 2.15604831e-01 -9.76399629e-01 -1.25825615e-02 3.10976095e+02] [ 9.75011833e-01 2.15969142e-01 -5.20505116e-02 1.89197579e+02] [ 5.35395452e-02 -1.04580461e-03 9.98565182e-01 2.09812949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.830385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:189.26, Z:20.98 [[ 2.10241433e-01 -9.77568725e-01 -1.25669098e-02 3.10984041e+02] [ 9.76182727e-01 2.10612524e-01 -5.20542902e-02 1.89256028e+02] [ 5.35333947e-02 -1.32363166e-03 9.98565182e-01 2.09800551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.99, Y:189.31, Z:20.99 [[ 2.10503570e-01 -9.77512494e-01 -1.25527007e-02 3.10994877e+02] [ 9.76126194e-01 2.10873533e-01 -5.20577165e-02 1.89312666e+02] [ 5.35341006e-02 -1.29468477e-03 9.98565183e-01 2.09859436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.950385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:311.01, Y:189.37, Z:20.99 [[ 2.12336682e-01 -9.77116140e-01 -1.25372238e-02 3.11009448e+02] [ 9.75728931e-01 2.12703221e-01 -5.20614436e-02 1.89367485e+02] [ 5.35367847e-02 -1.17837776e-03 9.98565183e-01 2.09883307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.010385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:311.02, Y:189.43, Z:20.99 [[ 2.07108588e-01 -9.78237764e-01 -1.25263471e-02 3.11015843e+02] [ 9.76852379e-01 2.07481960e-01 -5.20640604e-02 1.89426096e+02] [ 5.35300211e-02 -1.45347794e-03 9.98565183e-01 2.09890118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.03, Y:189.48, Z:21.00 [[ 2.09545094e-01 -9.77718939e-01 -1.25112080e-02 3.11029092e+02] [ 9.76332413e-01 2.09914208e-01 -5.20676982e-02 1.89481721e+02] [ 5.35338549e-02 -1.30456723e-03 9.98565183e-01 2.09959084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.130385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:311.04, Y:189.54, Z:21.00 [[ 2.07901753e-01 -9.78069901e-01 -1.24952098e-02 3.11039750e+02] [ 9.76683769e-01 2.08272346e-01 -5.20715372e-02 1.89539040e+02] [ 5.35320098e-02 -1.37810470e-03 9.98565183e-01 2.09952449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.05, Y:189.60, Z:21.00 [[ 2.05616984e-01 -9.78552951e-01 -1.24811081e-02 3.11046784e+02] [ 9.77167487e-01 2.05990063e-01 -5.20749170e-02 1.89597384e+02] [ 5.35290480e-02 -1.48864565e-03 9.98565183e-01 2.10006219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:311.06, Y:189.65, Z:21.00 [[ 2.05686525e-01 -9.78538530e-01 -1.24658987e-02 3.11057494e+02] [ 9.77152822e-01 2.06058697e-01 -5.20785576e-02 1.89654310e+02] [ 5.35295821e-02 -1.46923056e-03 9.98565183e-01 2.10038389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.310385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:311.07, Y:189.71, Z:21.01 [[ 2.05526363e-01 -9.78572372e-01 -1.24509829e-02 3.11069384e+02] [ 9.77186512e-01 2.05897969e-01 -5.20821235e-02 1.89710575e+02] [ 5.35297592e-02 -1.46268312e-03 9.98565183e-01 2.10057543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37038572299997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:311.08, Y:189.77, Z:21.01 [[ 2.08909887e-01 -9.77855798e-01 -1.24377340e-02 3.11080523e+02] [ 9.76468475e-01 2.09275992e-01 -5.20852873e-02 1.89766711e+02] [ 5.35348193e-02 -1.26392368e-03 9.98565183e-01 2.10065005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.430385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:311.09, Y:189.83, Z:21.01 [[ 2.08692766e-01 -9.77902355e-01 -1.24223292e-02 3.11087723e+02] [ 9.76514896e-01 2.09058359e-01 -5.20889611e-02 1.89825076e+02] [ 5.35349094e-02 -1.26000010e-03 9.98565184e-01 2.10123453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:311.10, Y:189.88, Z:21.02 [[ 2.09807274e-01 -9.77663961e-01 -1.24132036e-02 3.11099579e+02] [ 9.76275959e-01 2.10170799e-01 -5.20911357e-02 1.89880718e+02] [ 5.35365189e-02 -1.18961303e-03 9.98565184e-01 2.10153892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.11, Y:189.94, Z:21.02 [[ 2.10186342e-01 -9.77582664e-01 -1.24030802e-02 3.11111342e+02] [ 9.76194381e-01 2.10548789e-01 -5.20935460e-02 1.89937392e+02] [ 5.35372010e-02 -1.15846537e-03 9.98565184e-01 2.10214201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.610385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:311.12, Y:189.99, Z:21.02 [[ 2.08915582e-01 -9.77855211e-01 -1.23881564e-02 3.11120264e+02] [ 9.76467192e-01 2.09279039e-01 -5.20970947e-02 1.89994539e+02] [ 5.35359970e-02 -1.21273340e-03 9.98565184e-01 2.10231956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:311.13, Y:190.05, Z:21.02 [[ 2.05299001e-01 -9.78621095e-01 -1.23722583e-02 3.11131439e+02] [ 9.77234205e-01 2.05666741e-01 -5.21008700e-02 1.90052237e+02] [ 5.35315725e-02 -1.39433740e-03 9.98565184e-01 2.10215885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.730385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:311.14, Y:190.11, Z:21.02 [[ 2.05732943e-01 -9.78530152e-01 -1.23570941e-02 3.11142323e+02] [ 9.77142886e-01 2.06099261e-01 -5.21044663e-02 1.90108487e+02] [ 5.35325793e-02 -1.35504141e-03 9.98565184e-01 2.10231380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.16, Y:190.16, Z:21.03 [[ 2.10314203e-01 -9.77555926e-01 -1.23429561e-02 3.11155326e+02] [ 9.76166764e-01 2.10673266e-01 -5.21078153e-02 1.90164197e+02] [ 5.35386345e-02 -1.08976990e-03 9.98565184e-01 2.10320775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.17, Y:190.22, Z:21.04 [[ 2.11761800e-01 -9.77243542e-01 -1.23287965e-02 3.11166495e+02] [ 9.75853657e-01 2.12118050e-01 -5.21111653e-02 1.90221433e+02] [ 5.35404600e-02 -9.95946968e-04 9.98565184e-01 2.10358624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:311.18, Y:190.28, Z:21.04 [[ 2.16861893e-01 -9.76124635e-01 -1.23132437e-02 3.11178860e+02] [ 9.74732701e-01 2.17210050e-01 -5.21148399e-02 1.90277052e+02] [ 5.35451394e-02 -7.00398457e-04 9.98565184e-01 2.10368446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:190.33, Z:21.04 [[ 2.22254159e-01 -9.74911181e-01 -1.22994743e-02 3.11189887e+02] [ 9.73517164e-01 2.22593881e-01 -5.21180894e-02 1.90333953e+02] [ 5.35482958e-02 -3.90287222e-04 9.98565185e-01 2.10403716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.20, Y:190.39, Z:21.05 [[ 2.26379278e-01 -9.73961752e-01 -1.22852901e-02 3.11203302e+02] [ 9.72566128e-01 2.26712337e-01 -5.21214327e-02 1.90389833e+02] [ 5.35495087e-02 -1.49044766e-04 9.98565185e-01 2.10455333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.22, Y:190.45, Z:21.05 [[ 2.28571291e-01 -9.73449843e-01 -1.22706025e-02 3.11216149e+02] [ 9.72053287e-01 2.28900421e-01 -5.21248903e-02 1.90446011e+02] [ 5.35497124e-02 -1.34260427e-05 9.98565185e-01 2.10480937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:190.50, Z:21.05 [[ 2.27068839e-01 -9.73801590e-01 -1.22558511e-02 3.11225936e+02] [ 9.72405357e-01 2.27399333e-01 -5.21283585e-02 1.90503484e+02] [ 5.35496507e-02 -8.09294007e-05 9.98565185e-01 2.10484644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:190.56, Z:21.06 [[ 2.30004140e-01 -9.73112658e-01 -1.22413064e-02 3.11242408e+02] [ 9.71715253e-01 2.30329644e-01 -5.21317738e-02 1.90558242e+02] [ 5.35496247e-02 9.54596732e-05 9.98565185e-01 2.10551457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.25, Y:190.62, Z:21.05 [[ 2.25469597e-01 -9.74173489e-01 -1.22259506e-02 3.11251840e+02] [ 9.72777420e-01 2.25800784e-01 -5.21353748e-02 1.90615837e+02] [ 5.35495292e-02 -1.38186711e-04 9.98565185e-01 2.10521424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.27, Y:190.67, Z:21.06 [[ 2.25325031e-01 -9.74207120e-01 -1.22113952e-02 3.11269617e+02] [ 9.72810915e-01 2.25655646e-01 -5.21387838e-02 1.90670711e+02] [ 5.35495447e-02 -1.31205451e-04 9.98565185e-01 2.10579913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.28, Y:190.73, Z:21.06 [[ 2.22096923e-01 -9.74948311e-01 -1.21962515e-02 3.11284324e+02] [ 9.73553014e-01 2.22431351e-01 -5.21423260e-02 1.90726885e+02] [ 5.35489013e-02 -2.93047287e-04 9.98565185e-01 2.10611670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.30, Y:190.78, Z:21.06 [[ 2.15304920e-01 -9.76470899e-01 -1.21809508e-02 3.11299739e+02] [ 9.75077763e-01 2.15648236e-01 -5.21459001e-02 1.90783201e+02] [ 5.35457545e-02 -6.50105339e-04 9.98565185e-01 2.10618658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.32, Y:190.84, Z:21.07 [[ 2.15573610e-01 -9.76411800e-01 -1.21661771e-02 3.11322763e+02] [ 9.75018376e-01 2.15915753e-01 -5.21493468e-02 1.90836083e+02] [ 5.35461068e-02 -6.20223286e-04 9.98565186e-01 2.10715364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.34, Y:190.89, Z:21.07 [[ 2.09230620e-01 -9.77790762e-01 -1.21562150e-02 3.11335091e+02] [ 9.76399454e-01 2.09581270e-01 -5.21516689e-02 1.90893576e+02] [ 5.35411350e-02 -9.57595658e-04 9.98565186e-01 2.10699437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.630385723 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:190.95, Z:21.07 [[ 2.10642673e-01 -9.77487716e-01 -1.21420580e-02 3.11354450e+02] [ 9.76095715e-01 2.10990558e-01 -5.21549647e-02 1.90947504e+02] [ 5.35426970e-02 -8.65749627e-04 9.98565186e-01 2.10734919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.37, Y:191.00, Z:21.08 [[ 2.11410396e-01 -9.77322077e-01 -1.21326490e-02 3.11370360e+02] [ 9.75929678e-01 2.11756686e-01 -5.21571534e-02 1.91003174e+02] [ 5.35435071e-02 -8.14047741e-04 9.98565186e-01 2.10803572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.38, Y:191.06, Z:21.08 [[ 2.11553533e-01 -9.77291282e-01 -1.21182641e-02 3.11384568e+02] [ 9.75898642e-01 2.11898851e-01 -5.21604954e-02 1.91060054e+02] [ 5.35438437e-02 -7.91460406e-04 9.98565186e-01 2.10812799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.40, Y:191.12, Z:21.09 [[ 2.17150375e-01 -9.76063096e-01 -1.21057058e-02 3.11401154e+02] [ 9.74668337e-01 2.17487036e-01 -5.21634099e-02 1.91116029e+02] [ 5.35476134e-02 -4.71744099e-04 9.98565186e-01 2.10882423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.42, Y:191.17, Z:21.09 [[ 2.20289052e-01 -9.75359711e-01 -1.20899725e-02 3.11416483e+02] [ 9.73963677e-01 2.20620383e-01 -5.21670562e-02 1.91170514e+02] [ 5.35489392e-02 -2.83362727e-04 9.98565186e-01 2.10944338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.43, Y:191.23, Z:21.10 [[ 2.21699690e-01 -9.75040215e-01 -1.20758521e-02 3.11430313e+02] [ 9.73643526e-01 2.22028246e-01 -5.21703246e-02 1.91227024e+02] [ 5.35493448e-02 -1.91430409e-04 9.98565186e-01 2.10966586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.45, Y:191.28, Z:21.10 [[ 2.23693217e-01 -9.74584973e-01 -1.20613002e-02 3.11446292e+02] [ 9.73187433e-01 2.24018137e-01 -5.21736887e-02 1.91283377e+02] [ 5.35496430e-02 -6.70055122e-05 9.98565186e-01 2.10990035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.46, Y:191.34, Z:21.10 [[ 2.23183394e-01 -9.74701962e-01 -1.20522854e-02 3.11464544e+02] [ 9.73304480e-01 2.23508563e-01 -5.21757710e-02 1.91338677e+02] [ 5.35496154e-02 -8.57776592e-05 9.98565186e-01 2.11036365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.110385723 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:311.48, Y:191.39, Z:21.11 [[ 2.22838424e-01 -9.74781067e-01 -1.20377879e-02 3.11482637e+02] [ 9.73383520e-01 2.23163311e-01 -5.21791156e-02 1.91394443e+02] [ 5.35496066e-02 -8.98724986e-05 9.98565186e-01 2.11084469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.50, Y:191.45, Z:21.11 [[ 2.23551272e-01 -9.74618014e-01 -1.20231591e-02 3.11498411e+02] [ 9.73220048e-01 2.23874354e-01 -5.21824862e-02 1.91449174e+02] [ 5.35496680e-02 -3.57183242e-05 9.98565187e-01 2.11099902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.52, Y:191.50, Z:21.11 [[ 2.23812465e-01 -9.74558250e-01 -1.20082283e-02 3.11515060e+02] [ 9.73160014e-01 2.24134373e-01 -5.21859219e-02 1.91504795e+02] [ 5.35496774e-02 -6.06776592e-06 9.98565187e-01 2.11138599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.290385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:191.56, Z:21.12 [[ 2.22541611e-01 -9.74849414e-01 -1.19938322e-02 3.11533485e+02] [ 9.73451420e-01 2.22864571e-01 -5.21892303e-02 1.91559812e+02] [ 5.35496408e-02 -6.11375929e-05 9.98565187e-01 2.11191392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.350385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:311.55, Y:191.61, Z:21.12 [[ 2.20155589e-01 -9.75391208e-01 -1.19794539e-02 3.11550029e+02] [ 9.73993830e-01 2.20481199e-01 -5.21925304e-02 1.91614314e+02] [ 5.35493797e-02 -1.77436965e-04 9.98565187e-01 2.11234771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.410385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:311.56, Y:191.67, Z:21.13 [[ 2.18937110e-01 -9.75665559e-01 -1.19690587e-02 3.11564220e+02] [ 9.74268458e-01 2.19263909e-01 -5.21949142e-02 1.91670333e+02] [ 5.35491628e-02 -2.33672712e-04 9.98565187e-01 2.11273323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.470385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:191.72, Z:21.13 [[ 2.15875456e-01 -9.76347721e-01 -1.19547081e-02 3.11582577e+02] [ 9.74951471e-01 2.16205869e-01 -5.21982009e-02 1.91724286e+02] [ 5.35482725e-02 -3.86949827e-04 9.98565187e-01 2.11296897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.530385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:311.60, Y:191.78, Z:21.13 [[ 2.12830689e-01 -9.77016137e-01 -1.19401249e-02 3.11598863e+02] [ 9.75620737e-01 2.13164674e-01 -5.22015365e-02 1.91780719e+02] [ 5.35469564e-02 -5.38944492e-04 9.98565187e-01 2.11269054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.590385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:311.61, Y:191.84, Z:21.13 [[ 2.12942785e-01 -9.76991869e-01 -1.19271875e-02 3.11612974e+02] [ 9.75596266e-01 2.13275919e-01 -5.22044923e-02 1.91837193e+02] [ 5.35471464e-02 -5.19549602e-04 9.98565187e-01 2.11348704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.63, Y:191.89, Z:21.14 [[ 2.13567487e-01 -9.76855692e-01 -1.19115563e-02 3.11625321e+02] [ 9.75459677e-01 2.13898893e-01 -5.22080587e-02 1.91894421e+02] [ 5.35476080e-02 -4.69298967e-04 9.98565187e-01 2.11396475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.710385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:311.63, Y:191.95, Z:21.13 [[ 2.13197997e-01 -9.76936565e-01 -1.18979718e-02 3.11630289e+02] [ 9.75540503e-01 2.13529205e-01 -5.22111544e-02 1.91952348e+02] [ 5.35475503e-02 -4.75639840e-04 9.98565187e-01 2.11340642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.64, Y:192.01, Z:21.14 [[ 2.13689312e-01 -9.76829342e-01 -1.18875644e-02 3.11643247e+02] [ 9.75432983e-01 2.14019261e-01 -5.22135238e-02 1.92007523e+02] [ 5.35478699e-02 -4.38050417e-04 9.98565188e-01 2.11387888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:192.06, Z:21.15 [[ 2.12846543e-01 -9.77013518e-01 -1.18716224e-02 3.11654071e+02] [ 9.75617242e-01 2.13176845e-01 -5.22171483e-02 1.92063741e+02] [ 5.35476147e-02 -4.67919995e-04 9.98565188e-01 2.11490905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.890385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:311.66, Y:192.12, Z:21.15 [[ 2.11197849e-01 -9.77371445e-01 -1.18544254e-02 3.11664644e+02] [ 9.75975510e-01 2.11529588e-01 -5.22210521e-02 1.92120497e+02] [ 5.35469269e-02 -5.40654954e-04 9.98565188e-01 2.11489833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.68, Y:192.18, Z:21.16 [[ 2.09216391e-01 -9.77797660e-01 -1.18421720e-02 3.11675210e+02] [ 9.76402244e-01 2.09550304e-01 -5.22238307e-02 1.92176264e+02] [ 5.35458702e-02 -6.36641972e-04 9.98565188e-01 2.11560344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.010385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:311.69, Y:192.23, Z:21.15 [[ 2.10017300e-01 -9.77626164e-01 -1.18244430e-02 3.11687412e+02] [ 9.76230249e-01 2.10349123e-01 -5.22278445e-02 1.92233590e+02] [ 5.35465685e-02 -5.74628063e-04 9.98565188e-01 2.11533765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.70, Y:192.29, Z:21.16 [[ 2.06952684e-01 -9.78279612e-01 -1.18147410e-02 3.11698350e+02] [ 9.76884619e-01 2.07288362e-01 -5.22300392e-02 1.92290723e+02] [ 5.35446408e-02 -7.32491946e-04 9.98565188e-01 2.11619400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.71, Y:192.35, Z:21.16 [[ 2.05535736e-01 -9.78578491e-01 -1.17982502e-02 3.11709590e+02] [ 9.77183773e-01 2.05872554e-01 -5.22337640e-02 1.92346950e+02] [ 5.35437739e-02 -7.93153532e-04 9.98565188e-01 2.11649966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:311.72, Y:192.40, Z:21.17 [[ 2.05843321e-01 -9.78514022e-01 -1.17828628e-02 3.11720874e+02] [ 9.77119000e-01 2.06178880e-01 -5.22372349e-02 1.92404159e+02] [ 5.35442443e-02 -7.60573195e-04 9.98565188e-01 2.11686323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.250385723 meters Centerline goodness : 0.994354 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:192.46, Z:21.17 [[ 2.08361978e-01 -9.77980976e-01 -1.17684902e-02 3.11731286e+02] [ 9.76584913e-01 2.08693176e-01 -5.22404727e-02 1.92459605e+02] [ 5.35461920e-02 -6.08001765e-04 9.98565188e-01 2.11669624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.74, Y:192.52, Z:21.17 [[ 2.08393026e-01 -9.77974612e-01 -1.17475276e-02 3.11740069e+02] [ 9.76578274e-01 2.08723060e-01 -5.22451862e-02 1.92516411e+02] [ 5.35464456e-02 -5.84847790e-04 9.98565189e-01 2.11747606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37038572299997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:311.75, Y:192.57, Z:21.18 [[ 2.11444649e-01 -9.77319616e-01 -1.17272939e-02 3.11749360e+02] [ 9.75922002e-01 2.11769241e-01 -5.22497276e-02 1.92573299e+02] [ 5.35481638e-02 -3.96998803e-04 9.98565189e-01 2.11789707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.76, Y:192.63, Z:21.18 [[ 2.12668989e-01 -9.77054098e-01 -1.17128334e-02 3.11757089e+02] [ 9.75655901e-01 2.12991057e-01 -5.22529690e-02 1.92630487e+02] [ 5.35487063e-02 -3.15108912e-04 9.98565189e-01 2.11803864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.77, Y:192.69, Z:21.18 [[ 2.09701867e-01 -9.77695342e-01 -1.17023599e-02 3.11765836e+02] [ 9.76297998e-01 2.10027618e-01 -5.22553145e-02 1.92688056e+02] [ 5.35475964e-02 -4.66953483e-04 9.98565189e-01 2.11806889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.78, Y:192.74, Z:21.18 [[ 2.06752709e-01 -9.78323435e-01 -1.16864640e-02 3.11777019e+02] [ 9.76926880e-01 2.07081823e-01 -5.22588693e-02 1.92744170e+02] [ 5.35461308e-02 -6.12158041e-04 9.98565189e-01 2.11836966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.79, Y:192.80, Z:21.19 [[ 2.03265785e-01 -9.79054016e-01 -1.16728124e-02 3.11787897e+02] [ 9.77658468e-01 2.03599144e-01 -5.22619184e-02 1.92801284e+02] [ 5.35438157e-02 -7.88964029e-04 9.98565189e-01 2.11855579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.80, Y:192.86, Z:21.19 [[ 2.00562216e-01 -9.79611604e-01 -1.16576958e-02 3.11797535e+02] [ 9.78216788e-01 2.00898620e-01 -5.22652901e-02 1.92857645e+02] [ 5.35416997e-02 -9.21311342e-04 9.98565189e-01 2.11886896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.730385723 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:311.81, Y:192.91, Z:21.19 [[ 1.99248661e-01 -9.79879807e-01 -1.16419238e-02 3.11807306e+02] [ 9.78485239e-01 1.99586093e-01 -5.22688031e-02 1.92913746e+02] [ 5.35407108e-02 -9.76961595e-04 9.98565190e-01 2.11901705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.81, Y:192.97, Z:21.19 [[ 1.97643644e-01 -9.80205022e-01 -1.16234347e-02 3.11812786e+02] [ 9.78810769e-01 1.97982375e-01 -5.22729143e-02 1.92971153e+02] [ 5.35394084e-02 -1.04573375e-03 9.98565190e-01 2.11942776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:193.03, Z:21.20 [[ 1.95638477e-01 -9.80607420e-01 -1.16048720e-02 3.11816232e+02] [ 9.79213621e-01 1.95979070e-01 -5.22770350e-02 1.93028227e+02] [ 5.35375605e-02 -1.13624920e-03 9.98565190e-01 2.12001053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:193.09, Z:21.20 [[ 1.94508903e-01 -9.80832312e-01 -1.15871484e-02 3.11824262e+02] [ 9.79438675e-01 1.94850156e-01 -5.22809632e-02 1.93086046e+02] [ 5.35366157e-02 -1.17978852e-03 9.98565190e-01 2.12034114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.970385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:311.83, Y:193.14, Z:21.21 [[ 1.95861192e-01 -9.80563338e-01 -1.15730050e-02 3.11832764e+02] [ 9.79169048e-01 1.96199769e-01 -5.22840938e-02 1.93143207e+02] [ 5.35384864e-02 -1.09150339e-03 9.98565190e-01 2.12071920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.84, Y:193.20, Z:21.21 [[ 1.96571102e-01 -9.80421442e-01 -1.15584897e-02 3.11839586e+02] [ 9.79026720e-01 1.96907897e-01 -5.22873025e-02 1.93200976e+02] [ 5.35395504e-02 -1.03789761e-03 9.98565190e-01 2.12085303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.090385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:311.85, Y:193.26, Z:21.21 [[ 1.92136227e-01 -9.81300369e-01 -1.15436266e-02 3.11847163e+02] [ 9.79906990e-01 1.92478533e-01 -5.22905837e-02 1.93259235e+02] [ 5.35346694e-02 -1.26476496e-03 9.98565190e-01 2.12109223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.150385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.86, Y:193.32, Z:21.21 [[ 1.90926721e-01 -9.81536589e-01 -1.15287255e-02 3.11856022e+02] [ 9.80143437e-01 1.91269950e-01 -5.22938688e-02 1.93315797e+02] [ 5.35334444e-02 -1.31550773e-03 9.98565191e-01 2.12135851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.210385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:311.86, Y:193.37, Z:21.22 [[ 1.87358392e-01 -9.82224154e-01 -1.15127637e-02 3.11863156e+02] [ 9.80832047e-01 1.87705832e-01 -5.22973827e-02 1.93372282e+02] [ 5.35287653e-02 -1.49373408e-03 9.98565191e-01 2.12170416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.270385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:311.87, Y:193.43, Z:21.22 [[ 1.86181949e-01 -9.82448011e-01 -1.14972756e-02 3.11873903e+02] [ 9.81056115e-01 1.86530233e-01 -5.23007874e-02 1.93429275e+02] [ 5.35273941e-02 -1.54201001e-03 9.98565191e-01 2.12197894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.330385723 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:193.49, Z:21.22 [[ 1.85398015e-01 -9.82596417e-01 -1.14829488e-02 3.11881292e+02] [ 9.81204607e-01 1.85746647e-01 -5.23039327e-02 1.93487360e+02] [ 5.35265761e-02 -1.57007699e-03 9.98565191e-01 2.12228692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.89, Y:193.55, Z:21.23 [[ 1.86378511e-01 -9.82411074e-01 -1.14687326e-02 3.11889298e+02] [ 9.81018730e-01 1.86724998e-01 -5.23070498e-02 1.93545366e+02] [ 5.35285240e-02 -1.50213142e-03 9.98565191e-01 2.12263948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.90, Y:193.60, Z:21.23 [[ 1.89952085e-01 -9.81726541e-01 -1.14544752e-02 3.11895594e+02] [ 9.80332759e-01 1.90292743e-01 -5.23101718e-02 1.93603133e+02] [ 5.35339875e-02 -1.29277107e-03 9.98565191e-01 2.12292049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.510385723 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:311.90, Y:193.66, Z:21.23 [[ 1.94487127e-01 -9.80838357e-01 -1.14400671e-02 3.11903404e+02] [ 9.79442832e-01 1.94820573e-01 -5.23133226e-02 1.93660360e+02] [ 5.35396738e-02 -1.03062388e-03 9.98565191e-01 2.12317024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.91, Y:193.72, Z:21.24 [[ 1.95626522e-01 -9.80611909e-01 -1.14257403e-02 3.11911924e+02] [ 9.79215816e-01 1.95957582e-01 -5.23164515e-02 1.93718354e+02] [ 5.35410958e-02 -9.53780146e-04 9.98565191e-01 2.12350373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.92, Y:193.77, Z:21.24 [[ 1.94771023e-01 -9.80782351e-01 -1.14117857e-02 3.11922170e+02] [ 9.79386370e-01 1.95102557e-01 -5.23194953e-02 1.93774808e+02] [ 5.35405061e-02 -9.86225733e-04 9.98565191e-01 2.12379644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.93, Y:193.83, Z:21.24 [[ 1.93013160e-01 -9.81129985e-01 -1.13962083e-02 3.11932512e+02] [ 9.79734402e-01 1.93346364e-01 -5.23228881e-02 1.93832282e+02] [ 5.35389698e-02 -1.06625136e-03 9.98565192e-01 2.12425307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.94, Y:193.89, Z:21.25 [[ 1.91077997e-01 -9.81508867e-01 -1.13817015e-02 3.11942581e+02] [ 9.80113759e-01 1.91413179e-01 -5.23260436e-02 1.93889996e+02] [ 5.35370834e-02 -1.15700661e-03 9.98565192e-01 2.12523424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.95, Y:193.95, Z:21.25 [[ 1.90767000e-01 -9.81569513e-01 -1.13684993e-02 3.11951628e+02] [ 9.80174342e-01 1.91101922e-01 -5.23289117e-02 1.93946834e+02] [ 5.35370065e-02 -1.16048182e-03 9.98565192e-01 2.12479357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.96, Y:194.00, Z:21.25 [[ 1.91383100e-01 -9.81449681e-01 -1.13592614e-02 3.11961137e+02] [ 9.80054182e-01 1.91716653e-01 -5.23309170e-02 1.94004366e+02] [ 5.35379214e-02 -1.11743856e-03 9.98565192e-01 2.12497337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.97, Y:194.06, Z:21.25 [[ 1.92844375e-01 -9.81163772e-01 -1.13446259e-02 3.11971946e+02] [ 9.79767593e-01 1.93175069e-01 -5.23340896e-02 1.94060193e+02] [ 5.35398116e-02 -1.02276199e-03 9.98565192e-01 2.12537311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.98, Y:194.12, Z:21.26 [[ 1.95954491e-01 -9.80547543e-01 -1.13293063e-02 3.11981538e+02] [ 9.79150132e-01 1.96279939e-01 -5.23374058e-02 1.94118374e+02] [ 5.35430302e-02 -8.37342089e-04 9.98565192e-01 2.12617736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.99, Y:194.17, Z:21.26 [[ 1.99108038e-01 -9.79912215e-01 -1.13154637e-02 3.11991619e+02] [ 9.78513595e-01 1.99428250e-01 -5.23403984e-02 1.94174185e+02] [ 5.35456189e-02 -6.50941033e-04 9.98565192e-01 2.12629518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:194.23, Z:21.26 [[ 2.03932433e-01 -9.78919728e-01 -1.13016837e-02 3.12004376e+02] [ 9.77519384e-01 2.04245015e-01 -5.23433737e-02 1.94230344e+02] [ 5.35482737e-02 -3.73103347e-04 9.98565192e-01 2.12639150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.02, Y:194.29, Z:21.26 [[ 2.03642364e-01 -9.78980284e-01 -1.12867736e-02 3.12016640e+02] [ 9.77579854e-01 2.03954563e-01 -5.23465886e-02 1.94287217e+02] [ 5.35482671e-02 -3.73739436e-04 9.98565192e-01 2.12648791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.03, Y:194.34, Z:21.27 [[ 2.01302054e-01 -9.79464344e-01 -1.12730422e-02 3.12030361e+02] [ 9.78064499e-01 2.01616866e-01 -5.23495455e-02 1.94343778e+02] [ 5.35473487e-02 -4.87691327e-04 9.98565192e-01 2.12686821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.05, Y:194.40, Z:21.27 [[ 1.98561040e-01 -9.80023856e-01 -1.12585158e-02 3.12046094e+02] [ 9.78624721e-01 1.98878991e-01 -5.23526694e-02 1.94399814e+02] [ 5.35459473e-02 -6.22661398e-04 9.98565193e-01 2.12739489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.06, Y:194.46, Z:21.28 [[ 1.97874884e-01 -9.80162795e-01 -1.12439200e-02 3.12058757e+02] [ 9.78763705e-01 1.98193035e-01 -5.23558040e-02 1.94456154e+02] [ 5.35456779e-02 -6.45242153e-04 9.98565193e-01 2.12767884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:194.51, Z:21.28 [[ 1.97437755e-01 -9.80251109e-01 -1.12292579e-02 3.12072108e+02] [ 9.78851983e-01 1.97755747e-01 -5.23589486e-02 1.94511203e+02] [ 5.35455677e-02 -6.54148159e-04 9.98565193e-01 2.12783941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.470385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:194.57, Z:21.28 [[ 1.95311228e-01 -9.80677201e-01 -1.12139148e-02 3.12086777e+02] [ 9.79278580e-01 1.95631435e-01 -5.23622345e-02 1.94568201e+02] [ 5.35442438e-02 -7.54614249e-04 9.98565193e-01 2.12776071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:194.62, Z:21.28 [[ 1.95093171e-01 -9.80720755e-01 -1.12006974e-02 3.12100791e+02] [ 9.79322044e-01 1.95412983e-01 -5.23650616e-02 1.94624141e+02] [ 5.35442645e-02 -7.53023991e-04 9.98565193e-01 2.12816884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:194.68, Z:21.29 [[ 1.98239318e-01 -9.80089821e-01 -1.11854882e-02 3.12118144e+02] [ 9.78689909e-01 1.98553827e-01 -5.23683102e-02 1.94679888e+02] [ 5.35465693e-02 -5.65666285e-04 9.98565193e-01 2.12864716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.650385723 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:194.74, Z:21.29 [[ 1.98547938e-01 -9.80027496e-01 -1.11724191e-02 3.12134471e+02] [ 9.78627329e-01 1.98861308e-01 -5.23710983e-02 1.94735605e+02] [ 5.35468782e-02 -5.35461134e-04 9.98565193e-01 2.12858685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.15, Y:194.79, Z:21.29 [[ 1.97094095e-01 -9.80321075e-01 -1.11582665e-02 3.12147942e+02] [ 9.78921204e-01 1.97408786e-01 -5.23741135e-02 1.94792008e+02] [ 5.35461871e-02 -6.00435180e-04 9.98565193e-01 2.12920579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.16, Y:194.85, Z:21.30 [[ 1.94517780e-01 -9.80835677e-01 -1.11448652e-02 3.12161699e+02] [ 9.79436475e-01 1.94835432e-01 -5.23769650e-02 1.94847649e+02] [ 5.35446106e-02 -7.27436450e-04 9.98565193e-01 2.12956180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.830385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:312.18, Y:194.90, Z:21.30 [[ 1.89942471e-01 -9.81732133e-01 -1.11300206e-02 3.12177095e+02] [ 9.80334243e-01 1.90265852e-01 -5.23801193e-02 1.94903372e+02] [ 5.35409091e-02 -9.61931008e-04 9.98565194e-01 2.12986206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:194.96, Z:21.30 [[ 1.86858600e-01 -9.82323932e-01 -1.11155553e-02 3.12189996e+02] [ 9.80926885e-01 1.87185598e-01 -5.23831888e-02 1.94959711e+02] [ 5.35379319e-02 -1.11529767e-03 9.98565194e-01 2.13043993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:195.02, Z:21.31 [[ 1.86274678e-01 -9.82434990e-01 -1.11010891e-02 3.12202579e+02] [ 9.81037957e-01 1.86601736e-01 -5.23862543e-02 1.95015962e+02] [ 5.35375717e-02 -1.13235710e-03 9.98565194e-01 2.13077075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.22, Y:195.07, Z:21.31 [[ 1.88207273e-01 -9.82066755e-01 -1.10865333e-02 3.12215032e+02] [ 9.80668901e-01 1.88530805e-01 -5.23893346e-02 1.95072536e+02] [ 5.35399769e-02 -1.01216462e-03 9.98565194e-01 2.13103972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.070385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.23, Y:195.13, Z:21.31 [[ 1.91780970e-01 -9.81375297e-01 -1.10718332e-02 3.12228174e+02] [ 9.79976097e-01 1.92098626e-01 -5.23924411e-02 1.95128318e+02] [ 5.35435314e-02 -8.02258681e-04 9.98565194e-01 2.13112851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.130385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.24, Y:195.18, Z:21.32 [[ 1.95446680e-01 -9.80652002e-01 -1.10564802e-02 3.12241923e+02] [ 9.79251442e-01 1.95758285e-01 -5.23956809e-02 1.95184419e+02] [ 5.35463270e-02 -5.86512352e-04 9.98565194e-01 2.13158498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.26, Y:195.24, Z:21.32 [[ 1.95836909e-01 -9.80574314e-01 -1.10416992e-02 3.12255121e+02] [ 9.79173455e-01 1.96147168e-01 -5.23987956e-02 1.95240968e+02] [ 5.35467111e-02 -5.50120591e-04 9.98565194e-01 2.13188579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.27, Y:195.30, Z:21.32 [[ 1.94815324e-01 -9.80777956e-01 -1.10268429e-02 3.12269074e+02] [ 9.79377244e-01 1.95126248e-01 -5.24019218e-02 1.95297077e+02] [ 5.35462762e-02 -5.90741706e-04 9.98565194e-01 2.13231402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.28, Y:195.35, Z:21.33 [[ 1.92098657e-01 -9.81313834e-01 -1.10120873e-02 3.12283077e+02] [ 9.79913811e-01 1.92412671e-01 -5.24050225e-02 1.95353133e+02] [ 5.35446386e-02 -7.23961984e-04 9.98565194e-01 2.13275471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37038572299997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:312.30, Y:195.41, Z:21.33 [[ 1.87431538e-01 -9.82216103e-01 -1.09975263e-02 3.12297858e+02] [ 9.80817412e-01 1.87751427e-01 -5.24080780e-02 1.95409290e+02] [ 5.35408594e-02 -9.63638592e-04 9.98565195e-01 2.13325688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.430385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:312.31, Y:195.47, Z:21.33 [[ 1.84187520e-01 -9.82829759e-01 -1.09828673e-02 3.12310556e+02] [ 9.81431950e-01 1.84511244e-01 -5.24111498e-02 1.95466447e+02] [ 5.35377002e-02 -1.12545717e-03 9.98565195e-01 2.13335518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.32, Y:195.52, Z:21.34 [[ 1.81675251e-01 -9.83297410e-01 -1.09684212e-02 3.12322763e+02] [ 9.81900254e-01 1.82001776e-01 -5.24141729e-02 1.95522982e+02] [ 5.35349926e-02 -1.24753758e-03 9.98565195e-01 2.13360090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.33, Y:195.58, Z:21.34 [[ 1.81071581e-01 -9.83408917e-01 -1.09537660e-02 3.12334889e+02] [ 9.82011778e-01 1.81398184e-01 -5.24172354e-02 1.95580148e+02] [ 5.35345700e-02 -1.26545551e-03 9.98565195e-01 2.13383333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.610385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.35, Y:195.64, Z:21.34 [[ 1.81642173e-01 -9.83303846e-01 -1.09392262e-02 3.12349088e+02] [ 9.81906338e-01 1.81967190e-01 -5.24202697e-02 1.95636473e+02] [ 5.35356330e-02 -1.21956385e-03 9.98565195e-01 2.13392890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.670385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.36, Y:195.69, Z:21.34 [[ 1.81197873e-01 -9.83385972e-01 -1.09252789e-02 3.12360818e+02] [ 9.81988438e-01 1.81522779e-01 -5.24231764e-02 1.95693444e+02] [ 5.35354032e-02 -1.22952948e-03 9.98565195e-01 2.13429176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.37, Y:195.75, Z:21.35 [[ 1.78838995e-01 -9.83817852e-01 -1.09109408e-02 3.12373533e+02] [ 9.82420922e-01 1.79166487e-01 -5.24261604e-02 1.95750360e+02] [ 5.35326674e-02 -1.34329465e-03 9.98565195e-01 2.13460976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.790385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:312.39, Y:195.81, Z:21.35 [[ 1.74010686e-01 -9.84683475e-01 -1.08965199e-02 3.12387479e+02] [ 9.83287985e-01 1.74344261e-01 -5.24291576e-02 1.95806095e+02] [ 5.35258708e-02 -1.59118342e-03 9.98565195e-01 2.13518107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.40, Y:195.86, Z:21.36 [[ 1.72021212e-01 -9.85033135e-01 -1.08823215e-02 3.12399433e+02] [ 9.83638140e-01 1.72356849e-01 -5.24321044e-02 1.95863117e+02] [ 5.35230029e-02 -1.68483236e-03 9.98565195e-01 2.13563957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.910385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.41, Y:195.92, Z:21.36 [[ 1.70468748e-01 -9.85303149e-01 -1.08678488e-02 3.12411120e+02] [ 9.83908499e-01 1.70805814e-01 -5.24351041e-02 1.95920134e+02] [ 5.35207650e-02 -1.75442232e-03 9.98565196e-01 2.13602581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.42, Y:195.98, Z:21.37 [[ 1.70181519e-01 -9.85352959e-01 -1.08534186e-02 3.12421001e+02] [ 9.83958221e-01 1.70518225e-01 -5.24380908e-02 1.95977045e+02] [ 5.35207336e-02 -1.75531652e-03 9.98565196e-01 2.13659551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.030385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.43, Y:196.03, Z:21.37 [[ 1.66458922e-01 -9.85988818e-01 -1.08387084e-02 3.12427338e+02] [ 9.84595171e-01 1.66800111e-01 -5.24411312e-02 1.96034874e+02] [ 5.35142667e-02 -1.94244583e-03 9.98565196e-01 2.13721922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.44, Y:196.09, Z:21.37 [[ 1.66554498e-01 -9.85972849e-01 -1.08231025e-02 3.12436930e+02] [ 9.84578967e-01 1.66894723e-01 -5.24443518e-02 1.96090843e+02] [ 5.35150257e-02 -1.92135642e-03 9.98565196e-01 2.13716234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.150385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:312.45, Y:196.15, Z:21.37 [[ 1.64740759e-01 -9.86277688e-01 -1.08076088e-02 3.12446117e+02] [ 9.84884231e-01 1.65082725e-01 -5.24475445e-02 1.96148781e+02] [ 5.35119925e-02 -2.00399525e-03 9.98565196e-01 2.13724217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.45, Y:196.21, Z:21.37 [[ 1.60828338e-01 -9.86923374e-01 -1.07935309e-02 3.12454676e+02] [ 9.85531098e-01 1.61175080e-01 -5.24504416e-02 1.96206940e+02] [ 5.35042150e-02 -2.20184301e-03 9.98565196e-01 2.13685281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.47, Y:196.26, Z:21.37 [[ 1.59662007e-01 -9.87112819e-01 -1.07854728e-02 3.12468671e+02] [ 9.85720847e-01 1.60009967e-01 -5.24520985e-02 1.96262211e+02] [ 5.35019220e-02 -2.25685807e-03 9.98565196e-01 2.13734475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:196.32, Z:21.38 [[ 1.54086886e-01 -9.87998586e-01 -1.07715154e-02 3.12479081e+02] [ 9.86608412e-01 1.54441959e-01 -5.24549647e-02 1.96318624e+02] [ 5.34890049e-02 -2.54464550e-03 9.98565196e-01 2.13757403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.49, Y:196.38, Z:21.38 [[ 1.52851890e-01 -9.88190574e-01 -1.07558518e-02 3.12489268e+02] [ 9.86800632e-01 1.53207871e-01 -5.24581763e-02 1.96375446e+02] [ 5.34865565e-02 -2.59555003e-03 9.98565196e-01 2.13812151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.50, Y:196.43, Z:21.39 [[ 1.61826296e-01 -9.86760810e-01 -1.07403183e-02 3.12501924e+02] [ 9.85367487e-01 1.62168806e-01 -5.24613564e-02 1.96431380e+02] [ 5.35085551e-02 -2.09353348e-03 9.98565197e-01 2.13940060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.51, Y:196.49, Z:21.40 [[ 1.65224628e-01 -9.86197531e-01 -1.07355500e-02 3.12510014e+02] [ 9.84802975e-01 1.65562083e-01 -5.24623322e-02 1.96488829e+02] [ 5.35156225e-02 -1.90433222e-03 9.98565197e-01 2.13970511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.52, Y:196.55, Z:21.40 [[ 1.69330590e-01 -9.85500996e-01 -1.07208811e-02 3.12516539e+02] [ 9.84104863e-01 1.69661453e-01 -5.24653297e-02 1.96546715e+02] [ 5.35235549e-02 -1.66648597e-03 9.98565197e-01 2.13979759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.52, Y:196.61, Z:21.40 [[ 1.69785376e-01 -9.85422903e-01 -1.07064183e-02 3.12522739e+02] [ 9.84026435e-01 1.70114826e-01 -5.24682809e-02 1.96605362e+02] [ 5.35247662e-02 -1.62705182e-03 9.98565197e-01 2.13963918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:196.66, Z:21.40 [[ 1.72307668e-01 -9.84985138e-01 -1.06932166e-02 3.12535193e+02] [ 9.83587668e-01 1.72632839e-01 -5.24709713e-02 1.96661326e+02] [ 5.35291273e-02 -1.47656529e-03 9.98565197e-01 2.14035042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:196.72, Z:21.40 [[ 1.74869870e-01 -9.84533614e-01 -1.06813353e-02 3.12543092e+02] [ 9.83135157e-01 1.75190771e-01 -5.24733898e-02 1.96718179e+02] [ 5.35330875e-02 -1.32518141e-03 9.98565197e-01 2.14042225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.55, Y:196.78, Z:21.40 [[ 1.77428281e-01 -9.84075877e-01 -1.06711673e-02 3.12551993e+02] [ 9.82676468e-01 1.77745004e-01 -5.24754575e-02 1.96776406e+02] [ 5.35365786e-02 -1.17567480e-03 9.98565197e-01 2.14047595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:196.83, Z:21.41 [[ 1.80966605e-01 -9.83431501e-01 -1.06569287e-02 3.12564306e+02] [ 9.82030793e-01 1.81277534e-01 -5.24783490e-02 1.96831463e+02] [ 5.35407233e-02 -9.68603420e-04 9.98565197e-01 2.14110295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.930385723 meters Centerline goodness : 0.993766 with order 1 Centerline is valid? [True, True] Translation: X:312.58, Y:196.89, Z:21.41 [[ 1.81455562e-01 -9.83341565e-01 -1.06416484e-02 3.12575786e+02] [ 9.81940523e-01 1.81764979e-01 -5.24814474e-02 1.96886224e+02] [ 5.35414676e-02 -9.26415288e-04 9.98565197e-01 2.14087302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.59, Y:196.94, Z:21.42 [[ 1.80127927e-01 -9.83585870e-01 -1.06191472e-02 3.12586996e+02] [ 9.82184980e-01 1.80438034e-01 -5.24860000e-02 1.96941655e+02] [ 5.35405860e-02 -9.75772484e-04 9.98565197e-01 2.14155962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.60, Y:197.00, Z:21.42 [[ 1.78361983e-01 -9.83907892e-01 -1.05954336e-02 3.12600784e+02] [ 9.82507280e-01 1.78673340e-01 -5.24907866e-02 1.96998098e+02] [ 5.35392207e-02 -1.04772989e-03 9.98565198e-01 2.14177224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:197.05, Z:21.42 [[ 1.77124202e-01 -9.84131629e-01 -1.05808506e-02 3.12612705e+02] [ 9.82731236e-01 1.77436543e-01 -5.24937260e-02 1.97054862e+02] [ 5.35381657e-02 -1.10022310e-03 9.98565198e-01 2.14209000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:197.11, Z:21.42 [[ 1.72886779e-01 -9.84885027e-01 -1.05662421e-02 3.12626827e+02] [ 9.83485815e-01 1.73204366e-01 -5.24966664e-02 1.97110854e+02] [ 5.35332999e-02 -1.31576968e-03 9.98565198e-01 2.14218937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.64, Y:197.17, Z:21.43 [[ 1.69080204e-01 -9.85545811e-01 -1.05517066e-02 3.12641389e+02] [ 9.84147658e-01 1.69402422e-01 -5.24995878e-02 1.97166608e+02] [ 5.35282335e-02 -1.50779630e-03 9.98565198e-01 2.14263513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:197.22, Z:21.43 [[ 1.67725137e-01 -9.85777465e-01 -1.05388765e-02 3.12659648e+02] [ 9.84379598e-01 1.68048593e-01 -5.25021632e-02 1.97221957e+02] [ 5.35264928e-02 -1.56832251e-03 9.98565198e-01 2.14304537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:197.28, Z:21.44 [[ 1.65301190e-01 -9.86186977e-01 -1.05244468e-02 3.12674601e+02] [ 9.84789730e-01 1.65627315e-01 -5.25050556e-02 1.97278384e+02] [ 5.35229379e-02 -1.68521893e-03 9.98565198e-01 2.14364328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.69, Y:197.34, Z:21.44 [[ 1.66373302e-01 -9.86006820e-01 -1.05107670e-02 3.12690084e+02] [ 9.84609050e-01 1.66697180e-01 -5.25077940e-02 1.97335142e+02] [ 5.35251582e-02 -1.61310120e-03 9.98565198e-01 2.14411311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.70, Y:197.39, Z:21.44 [[ 1.67048408e-01 -9.85892811e-01 -1.04973940e-02 3.12699423e+02] [ 9.84494656e-01 1.67370617e-01 -5.25104674e-02 1.97391521e+02] [ 5.35266476e-02 -1.56283832e-03 9.98565198e-01 2.14400280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.530385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:312.71, Y:197.45, Z:21.45 [[ 1.69159280e-01 -9.85533008e-01 -1.04798675e-02 3.12713150e+02] [ 9.84133954e-01 1.69477561e-01 -5.25139650e-02 1.97447089e+02] [ 5.35303483e-02 -1.43036894e-03 9.98565199e-01 2.14454057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.590385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:312.73, Y:197.50, Z:21.45 [[ 1.69868949e-01 -9.85411107e-01 -1.04638072e-02 3.12730342e+02] [ 9.84011630e-01 1.70185367e-01 -5.25171650e-02 1.97502969e+02] [ 5.35317845e-02 -1.37547238e-03 9.98565199e-01 2.14543485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.650385723 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:312.74, Y:197.56, Z:21.46 [[ 1.65203438e-01 -9.86204169e-01 -1.04480478e-02 3.12740845e+02] [ 9.84806012e-01 1.65525637e-01 -5.25203001e-02 1.97559497e+02] [ 5.35251586e-02 -1.61276618e-03 9.98565199e-01 2.14564790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.76, Y:197.61, Z:21.47 [[ 1.70595324e-01 -9.85285884e-01 -1.04384786e-02 3.12759150e+02] [ 9.83885872e-01 1.70909361e-01 -5.25222019e-02 1.97614198e+02] [ 5.35334178e-02 -1.31022961e-03 9.98565199e-01 2.14725584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.76, Y:197.67, Z:21.46 [[ 1.69303063e-01 -9.85508917e-01 -1.04233985e-02 3.12762583e+02] [ 9.84109137e-01 1.69618133e-01 -5.25251945e-02 1.97672263e+02] [ 5.35320449e-02 -1.36508540e-03 9.98565199e-01 2.14629528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.77, Y:197.73, Z:21.46 [[ 1.71165765e-01 -9.85187224e-01 -1.04121963e-02 3.12772050e+02] [ 9.83786718e-01 1.71477591e-01 -5.25274150e-02 1.97728577e+02] [ 5.35347966e-02 -1.25248522e-03 9.98565199e-01 2.14644404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.78, Y:197.79, Z:21.47 [[ 1.71392423e-01 -9.85147975e-01 -1.03973440e-02 3.12784954e+02] [ 9.83747221e-01 1.71703136e-01 -5.25303548e-02 1.97785519e+02] [ 5.35354292e-02 -1.22505350e-03 9.98565199e-01 2.14679175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.80, Y:197.84, Z:21.47 [[ 1.72296298e-01 -9.84990441e-01 -1.03834525e-02 3.12795048e+02] [ 9.83589240e-01 1.72604985e-01 -5.25331005e-02 1.97842596e+02] [ 5.35368375e-02 -1.16179341e-03 9.98565199e-01 2.14716887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.010385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:312.80, Y:197.90, Z:21.47 [[ 1.74310884e-01 -9.84636073e-01 -1.03691639e-02 3.12804566e+02] [ 9.83234077e-01 1.74615942e-01 -5.25359207e-02 1.97899440e+02] [ 5.35393839e-02 -1.03773249e-03 9.98565199e-01 2.14736879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.070385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:312.82, Y:197.96, Z:21.48 [[ 1.75202849e-01 -9.84477902e-01 -1.03548223e-02 3.12816805e+02] [ 9.83075465e-01 1.75505871e-01 -5.25387473e-02 1.97955092e+02] [ 5.35405678e-02 -9.74633534e-04 9.98565200e-01 2.14783595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.130385723 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:312.83, Y:198.01, Z:21.48 [[ 1.76417001e-01 -9.84261145e-01 -1.03459982e-02 3.12826949e+02] [ 9.82858234e-01 1.76717822e-01 -5.25404849e-02 1.98011355e+02] [ 5.35418801e-02 -8.99614701e-04 9.98565200e-01 2.14801882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.190385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:312.84, Y:198.07, Z:21.48 [[ 1.77893302e-01 -9.83995548e-01 -1.03312943e-02 3.12836393e+02] [ 9.82592020e-01 1.78191233e-01 -5.25433760e-02 1.98069112e+02] [ 5.35433941e-02 -8.04332737e-04 9.98565200e-01 2.14829284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.250385723 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:312.85, Y:198.13, Z:21.49 [[ 1.77080840e-01 -9.84142226e-01 -1.03177274e-02 3.12846990e+02] [ 9.82738791e-01 1.77379206e-01 -5.25460400e-02 1.98126763e+02] [ 5.35429270e-02 -8.34734092e-04 9.98565200e-01 2.14862939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.310385723 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:198.18, Z:21.49 [[ 1.76096363e-01 -9.84319004e-01 -1.03038938e-02 3.12861104e+02] [ 9.82915710e-01 1.76395394e-01 -5.25487525e-02 1.98183198e+02] [ 5.35422951e-02 -8.74214909e-04 9.98565200e-01 2.14910035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37038572299997 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:312.87, Y:198.24, Z:21.49 [[ 1.70942102e-01 -9.85227289e-01 -1.02950304e-02 3.12871875e+02] [ 9.83825476e-01 1.71248001e-01 -5.25504889e-02 1.98240244e+02] [ 5.35371791e-02 -1.14542215e-03 9.98565200e-01 2.14921399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.430385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.89, Y:198.30, Z:21.50 [[ 1.70298182e-01 -9.85338955e-01 -1.02797615e-02 3.12887284e+02] [ 9.83937165e-01 1.70604183e-01 -5.25534756e-02 1.98296426e+02] [ 5.35367570e-02 -1.16487802e-03 9.98565200e-01 2.15041225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.490385723 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:312.90, Y:198.35, Z:21.51 [[ 1.68438200e-01 -9.85658763e-01 -1.02653125e-02 3.12902983e+02] [ 9.84257384e-01 1.68746076e-01 -5.25562978e-02 1.98352836e+02] [ 5.35348066e-02 -1.25122142e-03 9.98565200e-01 2.15116159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.550385723 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:312.91, Y:198.41, Z:21.52 [[ 1.67020047e-01 -9.85900149e-01 -1.02567399e-02 3.12913635e+02] [ 9.84499113e-01 1.67329482e-01 -5.25579707e-02 1.98409606e+02] [ 5.35331661e-02 -1.31951654e-03 9.98565200e-01 2.15184549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.610385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:312.92, Y:198.47, Z:21.52 [[ 1.65606320e-01 -9.86138761e-01 -1.02416548e-02 3.12924634e+02] [ 9.84737992e-01 1.65916961e-01 -5.25609101e-02 1.98466534e+02] [ 5.35316150e-02 -1.38092766e-03 9.98565200e-01 2.15202824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.670385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:312.93, Y:198.52, Z:21.51 [[ 1.56629527e-01 -9.87604479e-01 -1.02266742e-02 3.12927866e+02] [ 9.86206410e-01 1.56952100e-01 -5.25638247e-02 1.98524270e+02] [ 5.35173667e-02 -1.85256465e-03 9.98565200e-01 2.15097375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.730385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:312.94, Y:198.58, Z:21.51 [[ 1.53567502e-01 -9.88085363e-01 -1.02146062e-02 3.12938137e+02] [ 9.86688151e-01 1.53893765e-01 -5.25661698e-02 1.98580495e+02] [ 5.35118271e-02 -2.00617550e-03 9.98565200e-01 2.15121442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.96, Y:198.64, Z:21.53 [[ 1.57173590e-01 -9.87518318e-01 -1.01997627e-02 3.12957569e+02] [ 9.86119743e-01 1.57493961e-01 -5.25690498e-02 1.98635259e+02] [ 5.35193006e-02 -1.79572110e-03 9.98565201e-01 2.15266670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.96, Y:198.69, Z:21.52 [[ 1.49694662e-01 -9.88679815e-01 -1.01848585e-02 3.12961988e+02] [ 9.87283518e-01 1.50024819e-01 -5.25719372e-02 1.98693301e+02] [ 5.35047947e-02 -2.18560455e-03 9.98565201e-01 2.15175356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:198.75, Z:21.53 [[ 1.52485150e-01 -9.88253440e-01 -1.01694225e-02 3.12978920e+02] [ 9.86856026e-01 1.52810544e-01 -5.25749230e-02 1.98748882e+02] [ 5.35113435e-02 -2.01886087e-03 9.98565201e-01 2.15252484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.99, Y:198.80, Z:21.53 [[ 1.56908191e-01 -9.87560987e-01 -1.01546749e-02 3.12993827e+02] [ 9.86161951e-01 1.57226541e-01 -5.25777713e-02 1.98804928e+02] [ 5.35203401e-02 -1.76427100e-03 9.98565201e-01 2.15297651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:313.00, Y:198.86, Z:21.53 [[ 1.53452922e-01 -9.88103937e-01 -1.01395421e-02 3.12998609e+02] [ 9.86705838e-01 1.53775359e-01 -5.25806894e-02 1.98862282e+02] [ 5.35143980e-02 -1.93608494e-03 9.98565201e-01 2.15259093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.02, Y:198.92, Z:21.54 [[ 1.59834920e-01 -9.87091849e-01 -1.01232409e-02 3.13016272e+02] [ 9.85691501e-01 1.60147448e-01 -5.25838277e-02 1.98917681e+02] [ 5.35262789e-02 -1.57366069e-03 9.98565201e-01 2.15384506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.02, Y:198.98, Z:21.53 [[ 1.52329512e-01 -9.88278022e-01 -1.01129372e-02 3.13015389e+02] [ 9.86879963e-01 1.52652125e-01 -5.25858092e-02 1.98975937e+02] [ 5.35131609e-02 -1.96988438e-03 9.98565201e-01 2.15329367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.210385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:313.02, Y:199.03, Z:21.54 [[ 1.50901302e-01 -9.88497241e-01 -1.00996018e-02 3.13022917e+02] [ 9.87099486e-01 1.51225226e-01 -5.25883703e-02 1.99032344e+02] [ 5.35107735e-02 -2.03365823e-03 9.98565201e-01 2.15351922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.270385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:313.03, Y:199.09, Z:21.54 [[ 1.48531437e-01 -9.88856294e-01 -1.00818160e-02 3.13029906e+02] [ 9.87459098e-01 1.48857767e-01 -5.25917799e-02 1.99089522e+02] [ 5.35064691e-02 -2.14384826e-03 9.98565202e-01 2.15394895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.330385723 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:313.04, Y:199.15, Z:21.54 [[ 1.46223559e-01 -9.89200385e-01 -1.00632575e-02 3.13037859e+02] [ 9.87803723e-01 1.46552163e-01 -5.25953307e-02 1.99146792e+02] [ 5.35021136e-02 -2.24984677e-03 9.98565202e-01 2.15401620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.04, Y:199.20, Z:21.54 [[ 1.46828678e-01 -9.89110957e-01 -1.00426109e-02 3.13043075e+02] [ 9.87713838e-01 1.47155332e-01 -5.25992727e-02 1.99202353e+02] [ 5.35043407e-02 -2.19614406e-03 9.98565202e-01 2.15425877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.05, Y:199.26, Z:21.56 [[ 1.53265637e-01 -9.88134253e-01 -1.00170762e-02 3.13053914e+02] [ 9.86734730e-01 1.53581829e-01 -5.26041351e-02 1.99259033e+02] [ 5.35183887e-02 -1.82179076e-03 9.98565202e-01 2.15583572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.06, Y:199.32, Z:21.55 [[ 1.56501629e-01 -9.87627052e-01 -1.00023007e-02 3.13057353e+02] [ 9.86226326e-01 1.56812449e-01 -5.26069445e-02 1.99316656e+02] [ 5.35245268e-02 -1.63145979e-03 9.98565202e-01 2.15486755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.570385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:313.06, Y:199.37, Z:21.55 [[ 1.61292964e-01 -9.86855954e-01 -9.99529305e-03 3.13064326e+02] [ 9.85453655e-01 1.61596609e-01 -5.26082759e-02 1.99373602e+02] [ 5.35319957e-02 -1.36455332e-03 9.98565202e-01 2.15516499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.07, Y:199.43, Z:21.56 [[ 1.66836384e-01 -9.85934107e-01 -9.97786504e-03 3.13073489e+02] [ 9.84529928e-01 1.67131214e-01 -5.26115811e-02 1.99430126e+02] [ 5.35391650e-02 -1.04598082e-03 9.98565203e-01 2.15612193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.08, Y:199.49, Z:21.55 [[ 1.61942390e-01 -9.86749956e-01 -9.95922144e-03 3.13076586e+02] [ 9.85347044e-01 1.62243191e-01 -5.26151101e-02 1.99490009e+02] [ 5.35337734e-02 -1.29267271e-03 9.98565203e-01 2.15505812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.09, Y:199.54, Z:21.56 [[ 1.64832312e-01 -9.86271461e-01 -9.94553251e-03 3.13090536e+02] [ 9.84867520e-01 1.65128271e-01 -5.26176975e-02 1.99544366e+02] [ 5.35376220e-02 -1.12193522e-03 9.98565203e-01 2.15631259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.10, Y:199.60, Z:21.57 [[ 1.63336659e-01 -9.86520407e-01 -9.93086650e-03 3.13098806e+02] [ 9.85116751e-01 1.63633965e-01 -5.26204654e-02 1.99599775e+02] [ 5.35361900e-02 -1.18821192e-03 9.98565203e-01 2.15672825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.11, Y:199.66, Z:21.57 [[ 1.65280052e-01 -9.86196850e-01 -9.91349484e-03 3.13111567e+02] [ 9.84792417e-01 1.65573665e-01 -5.26237379e-02 1.99657007e+02] [ 5.35387783e-02 -1.06508040e-03 9.98565203e-01 2.15685357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.12, Y:199.71, Z:21.57 [[ 1.64701863e-01 -9.86293708e-01 -9.90039700e-03 3.13120674e+02] [ 9.84889301e-01 1.64995601e-01 -5.26262020e-02 1.99714854e+02] [ 5.35384139e-02 -1.08316156e-03 9.98565203e-01 2.15663506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:199.77, Z:21.57 [[ 1.64382822e-01 -9.86347070e-01 -9.88659099e-03 3.13131916e+02] [ 9.84942604e-01 1.64676278e-01 -5.26287955e-02 1.99770965e+02] [ 5.35383453e-02 -1.08645475e-03 9.98565203e-01 2.15685936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.14, Y:199.83, Z:21.57 [[ 1.61693065e-01 -9.86791729e-01 -9.87098390e-03 3.13144862e+02] [ 9.85387892e-01 1.61989517e-01 -5.26317226e-02 1.99826794e+02] [ 5.35355445e-02 -1.21656348e-03 9.98565203e-01 2.15747234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.110385723 meters Centerline goodness : 0.994824 with order 1 Centerline is valid? [True, True] Translation: X:313.16, Y:199.88, Z:21.58 [[ 1.63245871e-01 -9.86536178e-01 -9.85668222e-03 3.13157139e+02] [ 9.85131717e-01 1.63539350e-01 -5.26344009e-02 1.99880567e+02] [ 5.35376961e-02 -1.11778167e-03 9.98565204e-01 2.15818578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.17, Y:199.94, Z:21.58 [[ 1.62317679e-01 -9.86689530e-01 -9.83581261e-03 3.13166328e+02] [ 9.85285112e-01 1.62611367e-01 -5.26383005e-02 1.99935891e+02] [ 5.35370749e-02 -1.14695295e-03 9.98565204e-01 2.15833405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.230385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.18, Y:199.99, Z:21.59 [[ 1.67166375e-01 -9.85879867e-01 -9.81277650e-03 3.13178262e+02] [ 9.84473773e-01 1.67451926e-01 -5.26425945e-02 1.99992560e+02] [ 5.35424424e-02 -8.60349398e-04 9.98565204e-01 2.15900267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.19, Y:200.05, Z:21.60 [[ 1.71185594e-01 -9.85190086e-01 -9.79725645e-03 3.13189274e+02] [ 9.83782675e-01 1.71464579e-01 -5.26454828e-02 2.00049073e+02] [ 5.35456902e-02 -6.26222895e-04 9.98565204e-01 2.15950115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.20, Y:200.11, Z:21.59 [[ 1.71078697e-01 -9.85208803e-01 -9.78231870e-03 3.13197291e+02] [ 9.83801264e-01 1.71357036e-01 -5.26482583e-02 2.00106830e+02] [ 5.35457967e-02 -6.16862073e-04 9.98565204e-01 2.15894502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.22, Y:200.16, Z:21.60 [[ 1.73479941e-01 -9.84788910e-01 -9.77305934e-03 3.13215340e+02] [ 9.83380600e-01 1.73754353e-01 -5.26499771e-02 2.00162433e+02] [ 5.35472251e-02 -4.76922029e-04 9.98565204e-01 2.16007806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.23, Y:200.22, Z:21.61 [[ 1.67271925e-01 -9.85862500e-01 -9.75884709e-03 3.13229599e+02] [ 9.84455794e-01 1.67554446e-01 -5.26526112e-02 2.00218398e+02] [ 5.35433731e-02 -7.99849919e-04 9.98565204e-01 2.16058823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.24, Y:200.27, Z:21.61 [[ 1.59821217e-01 -9.87097891e-01 -9.74330984e-03 3.13243740e+02] [ 9.85693187e-01 1.60113526e-01 -5.26554862e-02 2.00273482e+02] [ 5.35361551e-02 -1.18845022e-03 9.98565205e-01 2.16104810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.590385723 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:200.33, Z:21.61 [[ 1.51313886e-01 -9.88437881e-01 -9.72949428e-03 3.13253764e+02] [ 9.87035587e-01 1.51617546e-01 -5.26580389e-02 2.00331683e+02] [ 5.35243624e-02 -1.63546461e-03 9.98565205e-01 2.16116412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.650385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:313.27, Y:200.39, Z:21.62 [[ 1.48313641e-01 -9.88892648e-01 -9.71568638e-03 3.13265798e+02] [ 9.87491121e-01 1.48620821e-01 -5.26605864e-02 2.00387520e+02] [ 5.35196200e-02 -1.78387071e-03 9.98565205e-01 2.16163505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.710385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:313.27, Y:200.44, Z:21.62 [[ 1.45595021e-01 -9.89296697e-01 -9.70228403e-03 3.13273073e+02] [ 9.87895862e-01 1.45905340e-01 -5.26630556e-02 2.00444667e+02] [ 5.35150020e-02 -1.91736755e-03 9.98565205e-01 2.16159045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.28, Y:200.50, Z:21.62 [[ 1.45721129e-01 -9.89278222e-01 -9.69290915e-03 3.13281713e+02] [ 9.87877237e-01 1.46030770e-01 -5.26647810e-02 2.00502189e+02] [ 5.35155839e-02 -1.90103298e-03 9.98565205e-01 2.16168593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.29, Y:200.56, Z:21.62 [[ 1.46752246e-01 -9.89125943e-01 -9.67716899e-03 3.13289082e+02] [ 9.87724452e-01 1.47059590e-01 -5.26676731e-02 2.00559001e+02] [ 5.35180823e-02 -1.82927713e-03 9.98565205e-01 2.16158858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.30, Y:200.62, Z:21.62 [[ 1.48644550e-01 -9.88843476e-01 -9.66317995e-03 3.13298374e+02] [ 9.87441239e-01 1.48948468e-01 -5.26702396e-02 2.00615964e+02] [ 5.35219387e-02 -1.71267828e-03 9.98565205e-01 2.16229257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.31, Y:200.67, Z:21.62 [[ 1.51940531e-01 -9.88342553e-01 -9.64741982e-03 3.13305673e+02] [ 9.86939131e-01 1.52238933e-01 -5.26731262e-02 2.00672675e+02] [ 5.35278049e-02 -1.51823336e-03 9.98565205e-01 2.16244452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.32, Y:200.73, Z:21.63 [[ 1.53449523e-01 -9.88109528e-01 -9.63347108e-03 3.13317769e+02] [ 9.86705496e-01 1.53745039e-01 -5.26756772e-02 2.00729479e+02] [ 5.35304369e-02 -1.42234130e-03 9.98565205e-01 2.16330408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.32, Y:200.79, Z:21.63 [[ 1.50557756e-01 -9.88554425e-01 -9.61829697e-03 3.13324033e+02] [ 9.87151091e-01 1.50856570e-01 -5.26784478e-02 2.00787852e+02] [ 5.35264959e-02 -1.56356348e-03 9.98565205e-01 2.16282845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.33, Y:200.84, Z:21.63 [[ 1.46753433e-01 -9.89126412e-01 -9.61096588e-03 3.13329898e+02] [ 9.87724154e-01 1.47057254e-01 -5.26797853e-02 2.00844281e+02] [ 5.35203292e-02 -1.76204380e-03 9.98565205e-01 2.16305479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.190385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:313.34, Y:200.90, Z:21.63 [[ 1.43462286e-01 -9.89609264e-01 -9.59564210e-03 3.13335936e+02] [ 9.88207846e-01 1.43769955e-01 -5.26825764e-02 2.00902307e+02] [ 5.35147307e-02 -1.92452597e-03 9.98565206e-01 2.16333473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.34, Y:200.96, Z:21.63 [[ 1.43169529e-01 -9.89651802e-01 -9.58102344e-03 3.13338579e+02] [ 9.88250304e-01 1.43476836e-01 -5.26852348e-02 2.00960909e+02] [ 5.35146925e-02 -1.92552906e-03 9.98565206e-01 2.16349124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:201.02, Z:21.64 [[ 1.44492472e-01 -9.89459654e-01 -9.56657261e-03 3.13345008e+02] [ 9.88057579e-01 1.44797137e-01 -5.26878587e-02 2.01019085e+02] [ 5.35177227e-02 -1.83932561e-03 9.98565206e-01 2.16361190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:201.08, Z:21.64 [[ 1.44589379e-01 -9.89445639e-01 -9.55194540e-03 3.13351356e+02] [ 9.88043365e-01 1.44893128e-01 -5.26905104e-02 2.01076777e+02] [ 5.35184069e-02 -1.81924808e-03 9.98565206e-01 2.16402223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:201.13, Z:21.64 [[ 1.44517779e-01 -9.89456239e-01 -9.53743292e-03 3.13357637e+02] [ 9.88053821e-01 1.44820858e-01 -5.26931371e-02 2.01134081e+02] [ 5.35187725e-02 -1.80840189e-03 9.98565206e-01 2.16430262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.490385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:201.19, Z:21.65 [[ 1.45467955e-01 -9.89317133e-01 -9.52285859e-03 3.13363666e+02] [ 9.87914258e-01 1.45768911e-01 -5.26957709e-02 2.01191832e+02] [ 5.35209657e-02 -1.74222175e-03 9.98565206e-01 2.16459260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:201.25, Z:21.65 [[ 1.43135454e-01 -9.89657431e-01 -9.50844259e-03 3.13367372e+02] [ 9.88255103e-01 1.43438949e-01 -5.26983720e-02 2.01249670e+02] [ 5.35172165e-02 -1.85376151e-03 9.98565206e-01 2.16483861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:201.31, Z:21.65 [[ 1.35296675e-01 -9.90759642e-01 -9.49423804e-03 3.13370226e+02] [ 9.89359592e-01 1.35610508e-01 -5.27009310e-02 2.01308077e+02] [ 5.35014740e-02 -2.26295472e-03 9.98565206e-01 2.16500447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:201.37, Z:21.65 [[ 1.23875280e-01 -9.92252513e-01 -9.47974500e-03 3.13372291e+02] [ 9.90855989e-01 1.24204452e-01 -5.27035379e-02 2.01366675e+02] [ 5.34726444e-02 -2.86439657e-03 9.98565206e-01 2.16525575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:201.42, Z:21.66 [[ 1.14931454e-01 -9.93328329e-01 -9.46531654e-03 3.13375449e+02] [ 9.91934640e-01 1.15272430e-01 -5.27061290e-02 2.01423698e+02] [ 5.34455811e-02 -3.33138331e-03 9.98565207e-01 2.16561809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:201.48, Z:21.66 [[ 1.04609639e-01 -9.94468459e-01 -9.45024463e-03 3.13371726e+02] [ 9.93078184e-01 1.04964276e-01 -5.27088313e-02 2.01483365e+02] [ 5.34092083e-02 -3.87097996e-03 9.98565207e-01 2.16618024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:201.54, Z:21.67 [[ 1.06833314e-01 -9.94232180e-01 -9.43481133e-03 3.13367852e+02] [ 9.92840910e-01 1.07184027e-01 -5.27115937e-02 2.01541628e+02] [ 5.34188238e-02 -3.73591242e-03 9.98565207e-01 2.16670716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:201.60, Z:21.67 [[ 1.14449208e-01 -9.93384429e-01 -9.42096711e-03 3.13361802e+02] [ 9.91990334e-01 1.14788517e-01 -5.27140679e-02 2.01600732e+02] [ 5.34467531e-02 -3.31242501e-03 9.98565207e-01 2.16684854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.970385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:201.66, Z:21.67 [[ 1.21320560e-01 -9.92568797e-01 -9.40769515e-03 3.13361357e+02] [ 9.91172222e-01 1.21649511e-01 -5.27164364e-02 2.01659219e+02] [ 5.34691314e-02 -2.92905851e-03 9.98565207e-01 2.16713525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.030385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:201.72, Z:21.67 [[ 1.31444854e-01 -9.91278977e-01 -9.39363362e-03 3.13356086e+02] [ 9.89878950e-01 1.31758787e-01 -5.27189420e-02 2.01717658e+02] [ 5.34968726e-02 -2.36892657e-03 9.98565207e-01 2.16741010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.090385723 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:201.78, Z:21.67 [[ 1.39704958e-01 -9.90148757e-01 -9.37892039e-03 3.13352436e+02] [ 9.88745993e-01 1.40006426e-01 -5.27215594e-02 2.01777470e+02] [ 5.35152956e-02 -1.90790673e-03 9.98565207e-01 2.16723229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.150385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:201.84, Z:21.68 [[ 1.44694813e-01 -9.89432013e-01 -9.36496400e-03 3.13353399e+02] [ 9.88027592e-01 1.44988462e-01 -5.27240384e-02 2.01835054e+02] [ 5.35246631e-02 -1.62394797e-03 9.98565207e-01 2.16777746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:201.89, Z:21.68 [[ 1.54220728e-01 -9.87992175e-01 -9.35031922e-03 3.13349103e+02] [ 9.86584835e-01 1.54500052e-01 -5.27266354e-02 2.01894634e+02] [ 5.35381280e-02 -1.09334306e-03 9.98565207e-01 2.16819264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:201.95, Z:21.68 [[ 1.59050163e-01 -9.87226352e-01 -9.33673108e-03 3.13353286e+02] [ 9.85817523e-01 1.59321876e-01 -5.27290415e-02 2.01953355e+02] [ 5.35430448e-02 -8.17750452e-04 9.98565208e-01 2.16825772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:202.01, Z:21.68 [[ 1.64666651e-01 -9.86305222e-01 -9.32221659e-03 3.13359330e+02] [ 9.84894723e-01 1.64929565e-01 -5.27316074e-02 2.02011195e+02] [ 5.35469689e-02 -4.98264709e-04 9.98565208e-01 2.16836974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:202.07, Z:21.69 [[ 1.65983250e-01 -9.86084645e-01 -9.30776179e-03 3.13367825e+02] [ 9.84673654e-01 1.66243508e-01 -5.27341588e-02 2.02068746e+02] [ 5.35476992e-02 -4.12120732e-04 9.98565208e-01 2.16861322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:202.13, Z:21.69 [[ 1.65115285e-01 -9.86230490e-01 -9.29314646e-03 3.13377459e+02] [ 9.84819585e-01 1.65376003e-01 -5.27367343e-02 2.02125487e+02] [ 5.35474387e-02 -4.44431725e-04 9.98565208e-01 2.16896066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.39, Y:202.18, Z:21.69 [[ 1.62363705e-01 -9.86687353e-01 -9.27873139e-03 3.13389329e+02] [ 9.85277036e-01 1.62627587e-01 -5.27392704e-02 2.02181804e+02] [ 5.35461488e-02 -5.79177629e-04 9.98565208e-01 2.16942209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.40, Y:202.24, Z:21.70 [[ 1.55624314e-01 -9.87772873e-01 -9.26414453e-03 3.13400976e+02] [ 9.86364239e-01 1.55897039e-01 -5.27418326e-02 2.02237545e+02] [ 5.35412042e-02 -9.29909327e-04 9.98565208e-01 2.16975789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.41, Y:202.29, Z:21.70 [[ 1.50150872e-01 -9.88619833e-01 -9.24884268e-03 3.13412499e+02] [ 9.87212569e-01 1.50430579e-01 -5.27445158e-02 2.02294509e+02] [ 5.35355832e-02 -1.21093872e-03 9.98565208e-01 2.17005428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:202.35, Z:21.71 [[ 1.44165683e-01 -9.89510475e-01 -9.23448506e-03 3.13424228e+02] [ 9.88104773e-01 1.44453136e-01 -5.27470294e-02 2.02350707e+02] [ 5.35276885e-02 -1.52032726e-03 9.98565208e-01 2.17054446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.43, Y:202.41, Z:21.71 [[ 1.46166887e-01 -9.89216979e-01 -9.22004816e-03 3.13434809e+02] [ 9.87810543e-01 1.46450727e-01 -5.27495528e-02 2.02407776e+02] [ 5.35310361e-02 -1.39742285e-03 9.98565208e-01 2.17083643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.45, Y:202.46, Z:21.71 [[ 1.54840320e-01 -9.87896569e-01 -9.21109905e-03 3.13445724e+02] [ 9.86487605e-01 1.55111331e-01 -5.27511155e-02 2.02464004e+02] [ 5.35413918e-02 -9.18635464e-04 9.98565208e-01 2.17116042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.46, Y:202.52, Z:21.71 [[ 1.57970648e-01 -9.87400944e-01 -9.20052764e-03 3.13455472e+02] [ 9.85991022e-01 1.58236628e-01 -5.27529592e-02 2.02521386e+02] [ 5.35441822e-02 -7.38218505e-04 9.98565208e-01 2.17143412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.47, Y:202.58, Z:21.72 [[ 1.64214954e-01 -9.86381808e-01 -9.18574562e-03 3.13465278e+02] [ 9.84970087e-01 1.64471217e-01 -5.27555330e-02 2.02578110e+02] [ 5.35478888e-02 -3.84437260e-04 9.98565209e-01 2.17163586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.990385723 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:202.63, Z:21.72 [[ 1.73391528e-01 -9.84810271e-01 -9.17107332e-03 3.13478667e+02] [ 9.83396090e-01 1.73633851e-01 -5.27580836e-02 2.02634660e+02] [ 5.35491113e-02 1.29007104e-04 9.98565209e-01 2.17155638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.49, Y:202.69, Z:21.72 [[ 1.82873074e-01 -9.83093842e-01 -9.16168535e-03 3.13493442e+02] [ 9.81677311e-01 1.83101254e-01 -5.27597138e-02 2.02690985e+02] [ 5.35452658e-02 6.54512382e-04 9.98565209e-01 2.17221681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.110385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.51, Y:202.75, Z:21.72 [[ 1.90701379e-01 -9.81605486e-01 -9.14623301e-03 3.13511105e+02] [ 9.80187055e-01 1.90917434e-01 -5.27623924e-02 2.02745685e+02] [ 5.35380292e-02 1.09684181e-03 9.98565209e-01 2.17224235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:202.80, Z:21.73 [[ 1.93842009e-01 -9.80990268e-01 -9.13066951e-03 3.13527972e+02] [ 9.79571029e-01 1.94052686e-01 -5.27650856e-02 2.02801361e+02] [ 5.35338664e-02 1.28395085e-03 9.98565209e-01 2.17291222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.230385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.55, Y:202.86, Z:21.73 [[ 1.99165962e-01 -9.79923372e-01 -9.11614840e-03 3.13550180e+02] [ 9.78502899e-01 1.99368148e-01 -5.27675943e-02 2.02856575e+02] [ 5.35256686e-02 1.58933105e-03 9.98565209e-01 2.17317401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.57, Y:202.91, Z:21.73 [[ 2.03304143e-01 -9.79073329e-01 -9.10172814e-03 3.13573810e+02] [ 9.77651907e-01 2.03499550e-01 -5.27700815e-02 2.02911709e+02] [ 5.35179769e-02 1.83005430e-03 9.98565209e-01 2.17335328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:202.97, Z:21.74 [[ 2.06303082e-01 -9.78445942e-01 -9.08720956e-03 3.13599887e+02] [ 9.77023823e-01 2.06493351e-01 -5.27725815e-02 2.02966079e+02] [ 5.35115666e-02 2.00872597e-03 9.98565209e-01 2.17382568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.62, Y:203.02, Z:21.74 [[ 2.07302221e-01 -9.78234831e-01 -9.07768978e-03 3.13620863e+02] [ 9.76812451e-01 2.07490525e-01 -5.27742190e-02 2.03021025e+02] [ 5.35091138e-02 2.07301242e-03 9.98565209e-01 2.17434104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.65, Y:203.07, Z:21.75 [[ 2.08525937e-01 -9.77974853e-01 -9.06206260e-03 3.13648076e+02] [ 9.76552128e-01 2.08711620e-01 -5.27769023e-02 2.03073936e+02] [ 5.35058410e-02 2.15577651e-03 9.98565210e-01 2.17465437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.530385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:313.68, Y:203.13, Z:21.75 [[ 2.13008759e-01 -9.77008408e-01 -9.04645745e-03 3.13682251e+02] [ 9.75584742e-01 2.13187074e-01 -5.27795770e-02 2.03126321e+02] [ 5.34946783e-02 2.41692637e-03 9.98565210e-01 2.17511346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.71, Y:203.18, Z:21.75 [[ 2.08253220e-01 -9.78033269e-01 -9.02888948e-03 3.13705446e+02] [ 9.76610364e-01 2.08437512e-01 -5.27825822e-02 2.03181359e+02] [ 5.35050807e-02 2.17443569e-03 9.98565210e-01 2.17482156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.73, Y:203.24, Z:21.75 [[ 2.07093422e-01 -9.78279665e-01 -9.01170486e-03 3.13728375e+02] [ 9.76856859e-01 2.07278475e-01 -5.27855160e-02 2.03236463e+02] [ 5.35069294e-02 2.12838742e-03 9.98565210e-01 2.17525669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.76, Y:203.29, Z:21.76 [[ 2.06036728e-01 -9.78502905e-01 -8.99622754e-03 3.13758080e+02] [ 9.77080190e-01 2.06222484e-01 -5.27881537e-02 2.03289628e+02] [ 5.35085861e-02 2.08626276e-03 9.98565210e-01 2.17633312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.770385723 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:313.79, Y:203.34, Z:21.77 [[ 2.04936593e-01 -9.78734058e-01 -8.97973041e-03 3.13786409e+02] [ 9.77311437e-01 2.05123060e-01 -5.27909598e-02 2.03344271e+02] [ 5.35102602e-02 2.04280623e-03 9.98565210e-01 2.17669109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.830385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:313.81, Y:203.40, Z:21.77 [[ 2.05060648e-01 -9.78708199e-01 -8.96619711e-03 3.13810431e+02] [ 9.77285458e-01 2.05246206e-01 -5.27932583e-02 2.03398580e+02] [ 5.35094727e-02 2.06328572e-03 9.98565210e-01 2.17676894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.890385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:313.83, Y:203.45, Z:21.77 [[ 2.06724001e-01 -9.78358335e-01 -8.95299394e-03 3.13831180e+02] [ 9.76935190e-01 2.06906428e-01 -5.27954973e-02 2.03453636e+02] [ 5.35053468e-02 2.16760157e-03 9.98565210e-01 2.17745552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:313.85, Y:203.51, Z:21.78 [[ 2.04131825e-01 -9.78902602e-01 -8.93835980e-03 3.13854706e+02] [ 9.77479842e-01 2.04317234e-01 -5.27979747e-02 2.03508157e+02] [ 5.35103358e-02 2.04068042e-03 9.98565210e-01 2.17763081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.88, Y:203.56, Z:21.78 [[ 2.00165918e-01 -9.79721381e-01 -8.92300989e-03 3.13881187e+02] [ 9.78299274e-01 2.00356261e-01 -5.28005688e-02 2.03562010e+02] [ 5.35176271e-02 1.83950024e-03 9.98565211e-01 2.17809695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:313.90, Y:203.62, Z:21.79 [[ 1.95938694e-01 -9.80575688e-01 -8.90776265e-03 3.13902440e+02] [ 9.79154301e-01 1.96134347e-01 -5.28031410e-02 2.03615933e+02] [ 5.35245945e-02 1.62410436e-03 9.98565211e-01 2.17851657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.92, Y:203.67, Z:21.79 [[ 1.92780606e-01 -9.81201594e-01 -8.89214733e-03 3.13924621e+02] [ 9.79780726e-01 1.92979995e-01 -5.28057705e-02 2.03670467e+02] [ 5.35291127e-02 1.46757388e-03 9.98565211e-01 2.17893486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.190385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:313.94, Y:203.73, Z:21.79 [[ 1.86827298e-01 -9.82352661e-01 -8.87748032e-03 3.13942409e+02] [ 9.80932914e-01 1.87034511e-01 -5.28082362e-02 2.03727102e+02] [ 5.35367065e-02 1.15780743e-03 9.98565211e-01 2.17911612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.95, Y:203.78, Z:21.80 [[ 1.77957370e-01 -9.83998284e-01 -8.86296466e-03 3.13954737e+02] [ 9.82580343e-01 1.78176604e-01 -5.28106723e-02 2.03783130e+02] [ 5.35447838e-02 6.89473464e-04 9.98565211e-01 2.17954212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.96, Y:203.84, Z:21.79 [[ 1.68561864e-01 -9.85651317e-01 -8.85323436e-03 3.13956675e+02] [ 9.84235447e-01 1.68794094e-01 -5.28123034e-02 2.03842740e+02] [ 5.35488901e-02 1.88473231e-04 9.98565211e-01 2.17924298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37038572299997 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:313.97, Y:203.90, Z:21.80 [[ 1.66540175e-01 -9.85995051e-01 -8.83904108e-03 3.13966240e+02] [ 9.84579535e-01 1.66774548e-01 -5.28146788e-02 2.03899953e+02] [ 5.35491390e-02 9.30268829e-05 9.98565211e-01 2.17955004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:313.98, Y:203.96, Z:21.80 [[ 1.65786402e-01 -9.86122214e-01 -8.82319478e-03 3.13976584e+02] [ 9.84706736e-01 1.66021008e-01 -5.28173259e-02 2.03957065e+02] [ 5.35491741e-02 6.81350810e-05 9.98565211e-01 2.18009937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.98, Y:204.01, Z:21.80 [[ 1.62833204e-01 -9.86614315e-01 -8.80573522e-03 3.13982136e+02] [ 9.85199388e-01 1.63071113e-01 -5.28202367e-02 2.04014536e+02] [ 5.35491626e-02 -7.45165635e-05 9.98565212e-01 2.17994258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.550385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:313.99, Y:204.07, Z:21.80 [[ 1.59058497e-01 -9.87230040e-01 -8.78872967e-03 3.13991014e+02] [ 9.85815878e-01 1.59300906e-01 -5.28230661e-02 2.04071148e+02] [ 5.35485702e-02 -2.62111762e-04 9.98565212e-01 2.18011600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.00, Y:204.13, Z:21.81 [[ 1.55713654e-01 -9.87763256e-01 -8.77538257e-03 3.13998805e+02] [ 9.86349798e-01 1.55960138e-01 -5.28252833e-02 2.04127614e+02] [ 5.35474837e-02 -4.29978930e-04 9.98565212e-01 2.18111351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.670385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:204.19, Z:21.82 [[ 1.56220369e-01 -9.87683354e-01 -8.76288892e-03 3.14007014e+02] [ 9.86269654e-01 1.56465459e-01 -5.28273557e-02 2.04185395e+02] [ 5.35477893e-02 -3.89862429e-04 9.98565212e-01 2.18171333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.730385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:204.24, Z:21.82 [[ 1.56441946e-01 -9.87648402e-01 -8.74938234e-03 3.14012865e+02] [ 9.86234522e-01 1.56685997e-01 -5.28295926e-02 2.04243134e+02] [ 5.35479684e-02 -3.64178630e-04 9.98565212e-01 2.18182810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:204.30, Z:21.82 [[ 1.61870409e-01 -9.86773359e-01 -8.73553639e-03 3.14026344e+02] [ 9.85358035e-01 1.62105940e-01 -5.28318820e-02 2.04300377e+02] [ 5.35491760e-02 -5.57126114e-05 9.98565212e-01 2.18211159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.04, Y:204.36, Z:21.82 [[ 1.63851350e-01 -9.86446490e-01 -8.72111426e-03 3.14036807e+02] [ 9.85030569e-01 1.64083267e-01 -5.28342626e-02 2.04356029e+02] [ 5.35491618e-02 6.64011269e-05 9.98565212e-01 2.18231253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.05, Y:204.41, Z:21.83 [[ 1.64994085e-01 -9.86256149e-01 -8.70401290e-03 3.14047474e+02] [ 9.84839813e-01 1.65223444e-01 -5.28370798e-02 2.04412007e+02] [ 5.35490018e-02 1.45747184e-04 9.98565212e-01 2.18259862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.970385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.06, Y:204.47, Z:21.83 [[ 1.64146173e-01 -9.86397763e-01 -8.68837156e-03 3.14059118e+02] [ 9.84981488e-01 1.64375912e-01 -5.28396517e-02 2.04469221e+02] [ 5.35490732e-02 1.15541459e-04 9.98565212e-01 2.18282366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.030385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:314.07, Y:204.53, Z:21.83 [[ 1.61492572e-01 -9.86835806e-01 -8.67421681e-03 3.14070511e+02] [ 9.85420029e-01 1.61725362e-01 -5.28419752e-02 2.04526296e+02] [ 5.35491940e-02 -1.41604936e-05 9.98565213e-01 2.18309240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.08, Y:204.58, Z:21.84 [[ 1.56684346e-01 -9.87610768e-01 -8.65951336e-03 3.14082343e+02] [ 9.86196009e-01 1.56923241e-01 -5.28443847e-02 2.04582790e+02] [ 5.35485622e-02 -2.60089678e-04 9.98565213e-01 2.18356323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.09, Y:204.64, Z:21.84 [[ 1.54865954e-01 -9.87897667e-01 -8.64495836e-03 3.14091509e+02] [ 9.86483218e-01 1.55106675e-01 -5.28467656e-02 2.04640078e+02] [ 5.35480873e-02 -3.43941587e-04 9.98565213e-01 2.18392311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.10, Y:204.70, Z:21.84 [[ 1.53245528e-01 -9.88150455e-01 -8.63056090e-03 3.14097995e+02] [ 9.86736270e-01 1.53487798e-01 -5.28491168e-02 2.04697441e+02] [ 5.35475646e-02 -4.17196672e-04 9.98565213e-01 2.18420747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.11, Y:204.75, Z:21.84 [[ 1.52903782e-01 -9.88203520e-01 -8.61604621e-03 3.14105202e+02] [ 9.86789286e-01 1.53145765e-01 -5.28514831e-02 2.04754979e+02] [ 5.35475326e-02 -4.21030460e-04 9.98565213e-01 2.18440760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.11, Y:204.81, Z:21.85 [[ 1.52186256e-01 -9.88314401e-01 -8.60163395e-03 3.14112521e+02] [ 9.86900211e-01 1.52428495e-01 -5.28538286e-02 2.04812701e+02] [ 5.35473341e-02 -4.45328084e-04 9.98565213e-01 2.18462815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.12, Y:204.87, Z:21.85 [[ 1.50368880e-01 -9.88592665e-01 -8.58736943e-03 3.14118832e+02] [ 9.87178791e-01 1.50612956e-01 -5.28561461e-02 2.04870121e+02] [ 5.35465674e-02 -5.29349503e-04 9.98565213e-01 2.18498765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.12, Y:204.93, Z:21.85 [[ 1.42370651e-01 -9.89776290e-01 -8.57285630e-03 3.14118418e+02] [ 9.88364296e-01 1.42625377e-01 -5.28584999e-02 2.04929094e+02] [ 5.35407968e-02 -9.47606016e-04 9.98565213e-01 2.18502480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.13, Y:204.99, Z:21.86 [[ 1.46371032e-01 -9.89192694e-01 -8.56357895e-03 3.14134001e+02] [ 9.87779594e-01 1.46619552e-01 -5.28600029e-02 2.04985849e+02] [ 5.35443168e-02 -7.21755374e-04 9.98565213e-01 2.18551210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.14, Y:205.04, Z:21.85 [[ 1.40993419e-01 -9.89973613e-01 -8.54992896e-03 3.14135323e+02] [ 9.88561753e-01 1.41248886e-01 -5.28622107e-02 2.05043878e+02] [ 5.35398616e-02 -9.98908946e-04 9.98565213e-01 2.18530347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.14, Y:205.10, Z:21.86 [[ 1.38344825e-01 -9.90347346e-01 -8.53488436e-03 3.14144009e+02] [ 9.88936027e-01 1.38603264e-01 -5.28646396e-02 2.05099737e+02] [ 5.35373183e-02 -1.12690532e-03 9.98565214e-01 2.18597735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.15, Y:205.16, Z:21.87 [[ 1.38727592e-01 -9.90293946e-01 -8.51792881e-03 3.14151225e+02] [ 9.88882363e-01 1.38984582e-01 -5.28673715e-02 2.05157529e+02] [ 5.35380987e-02 -1.08906641e-03 9.98565214e-01 2.18656853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.750385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:314.16, Y:205.21, Z:21.87 [[ 1.41100943e-01 -9.89958707e-01 -8.50190185e-03 3.14158154e+02] [ 9.88546358e-01 1.41353692e-01 -5.28699487e-02 2.05214995e+02] [ 5.35408413e-02 -9.44524498e-04 9.98565214e-01 2.18664781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.17, Y:205.27, Z:21.87 [[ 1.44600231e-01 -9.89453764e-01 -8.48659245e-03 3.14165430e+02] [ 9.88040387e-01 1.44847167e-01 -5.28724061e-02 2.05271866e+02] [ 5.35440601e-02 -7.39733960e-04 9.98565214e-01 2.18685115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.18, Y:205.33, Z:21.87 [[ 1.47776559e-01 -9.88984499e-01 -8.47049845e-03 3.14175536e+02] [ 9.87570190e-01 1.48018095e-01 -5.28749843e-02 2.05327864e+02] [ 5.35463269e-02 -5.51528533e-04 9.98565214e-01 2.18740377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.18, Y:205.38, Z:21.88 [[ 1.46132727e-01 -9.89228857e-01 -8.45545565e-03 3.14183298e+02] [ 9.87814813e-01 1.46375809e-01 -5.28773897e-02 2.05384665e+02] [ 5.35455140e-02 -6.25307181e-04 9.98565214e-01 2.18801690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.19, Y:205.44, Z:21.88 [[ 1.41572887e-01 -9.89891813e-01 -8.44491082e-03 3.14192228e+02] [ 9.88478804e-01 1.41821920e-01 -5.28790738e-02 2.05442379e+02] [ 5.35422357e-02 -8.61372211e-04 9.98565214e-01 2.18823831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.050385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:314.20, Y:205.50, Z:21.88 [[ 1.37757406e-01 -9.90430120e-01 -8.43062110e-03 3.14198957e+02] [ 9.89017944e-01 1.38011119e-01 -5.28813519e-02 2.05499827e+02] [ 5.35388032e-02 -1.05323769e-03 9.98565214e-01 2.18848881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.21, Y:205.56, Z:21.89 [[ 1.37220097e-01 -9.90504825e-01 -8.41645348e-03 3.14206611e+02] [ 9.89092651e-01 1.37473820e-01 -5.28836067e-02 2.05555415e+02] [ 5.35385096e-02 -1.06795865e-03 9.98565214e-01 2.18893688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.21, Y:205.61, Z:21.89 [[ 1.37854370e-01 -9.90416889e-01 -8.39992003e-03 3.14214803e+02] [ 9.89004396e-01 1.38106306e-01 -5.28862327e-02 2.05611843e+02] [ 5.35395000e-02 -1.01695952e-03 9.98565215e-01 2.18937178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.22, Y:205.67, Z:21.90 [[ 1.39856806e-01 -9.90136243e-01 -8.38415749e-03 3.14223293e+02] [ 9.88723095e-01 1.40105044e-01 -5.28887315e-02 2.05669228e+02] [ 5.35417126e-02 -8.92761086e-04 9.98565215e-01 2.18965397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.290385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:314.23, Y:205.73, Z:21.90 [[ 1.41116992e-01 -9.89957554e-01 -8.36874585e-03 3.14233565e+02] [ 9.88543948e-01 1.41362608e-01 -5.28911700e-02 2.05725333e+02] [ 5.35430410e-02 -8.09030239e-04 9.98565215e-01 2.18992765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.24, Y:205.78, Z:21.91 [[ 1.42693954e-01 -9.89731618e-01 -8.35221208e-03 3.14241448e+02] [ 9.88317471e-01 1.42936434e-01 -5.28937808e-02 2.05782898e+02] [ 5.35444827e-02 -7.07014396e-04 9.98565215e-01 2.19056509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:205.84, Z:21.91 [[ 1.42905953e-01 -9.89701173e-01 -8.33523092e-03 3.14245921e+02] [ 9.88286820e-01 1.43147222e-01 -5.28964566e-02 2.05839070e+02] [ 5.35448504e-02 -6.78380323e-04 9.98565215e-01 2.19083704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.470385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:205.90, Z:21.91 [[ 1.39348529e-01 -9.90208487e-01 -8.31508158e-03 3.14248052e+02] [ 9.88794822e-01 1.39593803e-01 -5.28996238e-02 2.05895605e+02] [ 5.35423903e-02 -8.50424868e-04 9.98565215e-01 2.19116654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.25, Y:205.95, Z:21.91 [[ 1.34561028e-01 -9.90870582e-01 -8.29576965e-03 3.14251176e+02] [ 9.89457936e-01 1.34812101e-01 -5.29026522e-02 2.05953286e+02] [ 5.35380519e-02 -1.08967987e-03 9.98565216e-01 2.19132679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.26, Y:206.01, Z:21.92 [[ 1.32136987e-01 -9.91196879e-01 -8.28036872e-03 3.14258189e+02] [ 9.89784703e-01 1.32390693e-01 -5.29050627e-02 2.06011120e+02] [ 5.35355767e-02 -1.20506673e-03 9.98565216e-01 2.19164363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.27, Y:206.07, Z:21.92 [[ 1.32017098e-01 -9.91212973e-01 -8.26607516e-03 3.14268478e+02] [ 9.89800691e-01 1.32270213e-01 -5.29072958e-02 2.06068665e+02] [ 5.35357535e-02 -1.19709924e-03 9.98565216e-01 2.19207333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.28, Y:206.13, Z:21.93 [[ 1.31559177e-01 -9.91273966e-01 -8.25274400e-03 3.14275037e+02] [ 9.89861674e-01 1.31812233e-01 -5.29093752e-02 2.06126857e+02] [ 5.35354988e-02 -1.20836113e-03 9.98565216e-01 2.19258166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.770385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:314.28, Y:206.18, Z:21.92 [[ 1.31220072e-01 -9.91319030e-01 -8.23857519e-03 3.14277537e+02] [ 9.89906689e-01 1.31472855e-01 -5.29115814e-02 2.06183835e+02] [ 5.35354065e-02 -1.21235918e-03 9.98565216e-01 2.19215074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.28, Y:206.24, Z:21.92 [[ 1.32921306e-01 -9.91092513e-01 -8.21934637e-03 3.14283765e+02] [ 9.89679559e-01 1.33170638e-01 -5.29145682e-02 2.06241748e+02] [ 5.35378080e-02 -1.10104558e-03 9.98565216e-01 2.19247331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.29, Y:206.30, Z:21.93 [[ 1.36153005e-01 -9.90653877e-01 -8.20093683e-03 3.14290190e+02] [ 9.89239948e-01 1.36396745e-01 -5.29174213e-02 2.06298487e+02] [ 5.35414297e-02 -9.07828372e-04 9.98565216e-01 2.19296737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.950385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.30, Y:206.36, Z:21.93 [[ 1.37135957e-01 -9.90518387e-01 -8.18862752e-03 3.14298482e+02] [ 9.89104105e-01 1.37377636e-01 -5.29193260e-02 2.06355084e+02] [ 5.35424998e-02 -8.42262674e-04 9.98565216e-01 2.19321428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.010385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:314.31, Y:206.41, Z:21.94 [[ 1.37141539e-01 -9.90517742e-01 -8.17321791e-03 3.14305662e+02] [ 9.89103318e-01 1.37382387e-01 -5.29217059e-02 2.06412335e+02] [ 5.35427448e-02 -8.26392767e-04 9.98565216e-01 2.19360876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.070385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:314.31, Y:206.47, Z:21.94 [[ 1.35200693e-01 -9.90784645e-01 -8.15844048e-03 3.14314605e+02] [ 9.89370560e-01 1.35443523e-01 -5.29239839e-02 2.06469857e+02] [ 5.35412785e-02 -9.16361514e-04 9.98565217e-01 2.19387054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.130385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:206.53, Z:21.94 [[ 1.31719316e-01 -9.91253604e-01 -8.14339667e-03 3.14324568e+02] [ 9.89840240e-01 1.31966309e-01 -5.29262986e-02 2.06525856e+02] [ 5.35380382e-02 -1.08924586e-03 9.98565217e-01 2.19412129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.33, Y:206.58, Z:21.95 [[ 1.30433029e-01 -9.91423800e-01 -8.12856595e-03 3.14333250e+02] [ 9.90010619e-01 1.30681064e-01 -5.29285762e-02 2.06582637e+02] [ 5.35368998e-02 -1.14373210e-03 9.98565217e-01 2.19454914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.34, Y:206.64, Z:21.95 [[ 1.29810592e-01 -9.91505620e-01 -8.11267200e-03 3.14342696e+02] [ 9.90092446e-01 1.30058666e-01 -5.29310123e-02 2.06639792e+02] [ 5.35365195e-02 -1.16128924e-03 9.98565217e-01 2.19483274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.35, Y:206.70, Z:21.95 [[ 1.31028318e-01 -9.91345552e-01 -8.09794197e-03 3.14353069e+02] [ 9.89931937e-01 1.31273870e-01 -5.29332657e-02 2.06697096e+02] [ 5.35382057e-02 -1.08065460e-03 9.98565217e-01 2.19497712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37038572299997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:314.36, Y:206.76, Z:21.95 [[ 1.28524087e-01 -9.91673446e-01 -8.08306591e-03 3.14358233e+02] [ 9.90260316e-01 1.28772415e-01 -5.29355373e-02 2.06755342e+02] [ 5.35356426e-02 -1.20084783e-03 9.98565217e-01 2.19492890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.37, Y:206.81, Z:21.95 [[ 1.31786716e-01 -9.91245265e-01 -8.06756636e-03 3.14366938e+02] [ 9.89831184e-01 1.32029565e-01 -5.29378994e-02 2.06811213e+02] [ 5.35395994e-02 -1.00901685e-03 9.98565217e-01 2.19520588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.37, Y:206.87, Z:21.95 [[ 1.32749201e-01 -9.91116938e-01 -8.05382740e-03 3.14374818e+02] [ 9.89702497e-01 1.32989943e-01 -5.29399895e-02 2.06868709e+02] [ 5.35407984e-02 -9.43151787e-04 9.98565217e-01 2.19522860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.550385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:314.39, Y:206.92, Z:21.96 [[ 1.38153962e-01 -9.90378140e-01 -8.03878824e-03 3.14393185e+02] [ 9.88962275e-01 1.38386180e-01 -5.29422731e-02 2.06922994e+02] [ 5.35453271e-02 -6.35873528e-04 9.98565218e-01 2.19584974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:206.98, Z:21.96 [[ 1.30398255e-01 -9.91429230e-01 -8.02349406e-03 3.14397005e+02] [ 9.90015086e-01 1.30640731e-01 -5.29445908e-02 2.06981721e+02] [ 5.35390101e-02 -1.03949792e-03 9.98565218e-01 2.19603795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:207.04, Z:21.96 [[ 1.28696320e-01 -9.91651712e-01 -8.00873693e-03 3.14406753e+02] [ 9.90237849e-01 1.28940436e-01 -5.29468230e-02 2.07039409e+02] [ 5.35374577e-02 -1.11649317e-03 9.98565218e-01 2.19627301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.730385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:207.09, Z:21.97 [[ 1.28301070e-01 -9.91703050e-01 -7.99349336e-03 3.14419816e+02] [ 9.90289144e-01 1.28544937e-01 -5.29491243e-02 2.07094866e+02] [ 5.35373311e-02 -1.12244038e-03 9.98565218e-01 2.19652409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.790385723 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:207.15, Z:21.97 [[ 1.32142588e-01 -9.91198616e-01 -7.97745430e-03 3.14438231e+02] [ 9.89783632e-01 1.32380117e-01 -5.29515406e-02 2.07149375e+02] [ 5.35415501e-02 -8.98800079e-04 9.98565218e-01 2.19675722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:207.21, Z:21.97 [[ 1.26358033e-01 -9.91952747e-01 -7.96207281e-03 3.14444279e+02] [ 9.90539031e-01 1.26602992e-01 -5.29538534e-02 2.07207884e+02] [ 5.35357426e-02 -1.19559913e-03 9.98565218e-01 2.19680612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.910385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:314.46, Y:207.26, Z:21.97 [[ 1.26650366e-01 -9.91915579e-01 -7.94792472e-03 3.14455969e+02] [ 9.90501660e-01 1.26894154e-01 -5.29559768e-02 2.07263812e+02] [ 5.35364036e-02 -1.16553876e-03 9.98565218e-01 2.19705221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:207.32, Z:21.98 [[ 1.31420809e-01 -9.91294939e-01 -7.93187096e-03 3.14474693e+02] [ 9.89879721e-01 1.31656934e-01 -5.29583813e-02 2.07318781e+02] [ 5.35416612e-02 -8.91764907e-04 9.98565218e-01 2.19795208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:207.38, Z:21.98 [[ 1.32547538e-01 -9.91145051e-01 -7.91443507e-03 3.14486861e+02] [ 9.89729411e-01 1.32781123e-01 -5.29609869e-02 2.07375428e+02] [ 5.35429076e-02 -8.13300743e-04 9.98565219e-01 2.19834109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.090385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:314.50, Y:207.43, Z:21.99 [[ 1.32321223e-01 -9.91175416e-01 -7.89868080e-03 3.14500441e+02] [ 9.89759691e-01 1.32554290e-01 -5.29633364e-02 2.07432215e+02] [ 5.35429610e-02 -8.09622392e-04 9.98565219e-01 2.19861624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.51, Y:207.49, Z:21.99 [[ 1.34317441e-01 -9.90907012e-01 -7.88156321e-03 3.14513380e+02] [ 9.89490672e-01 1.34546741e-01 -5.29658836e-02 2.07487797e+02] [ 5.35447041e-02 -6.84491339e-04 9.98565219e-01 2.19874906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.52, Y:207.55, Z:21.99 [[ 1.34513939e-01 -9.90880491e-01 -7.86468435e-03 3.14524205e+02] [ 9.89463960e-01 1.34742056e-01 -5.29683898e-02 2.07545158e+02] [ 5.35450478e-02 -6.56834983e-04 9.98565219e-01 2.19899176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.53, Y:207.60, Z:21.99 [[ 1.33317299e-01 -9.91042317e-01 -7.85012998e-03 3.14534904e+02] [ 9.89625936e-01 1.33546349e-01 -5.29705467e-02 2.07600873e+02] [ 5.35444095e-02 -7.06802018e-04 9.98565219e-01 2.19932724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.330385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:314.55, Y:207.66, Z:21.99 [[ 1.28585714e-01 -9.91667449e-01 -7.83488103e-03 3.14549872e+02] [ 9.90252043e-01 1.28820706e-01 -5.29728021e-02 2.07656705e+02] [ 5.35406984e-02 -9.46961373e-04 9.98565219e-01 2.19903803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.56, Y:207.71, Z:22.00 [[ 1.26479769e-01 -9.91938370e-01 -7.81910874e-03 3.14560603e+02] [ 9.90523325e-01 1.26716924e-01 -5.29751301e-02 2.07714154e+02] [ 5.35388776e-02 -1.04472739e-03 9.98565219e-01 2.19951690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.450385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:314.57, Y:207.77, Z:22.00 [[ 1.24143323e-01 -9.92233603e-01 -7.80464726e-03 3.14572780e+02] [ 9.90818989e-01 1.24383039e-01 -5.29772605e-02 2.07770596e+02] [ 5.35365838e-02 -1.15621954e-03 9.98565219e-01 2.19991271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.58, Y:207.83, Z:22.00 [[ 1.19945578e-01 -9.92749906e-01 -7.78985795e-03 3.14578838e+02] [ 9.91336182e-01 1.20190486e-01 -5.29794351e-02 2.07828806e+02] [ 5.35315960e-02 -1.36771909e-03 9.98565219e-01 2.20013604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.59, Y:207.89, Z:22.01 [[ 1.22583976e-01 -9.92427693e-01 -7.77446460e-03 3.14590650e+02] [ 9.91013184e-01 1.22824304e-01 -5.29816939e-02 2.07885173e+02] [ 5.35353935e-02 -1.20989024e-03 9.98565220e-01 2.20083381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.60, Y:207.94, Z:22.01 [[ 1.28506341e-01 -9.91678334e-01 -7.75899809e-03 3.14602658e+02] [ 9.90262280e-01 1.28737394e-01 -5.29839588e-02 2.07940732e+02] [ 5.35419172e-02 -8.74668488e-04 9.98565220e-01 2.20092217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.61, Y:208.00, Z:22.01 [[ 1.34131419e-01 -9.90933264e-01 -7.74781006e-03 3.14608974e+02] [ 9.89515828e-01 1.34353835e-01 -5.29855948e-02 2.07996723e+02] [ 5.35461364e-02 -5.59547685e-04 9.98565220e-01 2.20122363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.61, Y:208.05, Z:22.01 [[ 1.37177364e-01 -9.90516296e-01 -7.73553776e-03 3.14614670e+02] [ 9.89098082e-01 1.37394764e-01 -5.29873864e-02 2.08054152e+02] [ 5.35476921e-02 -3.82535590e-04 9.98565220e-01 2.20136759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.810385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:314.62, Y:208.11, Z:22.02 [[ 1.33201404e-01 -9.91058912e-01 -7.72127377e-03 3.14616741e+02] [ 9.89641463e-01 1.33423732e-01 -5.29894649e-02 2.08112265e+02] [ 5.35458826e-02 -5.83021526e-04 9.98565220e-01 2.20152500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.63, Y:208.17, Z:22.02 [[ 1.33800889e-01 -9.90978269e-01 -7.70670153e-03 3.14630572e+02] [ 9.89560563e-01 1.34021580e-01 -5.29915842e-02 2.08168180e+02] [ 5.35463726e-02 -5.35926833e-04 9.98565220e-01 2.20191459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.930385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:314.64, Y:208.23, Z:22.02 [[ 1.28423929e-01 -9.91689499e-01 -7.69626622e-03 3.14635857e+02] [ 9.90272921e-01 1.28651749e-01 -5.29930997e-02 2.08225284e+02] [ 5.35428386e-02 -8.15821953e-04 9.98565220e-01 2.20193540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.64, Y:208.28, Z:22.02 [[ 1.24451175e-01 -9.92196007e-01 -7.68035127e-03 3.14641982e+02] [ 9.90780214e-01 1.24683817e-01 -5.29954062e-02 2.08282202e+02] [ 5.35394459e-02 -1.01419948e-03 9.98565220e-01 2.20235734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.050385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.65, Y:208.34, Z:22.03 [[ 1.23757747e-01 -9.92282861e-01 -7.66451625e-03 3.14649284e+02] [ 9.90867091e-01 1.23990532e-01 -5.29976963e-02 2.08338241e+02] [ 5.35390331e-02 -1.03564147e-03 9.98565220e-01 2.20254249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.66, Y:208.40, Z:22.03 [[ 1.21691792e-01 -9.92538470e-01 -7.64805056e-03 3.14656192e+02] [ 9.91123042e-01 1.21926646e-01 -5.30000723e-02 2.08395668e+02] [ 5.35371118e-02 -1.13048534e-03 9.98565221e-01 2.20271737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.170385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.66, Y:208.45, Z:22.03 [[ 1.23316003e-01 -9.92338095e-01 -7.63336857e-03 3.14664860e+02] [ 9.90922157e-01 1.23547756e-01 -5.30021868e-02 2.08453179e+02] [ 5.35391747e-02 -1.02805624e-03 9.98565221e-01 2.20310933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.230385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:314.67, Y:208.51, Z:22.03 [[ 1.25411971e-01 -9.92075497e-01 -7.61872821e-03 3.14674195e+02] [ 9.90658946e-01 1.25639950e-01 -5.30042912e-02 2.08510113e+02] [ 5.35414752e-02 -9.00188645e-04 9.98565221e-01 2.20337139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:208.57, Z:22.04 [[ 1.29576110e-01 -9.91540322e-01 -7.60405571e-03 3.14682624e+02] [ 9.90122704e-01 1.29797356e-01 -5.30063960e-02 2.08566149e+02] [ 5.35449653e-02 -6.60585605e-04 9.98565221e-01 2.20386993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:208.62, Z:22.04 [[ 1.32457757e-01 -9.91159564e-01 -7.59344484e-03 3.14690545e+02] [ 9.89741222e-01 1.32674314e-01 -5.30079161e-02 2.08623705e+02] [ 5.35467581e-02 -4.94235684e-04 9.98565221e-01 2.20417809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:208.68, Z:22.04 [[ 1.31612087e-01 -9.91272324e-01 -7.57886053e-03 3.14698662e+02] [ 9.89854047e-01 1.31829074e-01 -5.30100012e-02 2.08681570e+02] [ 5.35464612e-02 -5.25208896e-04 9.98565221e-01 2.20440776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.470385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:208.74, Z:22.05 [[ 1.30028098e-01 -9.91481455e-01 -7.56424080e-03 3.14706758e+02] [ 9.90063407e-01 1.30246569e-01 -5.30120873e-02 2.08739427e+02] [ 5.35457178e-02 -5.96017147e-04 9.98565221e-01 2.20458425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:208.80, Z:22.05 [[ 1.27709760e-01 -9.91782850e-01 -7.54950780e-03 3.14713369e+02] [ 9.90365194e-01 1.27930759e-01 -5.30141853e-02 2.08796919e+02] [ 5.35443741e-02 -7.06340845e-04 9.98565221e-01 2.20500577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:208.86, Z:22.06 [[ 1.23191461e-01 -9.92354318e-01 -7.53473507e-03 3.14715701e+02] [ 9.90937556e-01 1.23418125e-01 -5.30162849e-02 2.08855461e+02] [ 5.35408621e-02 -9.35298349e-04 9.98565221e-01 2.20567875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:208.91, Z:22.06 [[ 1.20530405e-01 -9.92681152e-01 -7.52003863e-03 3.14720546e+02] [ 9.91264876e-01 1.20760082e-01 -5.30183694e-02 2.08913876e+02] [ 5.35384565e-02 -1.06402460e-03 9.98565221e-01 2.20580432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.73, Y:208.97, Z:22.06 [[ 1.18916178e-01 -9.92875928e-01 -7.50561196e-03 3.14727143e+02] [ 9.91459901e-01 1.19147387e-01 -5.30204116e-02 2.08971097e+02] [ 5.35369645e-02 -1.13652861e-03 9.98565222e-01 2.20619071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.770385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:209.03, Z:22.07 [[ 1.20595390e-01 -9.92673487e-01 -7.48997042e-03 3.14735764e+02] [ 9.91256937e-01 1.20823369e-01 -5.30226212e-02 2.09027368e+02] [ 5.35391137e-02 -1.03020144e-03 9.98565222e-01 2.20670022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:209.09, Z:22.07 [[ 1.21920830e-01 -9.92511669e-01 -7.47656663e-03 3.14741785e+02] [ 9.91094701e-01 1.22146201e-01 -5.30245111e-02 2.09085987e+02] [ 5.35406802e-02 -9.45193185e-04 9.98565222e-01 2.20676787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:209.14, Z:22.07 [[ 1.27716808e-01 -9.91782605e-01 -7.46204985e-03 3.14752708e+02] [ 9.90364226e-01 1.27933121e-01 -5.30265540e-02 2.09142592e+02] [ 5.35454572e-02 -6.17765025e-04 9.98565222e-01 2.20677137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:209.20, Z:22.07 [[ 1.25343923e-01 -9.92085360e-01 -7.45252217e-03 3.14751072e+02] [ 9.90667424e-01 1.25563120e-01 -5.30278930e-02 2.09201132e+02] [ 5.35439582e-02 -7.36246804e-04 9.98565222e-01 2.20700348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.76, Y:209.26, Z:22.07 [[ 1.28054918e-01 -9.91739193e-01 -7.43714567e-03 3.14757445e+02] [ 9.90320539e-01 1.28269416e-01 -5.30300495e-02 2.09259031e+02] [ 5.35459368e-02 -5.74399494e-04 9.98565222e-01 2.20733866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.77, Y:209.31, Z:22.08 [[ 1.33360771e-01 -9.91039768e-01 -7.42176488e-03 3.14769708e+02] [ 9.89619867e-01 1.33566851e-01 -5.30322020e-02 2.09314677e+02] [ 5.35483229e-02 -2.72310628e-04 9.98565222e-01 2.20778400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:209.37, Z:22.08 [[ 1.32127245e-01 -9.91205098e-01 -7.40573598e-03 3.14776602e+02] [ 9.89785330e-01 1.32334235e-01 -5.30344403e-02 2.09371897e+02] [ 5.35480400e-02 -3.22794340e-04 9.98565222e-01 2.20808279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.190385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:209.43, Z:22.09 [[ 1.25395126e-01 -9.92079349e-01 -7.39108320e-03 3.14778860e+02] [ 9.90660899e-01 1.25610966e-01 -5.30364823e-02 2.09430097e+02] [ 5.35447999e-02 -6.71540770e-04 9.98565222e-01 2.20852022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.79, Y:209.49, Z:22.09 [[ 1.26855513e-01 -9.91893783e-01 -7.37575437e-03 3.14791641e+02] [ 9.90474894e-01 1.27068445e-01 -5.30386140e-02 2.09485582e+02] [ 5.35458971e-02 -5.77258950e-04 9.98565223e-01 2.20884384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.80, Y:209.54, Z:22.09 [[ 1.23887054e-01 -9.92269032e-01 -7.35980595e-03 3.14798322e+02] [ 9.90850656e-01 1.24103378e-01 -5.30408269e-02 2.09542506e+02] [ 5.35441468e-02 -7.21396786e-04 9.98565223e-01 2.20919182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.80, Y:209.60, Z:22.10 [[ 1.21941062e-01 -9.92510172e-01 -7.34410859e-03 3.14803009e+02] [ 9.91092094e-01 1.22159328e-01 -5.30430003e-02 2.09599961e+02] [ 5.35428688e-02 -8.10568181e-04 9.98565223e-01 2.20965230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:209.66, Z:22.10 [[ 1.21505452e-01 -9.92563705e-01 -7.32922900e-03 3.14810080e+02] [ 9.91145600e-01 1.21723545e-01 -5.30450563e-02 2.09656903e+02] [ 5.35427373e-02 -8.19069560e-04 9.98565223e-01 2.20986521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.490385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:314.82, Y:209.71, Z:22.10 [[ 1.22180073e-01 -9.92481002e-01 -7.31366079e-03 3.14815264e+02] [ 9.91062623e-01 1.22396371e-01 -5.30472027e-02 2.09713198e+02] [ 5.35435064e-02 -7.66984733e-04 9.98565223e-01 2.21027183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.550385723 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:314.82, Y:209.77, Z:22.11 [[ 1.19446053e-01 -9.92813879e-01 -7.29676780e-03 3.14818746e+02] [ 9.91395961e-01 1.19665354e-01 -5.30495262e-02 2.09770498e+02] [ 5.35414762e-02 -8.97429612e-04 9.98565223e-01 2.21104852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.610385723 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:314.82, Y:209.83, Z:22.11 [[ 1.18711603e-01 -9.92902094e-01 -7.27921887e-03 3.14823756e+02] [ 9.91484193e-01 1.18931015e-01 -5.30519341e-02 2.09828559e+02] [ 5.35411014e-02 -9.19350328e-04 9.98565223e-01 2.21143719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.670385723 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:314.83, Y:209.88, Z:22.12 [[ 1.19334915e-01 -9.92827477e-01 -7.26489760e-03 3.14827549e+02] [ 9.91409321e-01 1.19552673e-01 -5.30538952e-02 2.09884623e+02] [ 5.35419029e-02 -8.71305128e-04 9.98565223e-01 2.21162250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.730385723 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:314.83, Y:209.94, Z:22.12 [[ 1.15024609e-01 -9.93336200e-01 -7.24793668e-03 3.14830065e+02] [ 9.91918860e-01 1.15247615e-01 -5.30562122e-02 2.09942623e+02] [ 5.35379637e-02 -1.08659501e-03 9.98565224e-01 2.21153871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.790385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:314.84, Y:210.00, Z:22.13 [[ 1.18383335e-01 -9.92941636e-01 -7.23146289e-03 3.14837940e+02] [ 9.91523415e-01 1.18600666e-01 -5.30584575e-02 2.09998993e+02] [ 5.35416079e-02 -8.88927619e-04 9.98565224e-01 2.21256678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.850385723 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:314.83, Y:210.06, Z:22.11 [[ 1.07090703e-01 -9.94223064e-01 -7.21665479e-03 3.14829954e+02] [ 9.92807275e-01 1.07323349e-01 -5.30604715e-02 2.10060085e+02] [ 5.35284601e-02 -1.48246416e-03 9.98565224e-01 2.21099105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.85, Y:210.11, Z:22.13 [[ 1.19576966e-01 -9.92798808e-01 -7.20250067e-03 3.14850092e+02] [ 9.91380093e-01 1.19791043e-01 -5.30623927e-02 2.10113386e+02] [ 5.35430753e-02 -7.95375869e-04 9.98565224e-01 2.21347892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.970385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:314.86, Y:210.17, Z:22.14 [[ 1.17880231e-01 -9.93001768e-01 -7.19309208e-03 3.14856319e+02] [ 9.91583344e-01 1.18096230e-01 -5.30636681e-02 2.10171134e+02] [ 5.35417933e-02 -8.77392863e-04 9.98565224e-01 2.21402646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.030385723 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:314.86, Y:210.23, Z:22.14 [[ 1.12397591e-01 -9.93637385e-01 -7.17831825e-03 3.14859341e+02] [ 9.92220051e-01 1.12620628e-01 -5.30656666e-02 2.10229327e+02] [ 5.35364569e-02 -1.15801818e-03 9.98565224e-01 2.21368488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.87, Y:210.29, Z:22.15 [[ 1.15358464e-01 -9.93298103e-01 -7.16263163e-03 3.14870404e+02] [ 9.91879981e-01 1.15576438e-01 -5.30677839e-02 2.10286063e+02] [ 5.35399605e-02 -9.82652880e-04 9.98565224e-01 2.21456464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.88, Y:210.34, Z:22.15 [[ 1.13180832e-01 -9.93548696e-01 -7.14761996e-03 3.14876847e+02] [ 9.92130931e-01 1.13401112e-01 -5.30698057e-02 2.10342899e+02] [ 5.35379843e-02 -1.08489007e-03 9.98565224e-01 2.21491542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.89, Y:210.40, Z:22.15 [[ 1.13379585e-01 -9.93526152e-01 -7.13123710e-03 3.14885258e+02] [ 9.92108208e-01 1.13598706e-01 -5.30720071e-02 2.10400459e+02] [ 5.35385263e-02 -1.05767674e-03 9.98565224e-01 2.21521215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.270385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.89, Y:210.46, Z:22.15 [[ 1.15118282e-01 -9.93326298e-01 -7.11668567e-03 3.14892122e+02] [ 9.91907854e-01 1.15334144e-01 -5.30739583e-02 2.10458156e+02] [ 5.35405553e-02 -9.49313512e-04 9.98565225e-01 2.21533588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.330385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:314.90, Y:210.52, Z:22.16 [[ 1.16053166e-01 -9.93217609e-01 -7.10234658e-03 3.14900418e+02] [ 9.91798847e-01 1.16266927e-01 -5.30758771e-02 2.10515936e+02] [ 5.35416637e-02 -8.84475574e-04 9.98565225e-01 2.21559824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.390385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:314.91, Y:210.57, Z:22.15 [[ 1.13293453e-01 -9.93536285e-01 -7.08828090e-03 3.14908808e+02] [ 9.92118007e-01 1.13510404e-01 -5.30777555e-02 2.10574374e+02] [ 5.35392696e-02 -1.01904892e-03 9.98565225e-01 2.21514221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.450385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:314.92, Y:210.63, Z:22.16 [[ 1.15498093e-01 -9.93282507e-01 -7.07476700e-03 3.14920520e+02] [ 9.91863642e-01 1.15711174e-01 -5.30795567e-02 2.10629639e+02] [ 5.35416247e-02 -8.86616588e-04 9.98565225e-01 2.21595027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.510385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:314.93, Y:210.69, Z:22.17 [[ 1.16838128e-01 -9.93125838e-01 -7.06551721e-03 3.14930519e+02] [ 9.91706614e-01 1.17048800e-01 -5.30807879e-02 2.10687479e+02] [ 5.35429123e-02 -8.05060271e-04 9.98565225e-01 2.21650702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.94, Y:210.74, Z:22.16 [[ 1.21504083e-01 -9.92565882e-01 -7.05173469e-03 3.14939479e+02] [ 9.91145578e-01 1.21707346e-01 -5.30826189e-02 2.10743488e+02] [ 5.35462443e-02 -5.39540733e-04 9.98565225e-01 2.21644286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.95, Y:210.80, Z:22.17 [[ 1.21092431e-01 -9.92616269e-01 -7.04032260e-03 3.14948232e+02] [ 9.91195962e-01 1.21295672e-01 -5.30841324e-02 2.10800179e+02] [ 5.35461341e-02 -5.50252711e-04 9.98565225e-01 2.21728830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:210.86, Z:22.17 [[ 1.21868906e-01 -9.92521364e-01 -7.02223983e-03 3.14959363e+02] [ 9.91100761e-01 1.22070070e-01 -5.30865244e-02 2.10855808e+02] [ 5.35467149e-02 -4.90150586e-04 9.98565225e-01 2.21694947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.750385723 meters Centerline goodness : 0.997112 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:210.91, Z:22.17 [[ 1.20986494e-01 -9.92629440e-01 -7.00449436e-03 3.14967936e+02] [ 9.91208882e-01 1.21187971e-01 -5.30888657e-02 2.10912871e+02] [ 5.35464315e-02 -5.19881315e-04 9.98565225e-01 2.21713343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.98, Y:210.97, Z:22.18 [[ 1.21568809e-01 -9.92558428e-01 -6.98516518e-03 3.14978623e+02] [ 9.91137606e-01 1.21768419e-01 -5.30914088e-02 2.10968575e+02] [ 5.35468978e-02 -4.69000543e-04 9.98565226e-01 2.21829551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87038572299997 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:314.99, Y:211.03, Z:22.19 [[ 1.21522173e-01 -9.92564279e-01 -6.96522626e-03 3.14987186e+02] [ 9.91143317e-01 1.21720784e-01 -5.30940246e-02 2.11025852e+02] [ 5.35470450e-02 -4.51436198e-04 9.98565226e-01 2.21850085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.930385723 meters Centerline goodness : 0.996830 with order 1 Centerline is valid? [True, True] Translation: X:315.00, Y:211.08, Z:22.18 [[ 1.19858893e-01 -9.92766607e-01 -6.95054833e-03 3.14996381e+02] [ 9.91345870e-01 1.20059099e-01 -5.30959460e-02 2.11081776e+02] [ 5.35463587e-02 -5.26376089e-04 9.98565226e-01 2.21835636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.990385723 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:315.01, Y:211.14, Z:22.19 [[ 1.18968924e-01 -9.92873794e-01 -6.92997257e-03 3.15010714e+02] [ 9.91453081e-01 1.19169303e-01 -5.30986314e-02 2.11138384e+02] [ 5.35460796e-02 -5.53655637e-04 9.98565226e-01 2.21875233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.050385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:315.02, Y:211.19, Z:22.19 [[ 1.12472015e-01 -9.93630862e-01 -6.91063295e-03 3.15017257e+02] [ 9.92211338e-01 1.12680650e-01 -5.31011483e-02 2.11194314e+02] [ 5.35416343e-02 -8.84415220e-04 9.98565226e-01 2.21937028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.110385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:315.03, Y:211.25, Z:22.20 [[ 1.10265224e-01 -9.93878283e-01 -6.89482177e-03 3.15027645e+02] [ 9.92459101e-01 1.10476166e-01 -5.31032012e-02 2.11250347e+02] [ 5.35398319e-02 -9.87392240e-04 9.98565226e-01 2.21964810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.04, Y:211.31, Z:22.20 [[ 1.10467795e-01 -9.93855897e-01 -6.87916076e-03 3.15037708e+02] [ 9.92436548e-01 1.10677611e-01 -5.31052299e-02 2.11306533e+02] [ 5.35403149e-02 -9.60712908e-04 9.98565227e-01 2.21998564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.230385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.05, Y:211.36, Z:22.20 [[ 1.13464472e-01 -9.93518347e-01 -6.86357325e-03 3.15046562e+02] [ 9.92098251e-01 1.13669174e-01 -5.31072444e-02 2.11362853e+02] [ 5.35431984e-02 -7.83553581e-04 9.98565227e-01 2.22019964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.06, Y:211.42, Z:22.20 [[ 1.16579357e-01 -9.93157774e-01 -6.84762010e-03 3.15056905e+02] [ 9.91736923e-01 1.16778751e-01 -5.31093013e-02 2.11418677e+02] [ 5.35455720e-02 -5.99589516e-04 9.98565227e-01 2.22025087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.07, Y:211.47, Z:22.21 [[ 1.17279373e-01 -9.93075468e-01 -6.83101624e-03 3.15066644e+02] [ 9.91654354e-01 1.17476878e-01 -5.31114369e-02 2.11474918e+02] [ 5.35461515e-02 -5.45130995e-04 9.98565227e-01 2.22054938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.410385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.08, Y:211.53, Z:22.21 [[ 1.16216249e-01 -9.93200551e-01 -6.81534895e-03 3.15076771e+02] [ 9.91779532e-01 1.16414438e-01 -5.31134473e-02 2.11532049e+02] [ 5.35457101e-02 -5.86677960e-04 9.98565227e-01 2.22091903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.09, Y:211.59, Z:22.21 [[ 1.14255782e-01 -9.93428058e-01 -6.80507493e-03 3.15086814e+02] [ 9.92007356e-01 1.14456226e-01 -5.31147636e-02 2.11587828e+02] [ 5.35445796e-02 -6.82015527e-04 9.98565227e-01 2.22133558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.10, Y:211.65, Z:22.22 [[ 1.11692487e-01 -9.93719600e-01 -6.79295033e-03 3.15097972e+02] [ 9.92299327e-01 1.11895948e-01 -5.31163142e-02 2.11645136e+02] [ 5.35428261e-02 -8.07946800e-04 9.98565227e-01 2.22181958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.590385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:315.10, Y:211.70, Z:22.21 [[ 1.02915651e-01 -9.94666993e-01 -6.77803927e-03 3.15097592e+02] [ 9.93248450e-01 1.03130846e-01 -5.31182169e-02 2.11704608e+02] [ 5.35339620e-02 -1.26558111e-03 9.98565227e-01 2.22107166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.650385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:315.11, Y:211.76, Z:22.22 [[ 1.10295149e-01 -9.93875861e-01 -6.76407085e-03 3.15114921e+02] [ 9.92455653e-01 1.10499063e-01 -5.31199955e-02 2.11760545e+02] [ 5.35421048e-02 -8.54162554e-04 9.98565227e-01 2.22242452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.710385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:315.12, Y:211.82, Z:22.23 [[ 1.11137949e-01 -9.93782064e-01 -6.75028553e-03 3.15123196e+02] [ 9.92361578e-01 1.11339922e-01 -5.31217473e-02 2.11817127e+02] [ 5.35430159e-02 -7.94881958e-04 9.98565228e-01 2.22257175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.770385723 meters Centerline goodness : 0.995609 with order 1 Centerline is valid? [True, True] Translation: X:315.13, Y:211.87, Z:22.23 [[ 1.11834541e-01 -9.93704019e-01 -6.73479300e-03 3.15130838e+02] [ 9.92283276e-01 1.12034690e-01 -5.31237114e-02 2.11873426e+02] [ 5.35437759e-02 -7.41756608e-04 9.98565228e-01 2.22289788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.13, Y:211.93, Z:22.23 [[ 1.10054982e-01 -9.93902820e-01 -6.71455900e-03 3.15130274e+02] [ 9.92482284e-01 1.10256594e-01 -5.31262687e-02 2.11931683e+02] [ 5.35426727e-02 -8.17270291e-04 9.98565228e-01 2.22264922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.14, Y:211.99, Z:22.23 [[ 1.12791805e-01 -9.93596105e-01 -6.69242246e-03 3.15137546e+02] [ 9.92174855e-01 1.12988320e-01 -5.31290572e-02 2.11989662e+02] [ 5.35449898e-02 -6.47531044e-04 9.98565228e-01 2.22318609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.950385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:315.15, Y:212.05, Z:22.24 [[ 1.19833480e-01 -9.92771548e-01 -6.67765869e-03 3.15147982e+02] [ 9.91348837e-01 1.20019124e-01 -5.31309127e-02 2.12045557e+02] [ 5.35483052e-02 -2.53027006e-04 9.98565228e-01 2.22352405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.15, Y:212.10, Z:22.24 [[ 1.15631886e-01 -9.93269798e-01 -6.66149459e-03 3.15149040e+02] [ 9.91847769e-01 1.15822683e-01 -5.31329393e-02 2.12103785e+02] [ 5.35468961e-02 -4.63326554e-04 9.98565228e-01 2.22402989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.16, Y:212.16, Z:22.24 [[ 1.18952284e-01 -9.92877730e-01 -6.64582396e-03 3.15158339e+02] [ 9.91454962e-01 1.19137487e-01 -5.31348993e-02 2.12159914e+02] [ 5.35482250e-02 -2.68517522e-04 9.98565228e-01 2.22430106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.16, Y:212.22, Z:22.25 [[ 1.16186856e-01 -9.93205247e-01 -6.62961438e-03 3.15162912e+02] [ 9.91782885e-01 1.16375153e-01 -5.31369217e-02 2.12217859e+02] [ 5.35473918e-02 -4.01326214e-04 9.98565229e-01 2.22458472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.17, Y:212.28, Z:22.26 [[ 1.14602045e-01 -9.93389456e-01 -6.61520604e-03 3.15167724e+02] [ 9.91967293e-01 1.14791840e-01 -5.31387154e-02 2.12275038e+02] [ 5.35468112e-02 -4.72262578e-04 9.98565229e-01 2.22566787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.17, Y:212.33, Z:22.25 [[ 1.12358920e-01 -9.93645771e-01 -6.59961338e-03 3.15172175e+02] [ 9.92223928e-01 1.12551092e-01 -5.31406519e-02 2.12333256e+02] [ 5.35457777e-02 -5.77468088e-04 9.98565229e-01 2.22484482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.18, Y:212.39, Z:22.25 [[ 1.09247700e-01 -9.93992749e-01 -6.58445056e-03 3.15176545e+02] [ 9.92571403e-01 1.09443512e-01 -5.31425306e-02 2.12390172e+02] [ 5.35439154e-02 -7.29838068e-04 9.98565229e-01 2.22508895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.18, Y:212.45, Z:22.25 [[ 1.04326946e-01 -9.94521360e-01 -6.56914372e-03 3.15180167e+02] [ 9.93100883e-01 1.04528972e-01 -5.31444226e-02 2.12445839e+02] [ 5.35399293e-02 -9.79427114e-04 9.98565229e-01 2.22541888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.18, Y:212.50, Z:22.26 [[ 9.96495113e-02 -9.95001025e-01 -6.55247859e-03 3.15181969e+02] [ 9.93581384e-01 9.98573248e-02 -5.31464773e-02 2.12503704e+02] [ 5.35351124e-02 -1.21440025e-03 9.98565229e-01 2.22578575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:212.56, Z:22.26 [[ 9.84248900e-02 -9.95123005e-01 -6.53797389e-03 3.15185672e+02] [ 9.93703507e-01 9.86336763e-02 -5.31482616e-02 2.12559481e+02] [ 5.35339222e-02 -1.26569578e-03 9.98565229e-01 2.22613915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.18, Y:212.62, Z:22.27 [[ 9.68730754e-02 -9.95275380e-01 -6.52109273e-03 3.15184818e+02] [ 9.93856076e-01 9.70831739e-02 -5.31503328e-02 2.12616250e+02] [ 5.35323061e-02 -1.33219144e-03 9.98565229e-01 2.22655775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:212.67, Z:22.27 [[ 9.79809827e-02 -9.95167038e-01 -6.50336329e-03 3.15187779e+02] [ 9.93747362e-01 9.81885547e-02 -5.31525020e-02 2.12674407e+02] [ 5.35341739e-02 -1.25476573e-03 9.98565230e-01 2.22683956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:212.73, Z:22.27 [[ 1.01674545e-01 -9.94796552e-01 -6.48893549e-03 3.15187307e+02] [ 9.93376006e-01 1.01876075e-01 -5.31542634e-02 2.12733420e+02] [ 5.35387452e-02 -1.04151728e-03 9.98565230e-01 2.22690443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:212.79, Z:22.27 [[ 1.05280284e-01 -9.94421512e-01 -6.47451063e-03 3.15188395e+02] [ 9.93000138e-01 1.05475891e-01 -5.31560203e-02 2.12791650e+02] [ 5.35423949e-02 -8.32909054e-04 9.98565230e-01 2.22699466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.790385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:212.85, Z:22.27 [[ 1.08280222e-01 -9.94099421e-01 -6.46022974e-03 3.15190349e+02] [ 9.92677361e-01 1.08470777e-01 -5.31577559e-02 2.12850062e+02] [ 5.35448405e-02 -6.56990176e-04 9.98565230e-01 2.22719213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.20, Y:212.91, Z:22.28 [[ 1.12742496e-01 -9.93603336e-01 -6.44522694e-03 3.15195082e+02] [ 9.92180331e-01 1.12925861e-01 -5.31595749e-02 2.12906484e+02] [ 5.35473637e-02 -4.01484243e-04 9.98565230e-01 2.22801865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.910385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:315.20, Y:212.96, Z:22.29 [[ 1.18455874e-01 -9.92938495e-01 -6.43047422e-03 3.15202097e+02] [ 9.91514362e-01 1.18630261e-01 -5.31613594e-02 2.12964460e+02] [ 5.35488090e-02 -7.86322467e-05 9.98565230e-01 2.22876552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.970385723 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:315.20, Y:213.02, Z:22.28 [[ 1.12790197e-01 -9.93598079e-01 -6.42104890e-03 3.15200082e+02] [ 9.92174899e-01 1.12972200e-01 -5.31624978e-02 2.13022595e+02] [ 5.35475557e-02 -3.74594961e-04 9.98565230e-01 2.22834803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.030385723 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:315.20, Y:213.08, Z:22.29 [[ 1.10565301e-01 -9.93848200e-01 -6.40856705e-03 3.15203910e+02] [ 9.92425345e-01 1.10749823e-01 -5.31640024e-02 2.13080654e+02] [ 5.35466958e-02 -4.81930410e-04 9.98565230e-01 2.22868217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.090385723 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:213.14, Z:22.29 [[ 1.07815341e-01 -9.94150380e-01 -6.39327822e-03 3.15205430e+02] [ 9.92727933e-01 1.08002981e-01 -5.31658409e-02 2.13138020e+02] [ 5.35453341e-02 -6.14692594e-04 9.98565230e-01 2.22901201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.150385723 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:213.20, Z:22.29 [[ 1.06905736e-01 -9.94248708e-01 -6.37729164e-03 3.15210570e+02] [ 9.92826320e-01 1.07093823e-01 -5.31677585e-02 2.13196269e+02] [ 5.35449437e-02 -6.47604630e-04 9.98565231e-01 2.22927999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.210385723 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:213.25, Z:22.29 [[ 1.07476360e-01 -9.94187281e-01 -6.36256351e-03 3.15214641e+02] [ 9.92764682e-01 1.07662842e-01 -5.31695209e-02 2.13254443e+02] [ 5.35454731e-02 -6.02061794e-04 9.98565231e-01 2.22946835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.270385723 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:315.22, Y:213.31, Z:22.30 [[ 1.07942700e-01 -9.94136851e-01 -6.34788948e-03 3.15221434e+02] [ 9.92714062e-01 1.08127731e-01 -5.31712728e-02 2.13311803e+02] [ 5.35459046e-02 -5.62188383e-04 9.98565231e-01 2.22978754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.330385723 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:315.23, Y:213.37, Z:22.30 [[ 1.11253103e-01 -9.93771924e-01 -6.33330559e-03 3.15226564e+02] [ 9.92348429e-01 1.11432614e-01 -5.31730099e-02 2.13368465e+02] [ 5.35475811e-02 -3.69183488e-04 9.98565231e-01 2.22960250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.390385723 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:315.23, Y:213.42, Z:22.30 [[ 1.14211068e-01 -9.93436425e-01 -6.31667513e-03 3.15232882e+02] [ 9.92012293e-01 1.14385450e-01 -5.31749854e-02 2.13424955e+02] [ 5.35485032e-02 -1.93047489e-04 9.98565231e-01 2.23043895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.450385723 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:315.24, Y:213.48, Z:22.31 [[ 1.16734149e-01 -9.93143224e-01 -6.29875281e-03 3.15240951e+02] [ 9.91718539e-01 1.16903953e-01 -5.31771083e-02 2.13482013e+02] [ 5.35488339e-02 -3.90054725e-05 9.98565231e-01 2.23081895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.510385723 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:315.25, Y:213.54, Z:22.31 [[ 1.16647052e-01 -9.93153552e-01 -6.28390421e-03 3.15249604e+02] [ 9.91728787e-01 1.16816186e-01 -5.31788629e-02 2.13538249e+02] [ 5.35488383e-02 -2.87711282e-05 9.98565231e-01 2.23096217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.570385723 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:315.26, Y:213.60, Z:22.31 [[ 1.14509924e-01 -9.93402298e-01 -6.27315132e-03 3.15259554e+02] [ 9.91977830e-01 1.14681548e-01 -5.31801313e-02 2.13596018e+02] [ 5.35486793e-02 -1.33174222e-04 9.98565231e-01 2.23112054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.630385723 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:315.27, Y:213.65, Z:22.31 [[ 1.07992843e-01 -9.94131969e-01 -6.25884900e-03 3.15266244e+02] [ 9.92708562e-01 1.08173040e-01 -5.31818145e-02 2.13654541e+02] [ 5.35467807e-02 -4.69957636e-04 9.98565231e-01 2.23091408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.690385723 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:315.28, Y:213.71, Z:22.32 [[ 1.09732620e-01 -9.93941528e-01 -6.24429020e-03 3.15276894e+02] [ 9.92517710e-01 1.09909546e-01 -5.31835239e-02 2.13710467e+02] [ 5.35476201e-02 -3.61601211e-04 9.98565232e-01 2.23184847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.750385723 meters Centerline goodness : 0.997152 with order 1 Centerline is valid? [True, True] Translation: X:315.29, Y:213.77, Z:22.31 [[ 1.09026103e-01 -9.94019372e-01 -6.22871632e-03 3.15286776e+02] [ 9.92595576e-01 1.09203208e-01 -5.31853478e-02 2.13766521e+02] [ 5.35474618e-02 -3.84005041e-04 9.98565232e-01 2.23109547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.810385723 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:315.29, Y:213.82, Z:22.32 [[ 1.04986761e-01 -9.94454200e-01 -6.21487838e-03 3.15294630e+02] [ 9.93031041e-01 1.05168909e-01 -5.31869648e-02 2.13821857e+02] [ 5.35456124e-02 -5.87639978e-04 9.98565232e-01 2.23237928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87038572299997 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:315.30, Y:213.88, Z:22.32 [[ 1.01021219e-01 -9.94864996e-01 -6.19297111e-03 3.15303973e+02] [ 9.93442421e-01 1.01207868e-01 -5.31895155e-02 2.13879674e+02] [ 5.35431645e-02 -7.79090540e-04 9.98565232e-01 2.23229528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.930385723 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:315.32, Y:213.94, Z:22.33 [[ 1.03214891e-01 -9.94639887e-01 -6.17917229e-03 3.15315591e+02] [ 9.93216808e-01 1.03397665e-01 -5.31911185e-02 2.13935307e+02] [ 5.35449200e-02 -6.47142269e-04 9.98565232e-01 2.23299191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.990385723 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:315.32, Y:213.99, Z:22.33 [[ 1.03625734e-01 -9.94597267e-01 -6.16311068e-03 3.15324228e+02] [ 9.93174003e-01 1.03807061e-01 -5.31929794e-02 2.13992604e+02] [ 5.35453664e-02 -6.08879793e-04 9.98565232e-01 2.23337123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.050385723 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:315.33, Y:214.05, Z:22.34 [[ 1.05299024e-01 -9.94421599e-01 -6.14811254e-03 3.15333400e+02] [ 9.92997932e-01 1.05477154e-01 -5.31947129e-02 2.14050099e+02] [ 5.35464569e-02 -5.03711699e-04 9.98565232e-01 2.23382801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.110385723 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:315.34, Y:214.11, Z:22.34 [[ 1.08739872e-01 -9.94051319e-01 -6.13313943e-03 3.15341573e+02] [ 9.92626947e-01 1.08912273e-01 -5.31964392e-02 2.14106533e+02] [ 5.35479647e-02 -3.03345480e-04 9.98565232e-01 2.23408325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.170385723 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:315.35, Y:214.16, Z:22.34 [[ 1.11990279e-01 -9.93690472e-01 -6.11747285e-03 3.15349922e+02] [ 9.92265445e-01 1.12157181e-01 -5.31982408e-02 2.14163765e+02] [ 5.35487035e-02 -1.12471113e-04 9.98565233e-01 2.23435688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.230385723 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:315.36, Y:214.22, Z:22.35 [[ 1.11965728e-01 -9.93693328e-01 -6.10291290e-03 3.15358885e+02] [ 9.92268214e-01 1.12131887e-01 -5.31999110e-02 2.14221233e+02] [ 5.35487278e-02 -9.91596952e-05 9.98565233e-01 2.23459000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.290385723 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:315.37, Y:214.28, Z:22.35 [[ 1.08654299e-01 -9.94060953e-01 -6.08806178e-03 3.15368043e+02] [ 9.92636306e-01 1.08824410e-01 -5.32016105e-02 2.14278544e+02] [ 5.35481734e-02 -2.62647454e-04 9.98565233e-01 2.23480808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.350385723 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:315.38, Y:214.34, Z:22.35 [[ 1.05512877e-01 -9.94399391e-01 -6.07324581e-03 3.15380234e+02] [ 9.92975192e-01 1.05686696e-01 -5.32033018e-02 2.14335330e+02] [ 5.35471922e-02 -4.16948970e-04 9.98565233e-01 2.23516583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.410385723 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:315.39, Y:214.39, Z:22.36 [[ 1.02003907e-01 -9.94765548e-01 -6.05868099e-03 3.15387927e+02] [ 9.93341873e-01 1.02181970e-01 -5.32049603e-02 2.14392043e+02] [ 5.35455495e-02 -5.91227711e-04 9.98565233e-01 2.23551278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.470385723 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:315.40, Y:214.45, Z:22.36 [[ 1.04227127e-01 -9.94535156e-01 -6.04392789e-03 3.15402253e+02] [ 9.93110991e-01 1.04401219e-01 -5.32066362e-02 2.14448719e+02] [ 5.35468637e-02 -4.56716392e-04 9.98565233e-01 2.23572501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.530385723 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:315.42, Y:214.51, Z:22.37 [[ 1.07027524e-01 -9.94237775e-01 -6.02960500e-03 3.15415597e+02] [ 9.92813033e-01 1.07196838e-01 -5.32082593e-02 2.14505544e+02] [ 5.35480159e-02 -2.91522177e-04 9.98565233e-01 2.23720078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.590385723 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:315.43, Y:214.56, Z:22.37 [[ 1.07742590e-01 -9.94160596e-01 -6.02023016e-03 3.15425038e+02] [ 9.92735674e-01 1.07910377e-01 -5.32093200e-02 2.14561889e+02] [ 5.35482546e-02 -2.43587302e-04 9.98565233e-01 2.23729839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.650385723 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:315.44, Y:214.62, Z:22.38 [[ 1.10536313e-01 -9.93853947e-01 -6.00458762e-03 3.15435020e+02] [ 9.92428463e-01 1.10699257e-01 -5.32110852e-02 2.14619301e+02] [ 5.35487504e-02 -7.73665200e-05 9.98565233e-01 2.23790727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.710385723 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:315.44, Y:214.68, Z:22.38 [[ 1.10834345e-01 -9.93820842e-01 -5.99010242e-03 3.15443731e+02] [ 9.92395222e-01 1.10996086e-01 -5.32127158e-02 2.14675687e+02] [ 5.35487839e-02 -4.67525356e-05 9.98565234e-01 2.23778034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.770385723 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:315.45, Y:214.73, Z:22.38 [[ 1.10538181e-01 -9.93853924e-01 -5.97404089e-03 3.15454261e+02] [ 9.92428254e-01 1.10699487e-01 -5.32145189e-02 2.14733339e+02] [ 5.35487816e-02 -4.65708534e-05 9.98565234e-01 2.23794874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.830385723 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:315.46, Y:214.79, Z:22.38 [[ 1.08825459e-01 -9.94043014e-01 -5.95873757e-03 3.15463088e+02] [ 9.92617530e-01 1.08988402e-01 -5.32162324e-02 2.14790536e+02] [ 5.35486574e-02 -1.23466478e-04 9.98565234e-01 2.23839262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.890385723 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:315.47, Y:214.85, Z:22.39 [[ 1.07260015e-01 -9.94213205e-01 -5.94911855e-03 3.15473192e+02] [ 9.92787920e-01 1.07424688e-01 -5.32173077e-02 2.14848252e+02] [ 5.35484323e-02 -1.98123776e-04 9.98565234e-01 2.23892971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.950385723 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:315.48, Y:214.90, Z:22.39 [[ 1.06801993e-01 -9.94262595e-01 -5.93521400e-03 3.15481876e+02] [ 9.92837300e-01 1.06966578e-01 -5.32188584e-02 2.14904994e+02] [ 5.35483898e-02 -2.08821682e-04 9.98565234e-01 2.23930424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.010385723 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:315.49, Y:214.96, Z:22.39 [[ 1.07247961e-01 -9.94214672e-01 -5.92120213e-03 3.15490072e+02] [ 9.92789218e-01 1.07411157e-01 -5.32204174e-02 2.14961710e+02] [ 5.35485230e-02 -1.70724384e-04 9.98565234e-01 2.23926122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.070385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:315.50, Y:215.02, Z:22.40 [[ 1.07712900e-01 -9.94164490e-01 -5.90743614e-03 3.15495227e+02] [ 9.92738876e-01 1.07874693e-01 -5.32219454e-02 2.15019848e+02] [ 5.35486310e-02 -1.31851419e-04 9.98565234e-01 2.23994050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.130385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:315.50, Y:215.08, Z:22.40 [[ 1.05993644e-01 -9.94349345e-01 -5.89296909e-03 3.15496575e+02] [ 9.92923924e-01 1.06157127e-01 -5.32235472e-02 2.15077788e+02] [ 5.35483800e-02 -2.09912256e-04 9.98565234e-01 2.23997174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.190385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:315.50, Y:215.13, Z:22.40 [[ 1.04497310e-01 -9.94507801e-01 -5.87754380e-03 3.15501493e+02] [ 9.93082532e-01 1.04662112e-01 -5.32252506e-02 2.15134324e+02] [ 5.35480831e-02 -2.74990580e-04 9.98565234e-01 2.24014789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.250385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:315.51, Y:215.19, Z:22.41 [[ 9.92269819e-02 -9.95047562e-01 -5.86142129e-03 3.15507290e+02] [ 9.93623081e-01 9.93984703e-02 -5.32270260e-02 2.15192357e+02] [ 5.35460387e-02 -5.42486343e-04 9.98565234e-01 2.24060092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.310385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:315.51, Y:215.25, Z:22.40 [[ 9.46504102e-02 -9.95493402e-01 -5.84683794e-03 3.15508721e+02] [ 9.94069629e-01 9.48276674e-02 -5.32286279e-02 2.15250324e+02] [ 5.35431899e-02 -7.74052558e-04 9.98565235e-01 2.24043261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37038572299997 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:315.52, Y:215.31, Z:22.41 [[ 9.67142183e-02 -9.95295109e-01 -5.83140664e-03 3.15515249e+02] [ 9.93870870e-01 9.68876980e-02 -5.32303184e-02 2.15306801e+02] [ 5.35448672e-02 -6.47536557e-04 9.98565235e-01 2.24080926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.430385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:315.52, Y:215.36, Z:22.41 [[ 9.73968198e-02 -9.95228643e-01 -5.81440026e-03 3.15516915e+02] [ 9.93804176e-01 9.75684132e-02 -5.32321760e-02 2.15364285e+02] [ 5.35454881e-02 -5.93730608e-04 9.98565235e-01 2.24147947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.52, Y:215.42, Z:22.42 [[ 9.83171622e-02 -9.95138251e-01 -5.79627236e-03 3.15521267e+02] [ 9.93713510e-01 9.84864685e-02 -5.32341498e-02 2.15422297e+02] [ 5.35461931e-02 -5.26003616e-04 9.98565235e-01 2.24166607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.52, Y:215.48, Z:22.42 [[ 9.59298794e-02 -9.95371302e-01 -5.78184973e-03 3.15522171e+02] [ 9.93946878e-01 9.61018314e-02 -5.32357162e-02 2.15481357e+02] [ 5.35449505e-02 -6.39955649e-04 9.98565235e-01 2.24155695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:215.54, Z:22.42 [[ 9.57285575e-02 -9.95390764e-01 -5.76802239e-03 3.15525151e+02] [ 9.93966286e-01 9.59000582e-02 -5.32372144e-02 2.15538722e+02] [ 5.35449852e-02 -6.36898059e-04 9.98565235e-01 2.24186095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:215.59, Z:22.43 [[ 9.80549267e-02 -9.95164368e-01 -5.75437749e-03 3.15534413e+02] [ 9.93739407e-01 9.82223675e-02 -5.32386892e-02 2.15594360e+02] [ 5.35464550e-02 -4.98035903e-04 9.98565235e-01 2.24291437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.730385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:315.54, Y:215.65, Z:22.43 [[ 9.83910398e-02 -9.95131279e-01 -5.73942054e-03 3.15538726e+02] [ 9.93706168e-01 9.85571991e-02 -5.32403016e-02 2.15651300e+02] [ 5.35467506e-02 -4.64928958e-04 9.98565235e-01 2.24317432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.54, Y:215.71, Z:22.43 [[ 9.78543567e-02 -9.95184288e-01 -5.72337024e-03 3.15540982e+02] [ 9.93759167e-01 9.80204260e-02 -5.32420270e-02 2.15710356e+02] [ 5.35466359e-02 -4.77687343e-04 9.98565236e-01 2.24314459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.850385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.55, Y:215.77, Z:22.43 [[ 9.82129875e-02 -9.95149044e-01 -5.70875239e-03 3.15546493e+02] [ 9.93723772e-01 9.83777612e-02 -5.32435943e-02 2.15767410e+02] [ 5.35469262e-02 -4.43710495e-04 9.98565236e-01 2.24337178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.55, Y:215.82, Z:22.44 [[ 9.74270638e-02 -9.95226382e-01 -5.69350705e-03 3.15553020e+02] [ 9.93801147e-01 9.75921475e-02 -5.32452245e-02 2.15823144e+02] [ 5.35466937e-02 -4.70687951e-04 9.98565236e-01 2.24403964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:215.88, Z:22.44 [[ 9.07919401e-02 -9.95853699e-01 -5.67754090e-03 3.15558363e+02] [ 9.94429491e-01 9.09656654e-02 -5.32469269e-02 2.15878829e+02] [ 5.35426104e-02 -8.11522305e-04 9.98565236e-01 2.24410933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:215.94, Z:22.44 [[ 8.73703463e-02 -9.96159816e-01 -5.66073792e-03 3.15563923e+02] [ 9.94736101e-01 8.75480653e-02 -5.32487132e-02 2.15936486e+02] [ 5.35398150e-02 -9.78581858e-04 9.98565236e-01 2.24440039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:215.99, Z:22.45 [[ 8.94406387e-02 -9.95976147e-01 -5.64680359e-03 3.15572392e+02] [ 9.94551975e-01 8.96146534e-02 -5.32501908e-02 2.15994174e+02] [ 5.35419563e-02 -8.53308584e-04 9.98565236e-01 2.24468572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:216.05, Z:22.45 [[ 9.08317259e-02 -9.95850329e-01 -5.63198050e-03 3.15574131e+02] [ 9.94425820e-01 9.10029587e-02 -5.32517586e-02 2.16050151e+02] [ 5.35433082e-02 -7.63637692e-04 9.98565236e-01 2.24531042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.210385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:315.58, Y:216.11, Z:22.45 [[ 9.68774428e-02 -9.95280490e-01 -5.61318520e-03 3.15578693e+02] [ 9.93854853e-01 9.70390164e-02 -5.32537397e-02 2.16108595e+02] [ 5.35471061e-02 -4.19605236e-04 9.98565236e-01 2.24532324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.58, Y:216.17, Z:22.46 [[ 1.04537795e-01 -9.94505164e-01 -5.59718645e-03 3.15582032e+02] [ 9.93078235e-01 1.04687530e-01 -5.32554212e-02 2.16165313e+02] [ 5.35487470e-02 8.76025659e-06 9.98565237e-01 2.24572027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.58, Y:216.22, Z:22.46 [[ 1.07380919e-01 -9.94202306e-01 -5.57796891e-03 3.15582224e+02] [ 9.92774850e-01 1.07525545e-01 -5.32574339e-02 2.16222432e+02] [ 5.35484378e-02 1.81164977e-04 9.98565237e-01 2.24582341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:216.28, Z:22.47 [[ 1.09438564e-01 -9.93978009e-01 -5.56036812e-03 3.15588893e+02] [ 9.92550164e-01 1.09579292e-01 -5.32592715e-02 2.16280261e+02] [ 5.35478459e-02 3.09673913e-04 9.98565237e-01 2.24651285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:216.34, Z:22.47 [[ 1.07141880e-01 -9.94228282e-01 -5.54436431e-03 3.15593603e+02] [ 9.92800680e-01 1.07285048e-01 -5.32609375e-02 2.16337459e+02] [ 5.35483578e-02 2.02028305e-04 9.98565237e-01 2.24705684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.510385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:315.60, Y:216.39, Z:22.47 [[ 1.04116345e-01 -9.94549771e-01 -5.52623428e-03 3.15600529e+02] [ 9.93122512e-01 1.04262885e-01 -5.32628185e-02 2.16394687e+02] [ 5.35487051e-02 5.73023222e-05 9.98565237e-01 2.24730173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.61, Y:216.45, Z:22.48 [[ 9.78587503e-02 -9.95185026e-01 -5.51631556e-03 3.15606851e+02] [ 9.93758658e-01 9.80137342e-02 -5.32638458e-02 2.16451669e+02] [ 5.35480564e-02 -2.69552964e-04 9.98565237e-01 2.24769233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.61, Y:216.51, Z:22.48 [[ 9.38274548e-02 -9.95573275e-01 -5.50120820e-03 3.15611873e+02] [ 9.94147456e-01 9.39874060e-02 -5.32654061e-02 2.16508920e+02] [ 5.35466590e-02 -4.71254654e-04 9.98565237e-01 2.24796580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.62, Y:216.57, Z:22.48 [[ 8.98047939e-02 -9.95944280e-01 -5.48538892e-03 3.15617929e+02] [ 9.94519021e-01 8.99696579e-02 -5.32670351e-02 2.16566968e+02] [ 5.35445175e-02 -6.71688508e-04 9.98565237e-01 2.24848367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.62, Y:216.62, Z:22.49 [[ 8.88371337e-02 -9.96031142e-01 -5.47067558e-03 3.15623071e+02] [ 9.94605952e-01 8.90025956e-02 -5.32685462e-02 2.16624124e+02] [ 5.35440352e-02 -7.08941530e-04 9.98565238e-01 2.24858109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.63, Y:216.68, Z:22.49 [[ 8.82941453e-02 -9.96079481e-01 -5.46003938e-03 3.15626946e+02] [ 9.94654315e-01 8.84598154e-02 -5.32696364e-02 2.16682339e+02] [ 5.35437858e-02 -7.27454716e-04 9.98565238e-01 2.24867311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.63, Y:216.74, Z:22.49 [[ 8.90110199e-02 -9.96015754e-01 -5.44579455e-03 3.15632631e+02] [ 9.94590382e-01 8.91749025e-02 -5.32710926e-02 2.16738895e+02] [ 5.35444757e-02 -6.74620596e-04 9.98565238e-01 2.24893522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.930385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:216.80, Z:22.49 [[ 8.91666881e-02 -9.96001917e-01 -5.42982466e-03 3.15637597e+02] [ 9.94576422e-01 8.93294938e-02 -5.32727204e-02 2.16797126e+02] [ 5.35447751e-02 -6.50223538e-04 9.98565238e-01 2.24931214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:216.85, Z:22.49 [[ 8.73157180e-02 -9.96165971e-01 -5.41514840e-03 3.15642956e+02] [ 9.94740690e-01 8.74803876e-02 -5.32742122e-02 2.16854188e+02] [ 5.35436766e-02 -7.34992375e-04 9.98565238e-01 2.24946835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.65, Y:216.91, Z:22.50 [[ 8.57309224e-02 -9.96303691e-01 -5.40048747e-03 3.15648125e+02] [ 9.94878582e-01 8.58970754e-02 -5.32756983e-02 2.16912495e+02] [ 5.35426609e-02 -8.05454560e-04 9.98565238e-01 2.24987305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.110385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:315.65, Y:216.97, Z:22.50 [[ 8.61104628e-02 -9.96271039e-01 -5.38566479e-03 3.15653495e+02] [ 9.94845775e-01 8.62752804e-02 -5.32771967e-02 2.16969154e+02] [ 5.35431779e-02 -7.70181797e-04 9.98565238e-01 2.25033096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.170385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:315.66, Y:217.03, Z:22.51 [[ 8.72298052e-02 -9.96173714e-01 -5.37526888e-03 3.15658081e+02] [ 9.94748202e-01 8.73924654e-02 -5.32782456e-02 2.17026794e+02] [ 5.35441457e-02 -6.99588073e-04 9.98565238e-01 2.25054076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.230385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:315.66, Y:217.08, Z:22.50 [[ 9.08752496e-02 -9.95847856e-01 -5.36070589e-03 3.15663846e+02] [ 9.94421673e-01 9.10319122e-02 -5.32797108e-02 2.17082979e+02] [ 5.35464811e-02 -4.88995094e-04 9.98565238e-01 2.25043856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.67, Y:217.14, Z:22.51 [[ 9.18389230e-02 -9.95759539e-01 -5.34350988e-03 3.15670169e+02] [ 9.94333105e-01 9.19932853e-02 -5.32814354e-02 2.17138880e+02] [ 5.35470646e-02 -4.19919127e-04 9.98565239e-01 2.25097585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.350385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.68, Y:217.20, Z:22.51 [[ 9.18803603e-02 -9.95755811e-01 -5.32584233e-03 3.15678365e+02] [ 9.94329269e-01 9.20337179e-02 -5.32832013e-02 2.17195883e+02] [ 5.35472144e-02 -3.99961179e-04 9.98565239e-01 2.25137599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.69, Y:217.25, Z:22.52 [[ 9.09309020e-02 -9.95843047e-01 -5.31012837e-03 3.15686755e+02] [ 9.94416561e-01 9.10847790e-02 -5.32847673e-02 2.17252697e+02] [ 5.35469369e-02 -4.35247641e-04 9.98565239e-01 2.25176078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.69, Y:217.31, Z:22.52 [[ 9.00953227e-02 -9.95919075e-01 -5.29424733e-03 3.15694751e+02] [ 9.94492627e-01 9.02495469e-02 -5.32863452e-02 2.17309828e+02] [ 5.35466910e-02 -4.64239472e-04 9.98565239e-01 2.25201069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:217.37, Z:22.52 [[ 9.07102168e-02 -9.95863332e-01 -5.28028912e-03 3.15704287e+02] [ 9.94436708e-01 9.08628133e-02 -5.32877283e-02 2.17366678e+02] [ 5.35470766e-02 -4.17171949e-04 9.98565239e-01 2.25248775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.71, Y:217.42, Z:22.53 [[ 9.28684092e-02 -9.95664467e-01 -5.26568897e-03 3.15713021e+02] [ 9.94237435e-01 9.30171320e-02 -5.32891710e-02 2.17423201e+02] [ 5.35479333e-02 -2.86464559e-04 9.98565239e-01 2.25270778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.72, Y:217.48, Z:22.53 [[ 9.60216283e-02 -9.95365375e-01 -5.25511576e-03 3.15721680e+02] [ 9.93937823e-01 9.61652643e-02 -5.32902137e-02 2.17479452e+02] [ 5.35485931e-02 -1.06245221e-04 9.98565239e-01 2.25284419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.73, Y:217.54, Z:22.53 [[ 9.93986230e-02 -9.95033901e-01 -5.23929698e-03 3.15732300e+02] [ 9.93605787e-01 9.95365669e-02 -5.32917689e-02 2.17535555e+02] [ 5.35486183e-02 9.13326461e-05 9.98565239e-01 2.25320045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.74, Y:217.59, Z:22.54 [[ 1.00856373e-01 -9.94887284e-01 -5.22337760e-03 3.15740745e+02] [ 9.93458889e-01 1.00991372e-01 -5.32933292e-02 2.17593468e+02] [ 5.35483716e-02 1.85760979e-04 9.98565239e-01 2.25353815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.75, Y:217.65, Z:22.54 [[ 1.00916999e-01 -9.94881213e-01 -5.20879846e-03 3.15751332e+02] [ 9.93452736e-01 1.01051130e-01 -5.32947541e-02 2.17648646e+02] [ 5.35483045e-02 2.03651591e-04 9.98565240e-01 2.25387098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.76, Y:217.71, Z:22.54 [[ 9.82881615e-02 -9.95144454e-01 -5.19168567e-03 3.15760152e+02] [ 9.93716248e-01 9.84251492e-02 -5.32964211e-02 2.17706210e+02] [ 5.35486303e-02 7.93448336e-05 9.98565240e-01 2.25384615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.77, Y:217.76, Z:22.55 [[ 9.86130561e-02 -9.95112361e-01 -5.18205329e-03 3.15770136e+02] [ 9.93684062e-01 9.87490616e-02 -5.32973576e-02 2.17762654e+02] [ 5.35485823e-02 1.06491556e-04 9.98565240e-01 2.25473307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.010385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:315.78, Y:217.82, Z:22.55 [[ 9.54706399e-02 -9.95418842e-01 -5.16591059e-03 3.15778475e+02] [ 9.93990894e-01 9.56102900e-02 -5.32989222e-02 2.17820761e+02] [ 5.35486656e-02 -4.63858722e-05 9.98565240e-01 2.25452236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.070385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:315.79, Y:217.88, Z:22.55 [[ 9.23848252e-02 -9.95710053e-01 -5.15115388e-03 3.15788087e+02] [ 9.94282466e-01 9.25281108e-02 -5.33003484e-02 2.17876856e+02] [ 5.35483193e-02 -1.97558615e-04 9.98565240e-01 2.25517357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.130385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:315.79, Y:217.93, Z:22.55 [[ 8.83399473e-02 -9.96077148e-01 -5.13500090e-03 3.15794796e+02] [ 9.94650065e-01 8.84881656e-02 -5.33019045e-02 2.17934318e+02] [ 5.35471959e-02 -3.98841533e-04 9.98565240e-01 2.25545715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.190385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:315.80, Y:217.99, Z:22.56 [[ 8.58701215e-02 -9.96293182e-01 -5.12036213e-03 3.15800312e+02] [ 9.94866387e-01 8.60210943e-02 -5.33033108e-02 2.17990716e+02] [ 5.35461842e-02 -5.16914400e-04 9.98565240e-01 2.25574936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:218.05, Z:22.56 [[ 8.47732668e-02 -9.96387200e-01 -5.10309529e-03 3.15806412e+02] [ 9.94960474e-01 8.49248867e-02 -5.33049638e-02 2.18048261e+02] [ 5.35457634e-02 -5.58542188e-04 9.98565240e-01 2.25621730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.310385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:218.11, Z:22.57 [[ 8.36368688e-02 -9.96483309e-01 -5.08805084e-03 3.15810354e+02] [ 9.95056671e-01 8.37893110e-02 -5.33063998e-02 2.18106074e+02] [ 5.35452619e-02 -6.04518570e-04 9.98565240e-01 2.25652941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37038572299997 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:218.16, Z:22.57 [[ 8.33324894e-02 -9.96508885e-01 -5.07324868e-03 3.15813333e+02] [ 9.95082209e-01 8.34845756e-02 -5.33078085e-02 2.18163141e+02] [ 5.35452428e-02 -6.06027119e-04 9.98565241e-01 2.25658803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.430385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:315.82, Y:218.22, Z:22.57 [[ 8.23377053e-02 -9.96591652e-01 -5.05778682e-03 3.15816111e+02] [ 9.95165040e-01 8.24903887e-02 -5.33092755e-02 2.18220367e+02] [ 5.35447977e-02 -6.43969215e-04 9.98565241e-01 2.25673724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.82, Y:218.28, Z:22.57 [[ 8.07107474e-02 -9.96724815e-01 -5.04164141e-03 3.15820632e+02] [ 9.95298361e-01 8.08648960e-02 -5.33108023e-02 2.18277418e+02] [ 5.35438914e-02 -7.15182727e-04 9.98565241e-01 2.25716748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.550385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:315.82, Y:218.33, Z:22.58 [[ 7.80912013e-02 -9.96933552e-01 -5.02565964e-03 3.15824187e+02] [ 9.95507413e-01 7.82482435e-02 -5.33123089e-02 2.18334945e+02] [ 5.35420785e-02 -8.39859183e-04 9.98565241e-01 2.25752675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.39, Z:22.58 [[ 7.67674064e-02 -9.97036436e-01 -5.01099178e-03 3.15827636e+02] [ 9.95610420e-01 7.69255580e-02 -5.33136876e-02 2.18393000e+02] [ 5.35411624e-02 -8.96242112e-04 9.98565241e-01 2.25775057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.670385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.45, Z:22.58 [[ 7.56984329e-02 -9.97118240e-01 -4.99636893e-03 3.15829405e+02] [ 9.95692307e-01 7.58573316e-02 -5.33150579e-02 2.18450456e+02] [ 5.35404279e-02 -9.38979770e-04 9.98565241e-01 2.25797054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.51, Z:22.58 [[ 7.58934640e-02 -9.97103491e-01 -4.98106810e-03 3.15832680e+02] [ 9.95677436e-01 7.60512659e-02 -5.33164874e-02 2.18507227e+02] [ 5.35408723e-02 -9.13164201e-04 9.98565241e-01 2.25843628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.57, Z:22.59 [[ 7.82192502e-02 -9.96923817e-01 -4.96502349e-03 3.15833318e+02] [ 9.95497306e-01 7.83728672e-02 -5.33179815e-02 2.18565274e+02] [ 5.35430888e-02 -7.72174968e-04 9.98565241e-01 2.25889657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.850385723 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.62, Z:22.59 [[ 7.98814788e-02 -9.96792076e-01 -4.95049447e-03 3.15832342e+02] [ 9.95365228e-01 8.00319399e-02 -5.33193305e-02 2.18623449e+02] [ 5.35444838e-02 -6.68323087e-04 9.98565242e-01 2.25902748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.910385723 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.68, Z:22.59 [[ 8.10107732e-02 -9.96701003e-01 -4.93606227e-03 3.15834007e+02] [ 9.95273906e-01 8.11588456e-02 -5.33206665e-02 2.18680880e+02] [ 5.35453669e-02 -5.93185557e-04 9.98565242e-01 2.25924487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.84, Y:218.74, Z:22.60 [[ 8.31917171e-02 -9.96521416e-01 -4.91990933e-03 3.15837777e+02] [ 9.95093911e-01 8.33358019e-02 -5.33221569e-02 2.18736882e+02] [ 5.35466759e-02 -4.59810025e-04 9.98565242e-01 2.25988249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.030385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:315.84, Y:218.80, Z:22.60 [[ 8.18962500e-02 -9.96628799e-01 -4.90311692e-03 3.15835618e+02] [ 9.95201391e-01 8.20412919e-02 -5.33237010e-02 2.18795601e+02] [ 5.35461942e-02 -5.12577634e-04 9.98565242e-01 2.26009246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.090385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:315.84, Y:218.85, Z:22.61 [[ 8.07945946e-02 -9.96718788e-01 -4.88786954e-03 3.15836271e+02] [ 9.95291458e-01 8.09403986e-02 -5.33250986e-02 2.18853361e+02] [ 5.35457538e-02 -5.56475070e-04 9.98565242e-01 2.26052648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.150385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:315.84, Y:218.91, Z:22.61 [[ 7.85955003e-02 -9.96894680e-01 -4.87284335e-03 3.15836075e+02] [ 9.95467591e-01 7.87436491e-02 -5.33264717e-02 2.18910281e+02] [ 5.35445814e-02 -6.59536914e-04 9.98565242e-01 2.26109161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:218.97, Z:22.61 [[ 7.69404135e-02 -9.97023862e-01 -4.85714748e-03 3.15834780e+02] [ 9.95596933e-01 7.70900920e-02 -5.33279013e-02 2.18968849e+02] [ 5.35436280e-02 -7.32690357e-04 9.98565242e-01 2.26140781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.270385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.03, Z:22.62 [[ 7.72234600e-02 -9.97002050e-01 -4.84245607e-03 3.15833951e+02] [ 9.95574997e-01 7.73719476e-02 -5.33292353e-02 2.19027067e+02] [ 5.35440272e-02 -7.02760116e-04 9.98565242e-01 2.26168147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.330385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.08, Z:22.62 [[ 7.58626183e-02 -9.97106592e-01 -4.82779061e-03 3.15833208e+02] [ 9.95679660e-01 7.60122693e-02 -5.33305629e-02 2.19084155e+02] [ 5.35432271e-02 -7.61136777e-04 9.98565242e-01 2.26166385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.14, Z:22.62 [[ 7.30552495e-02 -9.97316284e-01 -4.81245740e-03 3.15832156e+02] [ 9.95889692e-01 7.32080974e-02 -5.33319465e-02 2.19142029e+02] [ 5.35411296e-02 -8.96498052e-04 9.98565243e-01 2.26206502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.450385723 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.20, Z:22.62 [[ 7.12133428e-02 -9.97449568e-01 -4.79777547e-03 3.15831140e+02] [ 9.96023175e-01 7.13680402e-02 -5.33332673e-02 2.19200465e+02] [ 5.35396523e-02 -9.80655310e-04 9.98565243e-01 2.26238306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.26, Z:22.63 [[ 7.08213516e-02 -9.97477548e-01 -4.78312811e-03 3.15831197e+02] [ 9.96051130e-01 7.09758266e-02 -5.33345809e-02 2.19258570e+02] [ 5.35395334e-02 -9.87013058e-04 9.98565243e-01 2.26284994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.32, Z:22.64 [[ 7.31300684e-02 -9.97311018e-01 -4.76719655e-03 3.15830779e+02] [ 9.95884158e-01 7.32803894e-02 -5.33360049e-02 2.19316653e+02] [ 5.35419273e-02 -8.47109833e-04 9.98565243e-01 2.26353308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.38, Z:22.63 [[ 7.32081703e-02 -9.97305363e-01 -4.75146240e-03 3.15827939e+02] [ 9.95878403e-01 7.33575383e-02 -5.33374065e-02 2.19375013e+02] [ 5.35422372e-02 -8.27144844e-04 9.98565243e-01 2.26344045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.43, Z:22.64 [[ 7.44015049e-02 -9.97217082e-01 -4.74410963e-03 3.15829222e+02] [ 9.95789904e-01 7.45487721e-02 -5.33380605e-02 2.19433377e+02] [ 5.35432926e-02 -7.55704502e-04 9.98565243e-01 2.26408130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.49, Z:22.64 [[ 7.62040757e-02 -9.97081026e-01 -4.72925598e-03 3.15828038e+02] [ 9.95653503e-01 7.63479682e-02 -5.33393775e-02 2.19491185e+02] [ 5.35447503e-02 -6.44022318e-04 9.98565243e-01 2.26434295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.55, Z:22.64 [[ 7.68110726e-02 -9.97034523e-01 -4.71371177e-03 3.15830770e+02] [ 9.95606830e-01 7.69532645e-02 -5.33407511e-02 2.19547376e+02] [ 5.35453059e-02 -5.95843324e-04 9.98565243e-01 2.26442353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.60, Z:22.65 [[ 7.45415360e-02 -9.97206852e-01 -4.69615517e-03 3.15831773e+02] [ 9.95779391e-01 7.46860382e-02 -5.33422968e-02 2.19604689e+02] [ 5.35440411e-02 -7.00117799e-04 9.98565243e-01 2.26480263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.930385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.66, Z:22.65 [[ 7.44740415e-02 -9.97211982e-01 -4.67763719e-03 3.15834178e+02] [ 9.95784431e-01 7.46176498e-02 -5.33439206e-02 2.19663164e+02] [ 5.35442311e-02 -6.85180928e-04 9.98565244e-01 2.26511555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.83, Y:219.72, Z:22.65 [[ 7.31935002e-02 -9.97306858e-01 -4.66299042e-03 3.15834791e+02] [ 9.95879412e-01 7.33381583e-02 -5.33452009e-02 2.19721309e+02] [ 5.35435098e-02 -7.39254186e-04 9.98565244e-01 2.26502323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.84, Y:219.78, Z:22.66 [[ 7.69633922e-02 -9.97023078e-01 -4.64959018e-03 3.15840059e+02] [ 9.95595026e-01 7.71019357e-02 -5.33463689e-02 2.19778692e+02] [ 5.35460533e-02 -5.23391347e-04 9.98565244e-01 2.26589652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.84, Y:219.84, Z:22.66 [[ 7.97791764e-02 -9.96801787e-01 -4.63474670e-03 3.15844037e+02] [ 9.95373275e-01 7.99128915e-02 -5.33476585e-02 2.19835700e+02] [ 5.35474173e-02 -3.57270743e-04 9.98565244e-01 2.26617967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.85, Y:219.89, Z:22.66 [[ 8.40305500e-02 -9.96452472e-01 -4.61918846e-03 3.15849044e+02] [ 9.95023329e-01 8.41573372e-02 -5.33490056e-02 2.19893735e+02] [ 5.35484871e-02 -1.13254002e-04 9.98565244e-01 2.26640681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.230385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:219.95, Z:22.67 [[ 8.49755761e-02 -9.96372395e-01 -4.60461314e-03 3.15855766e+02] [ 9.94943064e-01 8.51002274e-02 -5.33502635e-02 2.19950979e+02] [ 5.35485835e-02 -4.78585241e-05 9.98565244e-01 2.26668425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:220.01, Z:22.67 [[ 8.51263310e-02 -9.96359597e-01 -4.58934314e-03 3.15861995e+02] [ 9.94930176e-01 8.52499484e-02 -5.33515771e-02 2.20008503e+02] [ 5.35485971e-02 -2.44519689e-05 9.98565244e-01 2.26690403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.350385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.87, Y:220.07, Z:22.67 [[ 8.43615637e-02 -9.96424710e-01 -4.57420806e-03 3.15869890e+02] [ 9.94995315e-01 8.44854678e-02 -5.33528747e-02 2.20065104e+02] [ 5.35485768e-02 -5.03836508e-05 9.98565244e-01 2.26712988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.88, Y:220.12, Z:22.68 [[ 8.33131240e-02 -9.96512993e-01 -4.55825968e-03 3.15875966e+02] [ 9.95083654e-01 8.34376781e-02 -5.33542372e-02 2.20122194e+02] [ 5.35485213e-02 -9.07415202e-05 9.98565245e-01 2.26761459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.470385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:315.88, Y:220.18, Z:22.68 [[ 7.85201805e-02 -9.96902177e-01 -4.54202361e-03 3.15884887e+02] [ 9.95473375e-01 7.86507376e-02 -5.33556194e-02 2.20179265e+02] [ 5.35475666e-02 -3.31970709e-04 9.98565245e-01 2.26781528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:220.24, Z:22.68 [[ 7.43610370e-02 -9.97221111e-01 -4.52687612e-03 3.15893928e+02] [ 9.95792788e-01 7.44967426e-02 -5.33569045e-02 2.20235135e+02] [ 5.35458691e-02 -5.40155845e-04 9.98565245e-01 2.26817103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.590385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:220.29, Z:22.68 [[ 7.33194740e-02 -9.97298276e-01 -4.51708643e-03 3.15901155e+02] [ 9.95870045e-01 7.34561477e-02 -5.33577333e-02 2.20292128e+02] [ 5.35453832e-02 -5.86270122e-04 9.98565245e-01 2.26784057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.650385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:220.35, Z:22.69 [[ 7.46493640e-02 -9.97199659e-01 -4.50702169e-03 3.15907813e+02] [ 9.95771196e-01 7.47835944e-02 -5.33585834e-02 2.20349963e+02] [ 5.35462125e-02 -5.04778064e-04 9.98565245e-01 2.26856643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:220.41, Z:22.69 [[ 7.78221655e-02 -9.96957132e-01 -4.49299893e-03 3.15915052e+02] [ 9.95528182e-01 7.79510992e-02 -5.33597642e-02 2.20406503e+02] [ 5.35476317e-02 -3.20334662e-04 9.98565245e-01 2.26875553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.770385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:220.46, Z:22.69 [[ 7.54826556e-02 -9.97137062e-01 -4.47742415e-03 3.15915426e+02] [ 9.95708342e-01 7.56141085e-02 -5.33610710e-02 2.20464647e+02] [ 5.35468581e-02 -4.30373224e-04 9.98565245e-01 2.26879565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:220.52, Z:22.70 [[ 7.90359789e-02 -9.96861778e-01 -4.46212822e-03 3.15922166e+02] [ 9.95432526e-01 7.91615202e-02 -5.33623501e-02 2.20521702e+02] [ 5.35481160e-02 -2.24201985e-04 9.98565245e-01 2.26957918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.890385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:220.58, Z:22.70 [[ 8.44680715e-02 -9.96416265e-01 -4.44652073e-03 3.15933112e+02] [ 9.94986282e-01 8.45849852e-02 -5.33636506e-02 2.20578339e+02] [ 5.35485183e-02 8.32975234e-05 9.98565245e-01 2.26980800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.950385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:220.64, Z:22.70 [[ 8.67797107e-02 -9.96217664e-01 -4.43258876e-03 3.15938836e+02] [ 9.94787354e-01 8.68925600e-02 -5.33648078e-02 2.20635087e+02] [ 5.35481231e-02 2.21499341e-04 9.98565245e-01 2.26990784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.010385723 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:315.95, Y:220.69, Z:22.70 [[ 9.00964541e-02 -9.95923250e-01 -4.41692924e-03 3.15945363e+02] [ 9.94492509e-01 9.02037010e-02 -5.33661039e-02 2.20692495e+02] [ 5.35469670e-02 4.15493688e-04 9.98565246e-01 2.27004806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.070385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:315.95, Y:220.75, Z:22.70 [[ 8.83324380e-02 -9.96081323e-01 -4.40214968e-03 3.15947228e+02] [ 9.94650714e-01 8.84414269e-02 -5.33673230e-02 2.20750231e+02] [ 5.35475261e-02 3.35464425e-04 9.98565246e-01 2.27038933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.96, Y:220.81, Z:22.71 [[ 8.93350442e-02 -9.95991972e-01 -4.38655192e-03 3.15956525e+02] [ 9.94561192e-01 8.94417573e-02 -5.33686051e-02 2.20807430e+02] [ 5.35470431e-02 4.04992393e-04 9.98565246e-01 2.27076710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.97, Y:220.86, Z:22.71 [[ 8.91945739e-02 -9.96004632e-01 -4.37052729e-03 3.15967070e+02] [ 9.94573803e-01 8.93006302e-02 -5.33699174e-02 2.20863920e+02] [ 5.35469757e-02 4.13495088e-04 9.98565246e-01 2.27109859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.250385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:315.98, Y:220.92, Z:22.71 [[ 8.61488406e-02 -9.96272746e-01 -4.35814950e-03 3.15978877e+02] [ 9.94842197e-01 8.62586081e-02 -5.33709281e-02 2.20920201e+02] [ 5.35479290e-02 2.62172560e-04 9.98565246e-01 2.27119387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.99, Y:220.98, Z:22.72 [[ 8.24387208e-02 -9.96586655e-01 -4.34689711e-03 3.15987891e+02] [ 9.95156477e-01 8.25532114e-02 -5.33718446e-02 2.20978145e+02] [ 5.35485184e-02 7.40637733e-05 9.98565246e-01 2.27172265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.00, Y:221.03, Z:22.72 [[ 8.61354001e-02 -9.96274021e-01 -4.33222526e-03 3.16004250e+02] [ 9.94843368e-01 8.62437982e-02 -5.33730355e-02 2.21034366e+02] [ 5.35477962e-02 2.87422203e-04 9.98565246e-01 2.27208968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.02, Y:221.09, Z:22.72 [[ 8.59192862e-02 -9.96292753e-01 -4.31594325e-03 3.16015229e+02] [ 9.94862057e-01 8.60271223e-02 -5.33743521e-02 2.21091368e+02] [ 5.35477683e-02 2.92118053e-04 9.98565246e-01 2.27198664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.02, Y:221.15, Z:22.73 [[ 7.91353837e-02 -9.96854601e-01 -4.30056765e-03 3.16019277e+02] [ 9.95424606e-01 7.92521330e-02 -5.33755909e-02 2.21149247e+02] [ 5.35485326e-02 -5.69929954e-05 9.98565246e-01 2.27250300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.550385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.04, Y:221.20, Z:22.73 [[ 7.95109847e-02 -9.96824781e-01 -4.28488584e-03 3.16037053e+02] [ 9.95394673e-01 7.96263555e-02 -5.33768498e-02 2.21204691e+02] [ 5.35485564e-02 -2.11066511e-05 9.98565247e-01 2.27299260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.04, Y:221.26, Z:22.74 [[ 7.44585553e-02 -9.97214965e-01 -4.27054679e-03 3.16044948e+02] [ 9.95785395e-01 7.45804042e-02 -5.33779970e-02 2.21262018e+02] [ 5.35478365e-02 -2.78099577e-04 9.98565247e-01 2.27360968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.05, Y:221.32, Z:22.74 [[ 7.33386255e-02 -9.97298017e-01 -4.25584763e-03 3.16052608e+02] [ 9.95868517e-01 7.34612930e-02 -5.33791689e-02 2.21319495e+02] [ 5.35475794e-02 -3.23509783e-04 9.98565247e-01 2.27379245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.07, Y:221.38, Z:22.74 [[ 7.46291272e-02 -9.97202342e-01 -4.24066722e-03 3.16066589e+02] [ 9.95772616e-01 7.47491321e-02 -5.33803749e-02 2.21375945e+02] [ 5.35480211e-02 -2.39009502e-04 9.98565247e-01 2.27376091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.07, Y:221.43, Z:22.74 [[ 7.41676278e-02 -9.97236830e-01 -4.22703832e-03 3.16074792e+02] [ 9.95807099e-01 7.42875648e-02 -5.33814541e-02 2.21433265e+02] [ 5.35479685e-02 -2.50138943e-04 9.98565247e-01 2.27406295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.08, Y:221.49, Z:22.75 [[ 7.17458229e-02 -9.97414054e-01 -4.21206770e-03 3.16082597e+02] [ 9.95984550e-01 7.18684302e-02 -5.33826354e-02 2.21490497e+02] [ 5.35473055e-02 -3.65173243e-04 9.98565247e-01 2.27457372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.910385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:316.10, Y:221.55, Z:22.75 [[ 7.45479118e-02 -9.97208601e-01 -4.19705850e-03 3.16095898e+02] [ 9.95778691e-01 7.46656988e-02 -5.33838154e-02 2.21547230e+02] [ 5.35481762e-02 -1.99689462e-04 9.98565247e-01 2.27452317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.11, Y:221.60, Z:22.75 [[ 7.52824150e-02 -9.97153459e-01 -4.18774971e-03 3.16106381e+02] [ 9.95723422e-01 7.53986504e-02 -5.33845456e-02 2.21604595e+02] [ 5.35483350e-02 -1.50922953e-04 9.98565247e-01 2.27511622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.12, Y:221.66, Z:22.75 [[ 7.65167696e-02 -9.97059563e-01 -4.17280721e-03 3.16117309e+02] [ 9.95629320e-01 7.66304346e-02 -5.33857136e-02 2.21662430e+02] [ 5.35485003e-02 -6.96668570e-05 9.98565247e-01 2.27535301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:221.72, Z:22.76 [[ 7.62520499e-02 -9.97079881e-01 -4.16359534e-03 3.16126118e+02] [ 9.95649629e-01 7.63656014e-02 -5.33864320e-02 2.21719179e+02] [ 5.35484928e-02 -7.46572699e-05 9.98565247e-01 2.27551356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:221.78, Z:22.76 [[ 7.62960071e-02 -9.97076583e-01 -4.14823187e-03 3.16133521e+02] [ 9.95646261e-01 7.64086729e-02 -5.33876258e-02 2.21776729e+02] [ 5.35485124e-02 -5.69088683e-05 9.98565248e-01 2.27605164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.14, Y:221.83, Z:22.76 [[ 7.63493951e-02 -9.97072557e-01 -4.13353113e-03 3.16137860e+02] [ 9.95642167e-01 7.64611971e-02 -5.33887640e-02 2.21833202e+02] [ 5.35485261e-02 -3.93180538e-05 9.98565248e-01 2.27643169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.14, Y:221.89, Z:22.77 [[ 7.47421652e-02 -9.97194397e-01 -4.11633493e-03 3.16141932e+02] [ 9.95764116e-01 7.48553520e-02 -5.33900898e-02 2.21890690e+02] [ 5.35484281e-02 -1.08407698e-04 9.98565248e-01 2.27685188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.15, Y:221.95, Z:22.77 [[ 7.43637909e-02 -9.97222744e-01 -4.10178286e-03 3.16146823e+02] [ 9.95792445e-01 7.44767412e-02 -5.33912078e-02 2.21948626e+02] [ 5.35484142e-02 -1.14151777e-04 9.98565248e-01 2.27709681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.15, Y:222.01, Z:22.77 [[ 7.49418095e-02 -9.97179533e-01 -4.08716144e-03 3.16148986e+02] [ 9.95749107e-01 7.50531480e-02 -5.33923270e-02 2.22005168e+02] [ 5.35484901e-02 -6.84697541e-05 9.98565248e-01 2.27730345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.15, Y:222.06, Z:22.78 [[ 7.40802757e-02 -9.97243976e-01 -4.07011840e-03 3.16151240e+02] [ 9.95813575e-01 7.41919374e-02 -5.33936262e-02 2.22061966e+02] [ 5.35484420e-02 -9.76646022e-05 9.98565248e-01 2.27777956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.15, Y:222.12, Z:22.78 [[ 7.19318395e-02 -9.97401312e-01 -4.05385994e-03 3.16154647e+02] [ 9.95971086e-01 7.20457120e-02 -5.33948606e-02 2.22119667e+02] [ 5.35481672e-02 -1.96736738e-04 9.98565248e-01 2.27824559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.570385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:316.15, Y:222.18, Z:22.78 [[ 6.23077262e-02 -9.98048813e-01 -4.03909551e-03 3.16152856e+02] [ 9.96619682e-01 6.24345993e-02 -5.33959774e-02 2.22178727e+02] [ 5.35439712e-02 -6.98460135e-04 9.98565248e-01 2.27832609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:222.24, Z:22.78 [[ 6.01889343e-02 -9.98178889e-01 -4.02460150e-03 3.16155073e+02] [ 9.96749961e-01 6.03180657e-02 -5.33970699e-02 2.22237091e+02] [ 5.35425841e-02 -7.97608654e-04 9.98565249e-01 2.27845192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:222.29, Z:22.79 [[ 6.15424343e-02 -9.98096416e-01 -4.00916484e-03 3.16158522e+02] [ 9.96667240e-01 6.16688022e-02 -5.33982289e-02 2.22294790e+02] [ 5.35438213e-02 -7.09546263e-04 9.98565249e-01 2.27878326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:222.35, Z:22.79 [[ 6.15299164e-02 -9.98097249e-01 -3.99377802e-03 3.16162422e+02] [ 9.96668003e-01 6.16554792e-02 -5.33993797e-02 2.22352186e+02] [ 5.35440123e-02 -6.94811398e-04 9.98565249e-01 2.27926123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.17, Y:222.41, Z:22.80 [[ 6.13092013e-02 -9.98110893e-01 -3.97838314e-03 3.16166514e+02] [ 9.96681602e-01 6.14342566e-02 -5.34005266e-02 2.22410152e+02] [ 5.35440563e-02 -6.91237648e-04 9.98565249e-01 2.27956512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.17, Y:222.47, Z:22.80 [[ 6.07179460e-02 -9.98147097e-01 -3.96283835e-03 3.16172212e+02] [ 9.96717808e-01 6.08430164e-02 -5.34016802e-02 2.22467786e+02] [ 5.35438431e-02 -7.07391219e-04 9.98565249e-01 2.27992047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.18, Y:222.52, Z:22.80 [[ 5.93586771e-02 -9.98228915e-01 -3.94729322e-03 3.16178654e+02] [ 9.96799724e-01 5.94848623e-02 -5.34028292e-02 2.22524192e+02] [ 5.35430524e-02 -7.64739495e-04 9.98565249e-01 2.28046604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.19, Y:222.58, Z:22.82 [[ 6.18231144e-02 -9.98079380e-01 -3.93124971e-03 3.16186804e+02] [ 9.96649808e-01 6.19449123e-02 -5.34040102e-02 2.22581827e+02] [ 5.35449623e-02 -6.16477030e-04 9.98565249e-01 2.28162382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.050385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:316.19, Y:222.64, Z:22.81 [[ 5.78725514e-02 -9.98316276e-01 -3.92184225e-03 3.16190846e+02] [ 9.96887153e-01 5.79995030e-02 -5.34047011e-02 2.22639448e+02] [ 5.35422472e-02 -8.18967847e-04 9.98565249e-01 2.28113996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.19, Y:222.70, Z:22.82 [[ 5.80695201e-02 -9.98304898e-01 -3.90666507e-03 3.16194398e+02] [ 9.96875678e-01 5.81953780e-02 -5.34058113e-02 2.22696454e+02] [ 5.35426328e-02 -7.93209555e-04 9.98565249e-01 2.28153605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.20, Y:222.75, Z:22.82 [[ 5.88938641e-02 -9.98256668e-01 -3.89077606e-03 3.16196388e+02] [ 9.96827271e-01 5.90176918e-02 -5.34069689e-02 2.22753798e+02] [ 5.35434874e-02 -7.33088912e-04 9.98565250e-01 2.28181631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.20, Y:222.81, Z:22.82 [[ 5.98125761e-02 -9.98202104e-01 -3.87497455e-03 3.16199094e+02] [ 9.96772522e-01 5.99342429e-02 -5.34081153e-02 2.22809495e+02] [ 5.35443367e-02 -6.67991190e-04 9.98565250e-01 2.28205955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.20, Y:222.87, Z:22.82 [[ 6.14988340e-02 -9.98099697e-01 -3.85854567e-03 3.16201812e+02] [ 9.96669838e-01 6.16172066e-02 -5.34093022e-02 2.22867758e+02] [ 5.35455612e-02 -5.61086271e-04 9.98565250e-01 2.28195859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.20, Y:222.93, Z:22.82 [[ 6.08024995e-02 -9.98142411e-01 -3.84491449e-03 3.16204498e+02] [ 9.96712575e-01 6.09211403e-02 -5.34102835e-02 2.22926003e+02] [ 5.35453057e-02 -5.84795882e-04 9.98565250e-01 2.28246651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:222.98, Z:22.83 [[ 6.19276789e-02 -9.98073288e-01 -3.83061038e-03 3.16207462e+02] [ 9.96643257e-01 6.20439423e-02 -5.34113094e-02 2.22982738e+02] [ 5.35460674e-02 -5.10113587e-04 9.98565250e-01 2.28289956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.04, Z:22.83 [[ 6.02637760e-02 -9.98175197e-01 -3.81480369e-03 3.16207380e+02] [ 9.96745292e-01 6.03815774e-02 -5.34124383e-02 2.23040599e+02] [ 5.35453151e-02 -5.83552401e-04 9.98565250e-01 2.28310844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.10, Z:22.83 [[ 6.08123691e-02 -9.98141984e-01 -3.79929063e-03 3.16207996e+02] [ 9.96711947e-01 6.09285546e-02 -5.34135418e-02 2.23098798e+02] [ 5.35457839e-02 -5.38594339e-04 9.98565250e-01 2.28322843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.590385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.16, Z:22.83 [[ 6.02131324e-02 -9.98178371e-01 -3.78383182e-03 3.16209922e+02] [ 9.96748336e-01 6.03293492e-02 -5.34146369e-02 2.23156470e+02] [ 5.35456114e-02 -5.55265467e-04 9.98565250e-01 2.28342904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.21, Z:22.84 [[ 6.13148814e-02 -9.98111359e-01 -3.76836878e-03 3.16213289e+02] [ 9.96681130e-01 6.14286923e-02 -5.34157278e-02 2.23213324e+02] [ 5.35463306e-02 -4.80683041e-04 9.98565250e-01 2.28404757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.710385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.27, Z:22.84 [[ 5.48367543e-02 -9.98488264e-01 -3.75721164e-03 3.16214406e+02] [ 9.97058753e-01 5.49592469e-02 -5.34165126e-02 2.23270969e+02] [ 5.35422544e-02 -8.16972575e-04 9.98565251e-01 2.28427440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.33, Z:22.85 [[ 5.44953069e-02 -9.98507015e-01 -3.74206173e-03 3.16218933e+02] [ 9.97077476e-01 5.46174781e-02 -5.34175739e-02 2.23328015e+02] [ 5.35422042e-02 -8.20118384e-04 9.98565251e-01 2.28461533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.39, Z:22.85 [[ 4.74212850e-02 -9.98868028e-01 -3.72626113e-03 3.16214817e+02] [ 9.97439313e-01 4.75527343e-02 -5.34186760e-02 2.23387045e+02] [ 5.35354015e-02 -1.18353708e-03 9.98565251e-01 2.28468289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.44, Z:22.85 [[ 4.63983412e-02 -9.98916123e-01 -3.71131642e-03 3.16219860e+02] [ 9.97487469e-01 4.65304547e-02 -5.34197143e-02 2.23444022e+02] [ 5.35345032e-02 -1.22340549e-03 9.98565251e-01 2.28505023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.50, Z:22.86 [[ 3.85235236e-02 -9.99250856e-01 -3.69651153e-03 3.16215969e+02] [ 9.97823209e-01 3.86661028e-02 -5.34207388e-02 2.23502180e+02] [ 5.35236487e-02 -1.63050991e-03 9.98565251e-01 2.28557570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.56, Z:22.87 [[ 4.23773109e-02 -9.99094897e-01 -3.68108109e-03 3.16219372e+02] [ 9.97666632e-01 4.25135582e-02 -5.34218020e-02 2.23558571e+02] [ 5.35299457e-02 -1.40861945e-03 9.98565251e-01 2.28671548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.62, Z:22.86 [[ 4.38845457e-02 -9.99029885e-01 -3.66546134e-03 3.16217981e+02] [ 9.97601338e-01 4.40178033e-02 -5.34228737e-02 2.23616096e+02] [ 5.35323930e-02 -1.31223059e-03 9.98565251e-01 2.28639461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.130385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.67, Z:22.87 [[ 4.95028334e-02 -9.98767287e-01 -3.65722297e-03 3.16217389e+02] [ 9.97337975e-01 4.96276136e-02 -5.34234377e-02 2.23673312e+02] [ 5.35390812e-02 -1.00287581e-03 9.98565251e-01 2.28673812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.190385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.73, Z:22.87 [[ 5.40882070e-02 -9.98529503e-01 -3.64644843e-03 3.16218293e+02] [ 9.97099586e-01 5.42058468e-02 -5.34241731e-02 2.23731382e+02] [ 5.35432719e-02 -7.46254480e-04 9.98565251e-01 2.28702420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.250385723 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:223.79, Z:22.86 [[ 5.64664400e-02 -9.98397892e-01 -3.63184240e-03 3.16209041e+02] [ 9.96967636e-01 5.65798921e-02 -5.34251661e-02 2.23790811e+02] [ 5.35450624e-02 -6.04100392e-04 9.98565251e-01 2.28648915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.310385723 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.85, Z:22.87 [[ 6.15047806e-02 -9.98100233e-01 -3.61763946e-03 3.16215106e+02] [ 9.96669366e-01 6.16102523e-02 -5.34261278e-02 2.23847248e+02] [ 5.35475143e-02 -3.19628159e-04 9.98565252e-01 2.28717331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.22, Y:223.90, Z:22.88 [[ 6.28826191e-02 -9.98014425e-01 -3.60327117e-03 3.16219158e+02] [ 9.96583359e-01 6.29853462e-02 -5.34270968e-02 2.23903937e+02] [ 5.35479666e-02 -2.31324305e-04 9.98565252e-01 2.28756657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:223.96, Z:22.88 [[ 6.19646384e-02 -9.98071917e-01 -3.58231937e-03 3.16228263e+02] [ 9.96640865e-01 6.20675602e-02 -5.34285016e-02 2.23960737e+02] [ 5.35478329e-02 -2.59608092e-04 9.98565252e-01 2.28789544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.490385723 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:224.02, Z:22.88 [[ 5.30059902e-02 -9.98587829e-01 -3.56547668e-03 3.16229209e+02] [ 9.97157686e-01 5.31208484e-02 -5.34296256e-02 2.24018151e+02] [ 5.35435750e-02 -7.23252265e-04 9.98565252e-01 2.28839975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.550385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:224.08, Z:22.89 [[ 5.09045923e-02 -9.98697216e-01 -3.54863827e-03 3.16232318e+02] [ 9.97267244e-01 5.10215589e-02 -5.34307439e-02 2.24075357e+02] [ 5.35421923e-02 -8.19070474e-04 9.98565252e-01 2.28901110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.24, Y:224.13, Z:22.89 [[ 5.13006786e-02 -9.98677003e-01 -3.53322116e-03 3.16236698e+02] [ 9.97246918e-01 5.14162534e-02 -5.34317634e-02 2.24133051e+02] [ 5.35427384e-02 -7.82408190e-04 9.98565252e-01 2.28936263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.24, Y:224.19, Z:22.90 [[ 5.20536718e-02 -9.98638089e-01 -3.51879587e-03 3.16241090e+02] [ 9.97207856e-01 5.21673966e-02 -5.34327134e-02 2.24190559e+02] [ 5.35435092e-02 -7.27601959e-04 9.98565252e-01 2.28971957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.730385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.24, Y:224.25, Z:22.89 [[ 5.11439135e-02 -9.98685146e-01 -3.50411447e-03 3.16241083e+02] [ 9.97254954e-01 5.12581558e-02 -5.34336762e-02 2.24250184e+02] [ 5.35430332e-02 -7.61688201e-04 9.98565252e-01 2.28905755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.790385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:224.31, Z:22.90 [[ 6.06264732e-02 -9.98154422e-01 -3.49010694e-03 3.16250314e+02] [ 9.96723157e-01 6.07263775e-02 -5.34345911e-02 2.24306358e+02] [ 5.35479149e-02 -2.39119596e-04 9.98565253e-01 2.28978664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.850385723 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:224.36, Z:22.90 [[ 6.33436367e-02 -9.97985734e-01 -3.47252731e-03 3.16253885e+02] [ 9.96554140e-01 6.34387028e-02 -5.34357335e-02 2.24362906e+02] [ 5.35483924e-02 -7.57477762e-05 9.98565253e-01 2.29002550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.910385723 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:224.42, Z:22.90 [[ 6.61322647e-02 -9.97804876e-01 -3.45728455e-03 3.16258093e+02] [ 9.96372970e-01 6.62225135e-02 -5.34367197e-02 2.24419775e+02] [ 5.35483696e-02 8.91464176e-05 9.98565253e-01 2.29030376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:224.48, Z:22.91 [[ 6.54323265e-02 -9.97851086e-01 -3.43803187e-03 3.16259169e+02] [ 9.96419179e-01 6.55225487e-02 -5.34379584e-02 2.24476192e+02] [ 5.35483934e-02 7.08490490e-05 9.98565253e-01 2.29144992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:224.53, Z:22.92 [[ 6.48259144e-02 -9.97890729e-01 -3.41949297e-03 3.16264635e+02] [ 9.96458814e-01 6.49160140e-02 -5.34391447e-02 2.24533778e+02] [ 5.35484069e-02 5.68575096e-05 9.98565253e-01 2.29177844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.090385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.27, Y:224.59, Z:22.92 [[ 6.34725000e-02 -9.97977781e-01 -3.40450623e-03 3.16270761e+02] [ 9.96545938e-01 6.35637390e-02 -5.34400994e-02 2.24591450e+02] [ 5.35484350e-02 -7.70146310e-07 9.98565253e-01 2.29203223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.150385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:316.28, Y:224.65, Z:22.92 [[ 6.11212635e-02 -9.98124593e-01 -3.38939055e-03 3.16277965e+02] [ 9.96692916e-01 6.12150661e-02 -5.34410581e-02 2.24648056e+02] [ 5.35483162e-02 -1.11796557e-04 9.98565253e-01 2.29183146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.28, Y:224.70, Z:22.93 [[ 6.19763287e-02 -9.98071922e-01 -3.37230659e-03 3.16282850e+02] [ 9.96640107e-01 6.20679900e-02 -5.34421362e-02 2.24704752e+02] [ 5.35484079e-02 -4.88286091e-05 9.98565254e-01 2.29256040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.29, Y:224.76, Z:22.92 [[ 5.90606295e-02 -9.98248763e-01 -3.35398044e-03 3.16287873e+02] [ 9.96817156e-01 5.91554917e-02 -5.34432863e-02 2.24762797e+02] [ 5.35481008e-02 -1.86911112e-04 9.98565254e-01 2.29229871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.330385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:316.29, Y:224.82, Z:22.93 [[ 5.87304078e-02 -9.98268294e-01 -3.33941316e-03 3.16294793e+02] [ 9.96836667e-01 5.88249638e-02 -5.34441965e-02 2.24820546e+02] [ 5.35480878e-02 -1.90050026e-04 9.98565254e-01 2.29276042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.30, Y:224.88, Z:22.93 [[ 5.92684595e-02 -9.98236547e-01 -3.32340337e-03 3.16302509e+02] [ 9.96804814e-01 5.93613867e-02 -5.34451921e-02 2.24876827e+02] [ 5.35482258e-02 -1.45170277e-04 9.98565254e-01 2.29312090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.31, Y:224.93, Z:22.94 [[ 6.00687942e-02 -9.98188755e-01 -3.30913117e-03 3.16310949e+02] [ 9.96756898e-01 6.01598092e-02 -5.34460757e-02 2.24934473e+02] [ 5.35483485e-02 -8.79579987e-05 9.98565254e-01 2.29367260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.510385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:316.32, Y:224.99, Z:22.94 [[ 6.01428357e-02 -9.98184348e-01 -3.29354781e-03 3.16321169e+02] [ 9.96752432e-01 6.02329101e-02 -5.34470360e-02 2.24991657e+02] [ 5.35483748e-02 -6.83954879e-05 9.98565254e-01 2.29360880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.33, Y:225.05, Z:22.94 [[ 5.87852952e-02 -9.98265248e-01 -3.28372074e-03 3.16327910e+02] [ 9.96833423e-01 5.88767908e-02 -5.34476398e-02 2.25048941e+02] [ 5.35482564e-02 -1.31387295e-04 9.98565254e-01 2.29398456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.630385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:316.34, Y:225.11, Z:22.94 [[ 5.32750656e-02 -9.98574527e-01 -3.26826584e-03 3.16338559e+02] [ 9.97143171e-01 5.33736347e-02 -5.34485848e-02 2.25105049e+02] [ 5.35468345e-02 -4.11452102e-04 9.98565254e-01 2.29416745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.690385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:316.35, Y:225.16, Z:22.95 [[ 4.88767171e-02 -9.98799533e-01 -3.24945661e-03 3.16346127e+02] [ 9.97368552e-01 4.89805827e-02 -5.34497283e-02 2.25162062e+02] [ 5.35447240e-02 -6.28458579e-04 9.98565255e-01 2.29467152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.750385723 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:225.22, Z:22.95 [[ 4.64434801e-02 -9.98915674e-01 -3.23712810e-03 3.16356163e+02] [ 9.97484901e-01 4.65501718e-02 -5.34504750e-02 2.25218304e+02] [ 5.35432061e-02 -7.46560327e-04 9.98565255e-01 2.29526438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.810385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:225.28, Z:22.95 [[ 4.65138613e-02 -9.98912449e-01 -3.22179362e-03 3.16364699e+02] [ 9.97481608e-01 4.66196317e-02 -5.34513993e-02 2.25275560e+02] [ 5.35434670e-02 -7.27448905e-04 9.98565255e-01 2.29545941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87038572299997 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:225.33, Z:22.96 [[ 4.88884963e-02 -9.98799094e-01 -3.20712983e-03 3.16372009e+02] [ 9.97367949e-01 4.89900802e-02 -5.34522791e-02 2.25333678e+02] [ 5.35452055e-02 -5.85486950e-04 9.98565255e-01 2.29588422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:225.39, Z:22.96 [[ 5.18037734e-02 -9.98652178e-01 -3.19312646e-03 3.16378073e+02] [ 9.97220693e-01 5.19004299e-02 -5.34531156e-02 2.25391114e+02] [ 5.35467950e-02 -4.15178691e-04 9.98565255e-01 2.29619210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.990385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:225.45, Z:22.96 [[ 5.41825226e-02 -9.98525990e-01 -3.17840776e-03 3.16379772e+02] [ 9.97094227e-01 5.42749809e-02 -5.34539908e-02 2.25449226e+02] [ 5.35477071e-02 -2.72899965e-04 9.98565255e-01 2.29620910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:225.51, Z:22.97 [[ 5.84127646e-02 -9.98287503e-01 -3.16382466e-03 3.16382015e+02] [ 9.96855315e-01 5.84983749e-02 -5.34548540e-02 2.25506723e+02] [ 5.35483913e-02 -3.14296250e-05 9.98565255e-01 2.29676312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:225.56, Z:22.97 [[ 5.95810692e-02 -9.98218502e-01 -3.14923605e-03 3.16382078e+02] [ 9.96786169e-01 5.96642221e-02 -5.34557134e-02 2.25562785e+02] [ 5.35483789e-02 4.58336189e-05 9.98565255e-01 2.29692498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.170385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:225.62, Z:22.97 [[ 5.80551361e-02 -9.98308465e-01 -3.13206731e-03 3.16382679e+02] [ 9.96876206e-01 5.81395590e-02 -5.34567194e-02 2.25620559e+02] [ 5.35483925e-02 -1.88462609e-05 9.98565255e-01 2.29724223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.230385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:225.68, Z:22.97 [[ 5.07085794e-02 -9.98708628e-01 -3.11717523e-03 3.16380570e+02] [ 9.97276977e-01 5.08027406e-02 -5.34575877e-02 2.25679338e+02] [ 5.35469152e-02 -3.97928762e-04 9.98565256e-01 2.29671536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.290385723 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:225.74, Z:22.98 [[ 5.09644733e-02 -9.98695645e-01 -3.10339658e-03 3.16388245e+02] [ 9.97263922e-01 5.10575302e-02 -5.34583876e-02 2.25736565e+02] [ 5.35471107e-02 -3.70426875e-04 9.98565256e-01 2.29794303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.350385723 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:225.79, Z:22.98 [[ 4.78313484e-02 -9.98850649e-01 -3.08933416e-03 3.16390794e+02] [ 9.97419173e-01 4.79281435e-02 -5.34592003e-02 2.25794752e+02] [ 5.35458229e-02 -5.24335493e-04 9.98565256e-01 2.29834500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.410385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:225.85, Z:22.98 [[ 4.36950885e-02 -9.99040183e-01 -3.07445754e-03 3.16390488e+02] [ 9.97609064e-01 4.37970141e-02 -5.34600558e-02 2.25853484e+02] [ 5.35433960e-02 -7.31164841e-04 9.98565256e-01 2.29809694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.470385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.40, Y:225.91, Z:22.99 [[ 4.43642721e-02 -9.99010733e-01 -3.06044298e-03 3.16395625e+02] [ 9.97579494e-01 4.44644893e-02 -5.34608581e-02 2.25910022e+02] [ 5.35440521e-02 -6.81283104e-04 9.98565256e-01 2.29874702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.40, Y:225.97, Z:22.99 [[ 4.53296187e-02 -9.98967448e-01 -3.04365212e-03 3.16399565e+02] [ 9.97536050e-01 4.54275543e-02 -5.34618141e-02 2.25968437e+02] [ 5.35448776e-02 -6.12749062e-04 9.98565256e-01 2.29926666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.40, Y:226.03, Z:23.00 [[ 4.49597579e-02 -9.98984213e-01 -3.02691792e-03 3.16403761e+02] [ 9.97552791e-01 4.50573280e-02 -5.34627615e-02 2.26025718e+02] [ 5.35448396e-02 -6.15837600e-04 9.98565256e-01 2.29954976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:226.08, Z:23.00 [[ 4.53690106e-02 -9.98965753e-01 -3.01280329e-03 3.16407635e+02] [ 9.97534240e-01 4.54652390e-02 -5.34635569e-02 2.26084004e+02] [ 5.35452402e-02 -5.79785756e-04 9.98565256e-01 2.29991822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.710385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:226.14, Z:23.00 [[ 4.77665090e-02 -9.98854030e-01 -2.99796483e-03 3.16410690e+02] [ 9.97422239e-01 4.78585072e-02 -5.34643890e-02 2.26142284e+02] [ 5.35465985e-02 -4.36429575e-04 9.98565256e-01 2.30033097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:226.20, Z:23.01 [[ 4.93363211e-02 -9.98777768e-01 -2.98292715e-03 3.16412593e+02] [ 9.97345784e-01 4.94252638e-02 -5.34652280e-02 2.26200450e+02] [ 5.35473130e-02 -3.37232167e-04 9.98565257e-01 2.30061184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.26, Z:23.01 [[ 4.98213998e-02 -9.98753733e-01 -2.96793850e-03 3.16415905e+02] [ 9.97321657e-01 4.99088447e-02 -5.34660600e-02 2.26257804e+02] [ 5.35475534e-02 -2.96235389e-04 9.98565257e-01 2.30097750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.32, Z:23.02 [[ 4.76359070e-02 -9.98860403e-01 -2.95226774e-03 3.16419076e+02] [ 9.97428469e-01 4.77256465e-02 -5.34669253e-02 2.26315857e+02] [ 5.35468934e-02 -3.97730413e-04 9.98565257e-01 2.30164473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.37, Z:23.02 [[ 4.63682076e-02 -9.98920099e-01 -2.93669602e-03 3.16420412e+02] [ 9.97488228e-01 4.64589309e-02 -5.34677806e-02 2.26374087e+02] [ 5.35464764e-02 -4.50114557e-04 9.98565257e-01 2.30177883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.43, Z:23.02 [[ 4.57450388e-02 -9.98948877e-01 -2.92113197e-03 3.16422725e+02] [ 9.97517009e-01 4.58358223e-02 -5.34686309e-02 2.26431166e+02] [ 5.35463213e-02 -4.67954232e-04 9.98565257e-01 2.30167312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.49, Z:23.02 [[ 4.24668461e-02 -9.99093626e-01 -2.91441506e-03 3.16423838e+02] [ 9.97662040e-01 4.25619682e-02 -5.34689970e-02 2.26489338e+02] [ 5.35445773e-02 -6.36941610e-04 9.98565257e-01 2.30218652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:226.55, Z:23.03 [[ 4.23773220e-02 -9.99097472e-01 -2.89906373e-03 3.16427479e+02] [ 9.97665840e-01 4.24717509e-02 -5.34698293e-02 2.26546095e+02] [ 5.35446996e-02 -6.26388674e-04 9.98565257e-01 2.30252148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:226.60, Z:23.03 [[ 4.03322239e-02 -9.99182151e-01 -2.88817520e-03 3.16428442e+02] [ 9.97750675e-01 4.04290004e-02 -5.34704175e-02 2.26603400e+02] [ 5.35434528e-02 -7.25097912e-04 9.98565257e-01 2.30280910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.66, Z:23.03 [[ 3.56268379e-02 -9.99361036e-01 -2.87188933e-03 3.16424114e+02] [ 9.97929970e-01 3.57294827e-02 -5.34712922e-02 2.26661757e+02] [ 5.35397371e-02 -9.60931374e-04 9.98565257e-01 2.30287253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.72, Z:23.03 [[ 3.50053822e-02 -9.99383040e-01 -2.85716211e-03 3.16423487e+02] [ 9.97951981e-01 3.51081292e-02 -5.34720791e-02 2.26720075e+02] [ 5.35393986e-02 -9.79500017e-04 9.98565257e-01 2.30330220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37038572299997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.78, Z:23.04 [[ 3.32317245e-02 -9.99443618e-01 -2.84742252e-03 3.16418129e+02] [ 9.98012705e-01 3.33364902e-02 -5.34725977e-02 2.26778384e+02] [ 5.35377696e-02 -1.06477721e-03 9.98565258e-01 2.30364806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:226.84, Z:23.04 [[ 3.50750613e-02 -9.99380669e-01 -2.83159729e-03 3.16415460e+02] [ 9.97949506e-01 3.51763412e-02 -5.34734357e-02 2.26835540e+02] [ 5.35399232e-02 -9.50207073e-04 9.98565258e-01 2.30381136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.490385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:226.89, Z:23.04 [[ 3.41228543e-02 -9.99413680e-01 -2.81554432e-03 3.16411925e+02] [ 9.97982553e-01 3.42246390e-02 -5.34742810e-02 2.26893563e+02] [ 5.35392889e-02 -9.85169010e-04 9.98565258e-01 2.30395803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:226.95, Z:23.04 [[ 3.77060289e-02 -9.99284952e-01 -2.80009324e-03 3.16407433e+02] [ 9.97853413e-01 3.78018550e-02 -5.34750900e-02 2.26951928e+02] [ 5.35427015e-02 -7.77749301e-04 9.98565258e-01 2.30446288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.40, Y:227.01, Z:23.05 [[ 4.04110937e-02 -9.99179257e-01 -2.78488944e-03 3.16401772e+02] [ 9.97747413e-01 4.05022305e-02 -5.34758818e-02 2.27009804e+02] [ 5.35447861e-02 -6.17597366e-04 9.98565258e-01 2.30473188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.670385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.40, Y:227.07, Z:23.05 [[ 4.21394384e-02 -9.99107902e-01 -2.76897258e-03 3.16398892e+02] [ 9.97675850e-01 4.22272464e-02 -5.34767060e-02 2.27068048e+02] [ 5.35459256e-02 -5.09058709e-04 9.98565258e-01 2.30502447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:227.13, Z:23.05 [[ 4.17360240e-02 -9.99124876e-01 -2.75421740e-03 3.16391330e+02] [ 9.97692811e-01 4.18236205e-02 -5.34774659e-02 2.27127097e+02] [ 5.35458579e-02 -5.15926096e-04 9.98565258e-01 2.30505015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:227.18, Z:23.06 [[ 3.86584847e-02 -9.99248727e-01 -2.73935183e-03 3.16384168e+02] [ 9.97816887e-01 3.87496962e-02 -5.34782274e-02 2.27184287e+02] [ 5.35441997e-02 -6.65984281e-04 9.98565258e-01 2.30575870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:227.24, Z:23.06 [[ 4.11707473e-02 -9.99148413e-01 -2.72377994e-03 3.16384270e+02] [ 9.97716298e-01 4.12575250e-02 -5.34790205e-02 2.27241092e+02] [ 5.35458549e-02 -5.15788400e-04 9.98565258e-01 2.30632676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:227.30, Z:23.07 [[ 3.73300032e-02 -9.99299324e-01 -2.70784124e-03 3.16379363e+02] [ 9.97867498e-01 3.74214321e-02 -5.34798275e-02 2.27298498e+02] [ 5.35436868e-02 -7.05664628e-04 9.98565259e-01 2.30656139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.970385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:227.36, Z:23.07 [[ 3.34916448e-02 -9.99435372e-01 -2.69191448e-03 3.16377603e+02] [ 9.98003851e-01 3.35877203e-02 -5.34806292e-02 2.27355898e+02] [ 5.35408478e-02 -8.95386783e-04 9.98565259e-01 2.30677741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:227.41, Z:23.07 [[ 2.95971182e-02 -9.99558327e-01 -2.67612698e-03 3.16372388e+02] [ 9.98127132e-01 2.96979266e-02 -5.34814192e-02 2.27412448e+02] [ 5.35372733e-02 -1.08821906e-03 9.98565259e-01 2.30703945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:227.47, Z:23.07 [[ 2.91530806e-02 -9.99571420e-01 -2.65973231e-03 3.16367787e+02] [ 9.98140208e-01 2.92536479e-02 -5.34822345e-02 2.27470182e+02] [ 5.35371200e-02 -1.09561386e-03 9.98565259e-01 2.30738211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.53, Z:23.08 [[ 2.99939384e-02 -9.99546582e-01 -2.64444903e-03 3.16363519e+02] [ 9.98115230e-01 3.00924842e-02 -5.34829902e-02 2.27528360e+02] [ 5.35383181e-02 -1.03529934e-03 9.98565259e-01 2.30784859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.58, Z:23.08 [[ 3.22513235e-02 -9.99476331e-01 -2.62996586e-03 3.16361394e+02] [ 9.98044708e-01 3.23458616e-02 -5.34837024e-02 2.27584404e+02] [ 5.35407631e-02 -8.99903326e-04 9.98565259e-01 2.30786825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.270385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.64, Z:23.08 [[ 3.50917460e-02 -9.99380679e-01 -2.61303282e-03 3.16358424e+02] [ 9.97948736e-01 3.51813090e-02 -5.34845297e-02 2.27642380e+02] [ 5.35433355e-02 -7.30807268e-04 9.98565259e-01 2.30827683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.70, Z:23.09 [[ 3.91694804e-02 -9.99229204e-01 -2.59810616e-03 3.16355190e+02] [ 9.97796861e-01 3.92524006e-02 -5.34852548e-02 2.27700936e+02] [ 5.35460105e-02 -4.97392534e-04 9.98565259e-01 2.30902005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.76, Z:23.09 [[ 3.85580380e-02 -9.99253021e-01 -2.58411117e-03 3.16355415e+02] [ 9.97820686e-01 3.86410856e-02 -5.34859309e-02 2.27759275e+02] [ 5.35458309e-02 -5.16167021e-04 9.98565260e-01 2.30931089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.450385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:316.35, Y:227.82, Z:23.10 [[ 3.42083720e-02 -9.99411419e-01 -2.56950716e-03 3.16354610e+02] [ 9.97979411e-01 3.42968717e-02 -5.34866325e-02 2.27817665e+02] [ 5.35432774e-02 -7.34624623e-04 9.98565260e-01 2.30962576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.88, Z:23.10 [[ 3.18932003e-02 -9.99488018e-01 -2.55455252e-03 3.16356774e+02] [ 9.98056168e-01 3.19842169e-02 -5.34873468e-02 2.27875546e+02] [ 5.35416676e-02 -8.43704234e-04 9.98565260e-01 2.30999649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.93, Z:23.10 [[ 2.62027936e-02 -9.99653422e-01 -2.53941060e-03 3.16357429e+02] [ 9.98222058e-01 2.63011501e-02 -5.34880656e-02 2.27932129e+02] [ 5.35363173e-02 -1.13335893e-03 9.98565260e-01 2.31037173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:227.99, Z:23.11 [[ 2.19391659e-02 -9.99756123e-01 -2.52357473e-03 3.16358777e+02] [ 9.98325129e-01 2.20427794e-02 -5.34888128e-02 2.27990343e+02] [ 5.35313947e-02 -1.34584813e-03 9.98565260e-01 2.31072446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:228.05, Z:23.11 [[ 2.07065496e-02 -9.99782448e-01 -2.50891268e-03 3.16360096e+02] [ 9.98351526e-01 2.08111434e-02 -5.34895005e-02 2.28048533e+02] [ 5.35300771e-02 -1.39719381e-03 9.98565260e-01 2.31097021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:228.11, Z:23.11 [[ 2.41839100e-02 -9.99704415e-01 -2.49429586e-03 3.16359832e+02] [ 9.98273083e-01 2.42827444e-02 -5.34901821e-02 2.28106140e+02] [ 5.35349396e-02 -1.19638667e-03 9.98565260e-01 2.31129762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:228.16, Z:23.12 [[ 3.31969359e-02 -9.99445754e-01 -2.47939088e-03 3.16358433e+02] [ 9.98013542e-01 3.32820629e-02 -5.34908730e-02 2.28163665e+02] [ 5.35437452e-02 -6.98732593e-04 9.98565260e-01 2.31153112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:228.22, Z:23.12 [[ 4.58701817e-02 -9.98944371e-01 -2.46377841e-03 3.16358720e+02] [ 9.97511156e-01 4.59363011e-02 -5.34915921e-02 2.28221699e+02] [ 5.35483017e-02 -3.97740382e-06 9.98565260e-01 2.31186565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:228.28, Z:23.12 [[ 5.57660944e-02 -9.98440857e-01 -2.44885874e-03 3.16359490e+02] [ 9.97007029e-01 5.58172101e-02 -5.34922751e-02 2.28278725e+02] [ 5.35455615e-02 5.41525889e-04 9.98565261e-01 2.31219456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:228.34, Z:23.13 [[ 6.06334926e-02 -9.98157125e-01 -2.43566948e-03 3.16363516e+02] [ 9.96723043e-01 6.06769102e-02 -5.34928757e-02 2.28336340e+02] [ 5.35420839e-02 8.15771984e-04 9.98565261e-01 2.31273664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.050385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:228.39, Z:23.13 [[ 6.17285782e-02 -9.98090037e-01 -2.42090987e-03 3.16369363e+02] [ 9.96655885e-01 6.17696315e-02 -5.34935436e-02 2.28394537e+02] [ 5.35409116e-02 8.89266319e-04 9.98565261e-01 2.31295783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:228.45, Z:23.13 [[ 6.21003980e-02 -9.98067009e-01 -2.40562733e-03 3.16375236e+02] [ 9.96632819e-01 6.21400982e-02 -5.34942309e-02 2.28450781e+02] [ 5.35403129e-02 9.24485885e-04 9.98565261e-01 2.31342325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.38, Y:228.51, Z:23.14 [[ 6.00440438e-02 -9.98192868e-01 -2.38965424e-03 3.16383283e+02] [ 9.96758738e-01 6.00858427e-02 -5.34949444e-02 2.28508838e+02] [ 5.35418564e-02 8.30144042e-04 9.98565261e-01 2.31359337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.39, Y:228.57, Z:23.14 [[ 5.63963025e-02 -9.98405637e-01 -2.37525421e-03 3.16393326e+02] [ 9.96971644e-01 5.64425700e-02 -5.34955838e-02 2.28566253e+02] [ 5.35443579e-02 6.48892032e-04 9.98565261e-01 2.31392950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.40, Y:228.62, Z:23.14 [[ 5.17281900e-02 -9.98658412e-01 -2.36035324e-03 3.16403379e+02] [ 9.97224622e-01 5.17803626e-02 -5.34962413e-02 2.28623241e+02] [ 5.35466913e-02 4.13461363e-04 9.98565261e-01 2.31419395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:228.68, Z:23.15 [[ 4.79162288e-02 -9.98848606e-01 -2.34477226e-03 3.16414625e+02] [ 9.97414992e-01 4.79730390e-02 -5.34969242e-02 2.28680964e+02] [ 5.35478140e-02 2.24659854e-04 9.98565261e-01 2.31463413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:228.74, Z:23.15 [[ 4.64861931e-02 -9.98916215e-01 -2.33021705e-03 3.16424588e+02] [ 9.97482652e-01 4.65442761e-02 -5.34975582e-02 2.28736477e+02] [ 5.35480366e-02 1.62546738e-04 9.98565261e-01 2.31477820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.470385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:228.79, Z:23.15 [[ 4.65368629e-02 -9.98913895e-01 -2.31321481e-03 3.16434206e+02] [ 9.97480293e-01 4.65939626e-02 -5.34982934e-02 2.28793425e+02] [ 5.35479704e-02 1.82256560e-04 9.98565262e-01 2.31512238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.530385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:316.44, Y:228.85, Z:23.16 [[ 4.49819397e-02 -9.98985157e-01 -2.29788618e-03 3.16442929e+02] [ 9.97551613e-01 4.50404499e-02 -5.34989518e-02 2.28850108e+02] [ 5.35481566e-02 1.14226556e-04 9.98565262e-01 2.31551931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.45, Y:228.91, Z:23.16 [[ 4.27158702e-02 -9.99084654e-01 -2.28211304e-03 3.16451475e+02] [ 9.97651210e-01 4.27767873e-02 -5.34996246e-02 2.28906098e+02] [ 5.35482754e-02 8.53017963e-06 9.98565262e-01 2.31590357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.46, Y:228.96, Z:23.16 [[ 4.06441191e-02 -9.99171118e-01 -2.26571282e-03 3.16460130e+02] [ 9.97737764e-01 4.07071303e-02 -5.35003191e-02 2.28963301e+02] [ 5.35482043e-02 -8.61138983e-05 9.98565262e-01 2.31640735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.710385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:316.47, Y:229.02, Z:23.17 [[ 4.15739620e-02 -9.99132893e-01 -2.25105465e-03 3.16466988e+02] [ 9.97699448e-01 4.16348543e-02 -5.35009359e-02 2.29021135e+02] [ 5.35482672e-02 -2.16301081e-05 9.98565262e-01 2.31692591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.47, Y:229.08, Z:23.17 [[ 4.38925879e-02 -9.99033754e-01 -2.23591812e-03 3.16474575e+02] [ 9.97600139e-01 4.39493428e-02 -5.35015685e-02 2.29077629e+02] [ 5.35481399e-02 1.17770075e-04 9.98565262e-01 2.31716453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.830385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:316.48, Y:229.14, Z:23.17 [[ 4.55598452e-02 -9.98959133e-01 -2.22497355e-03 3.16481514e+02] [ 9.97525404e-01 4.56136213e-02 -5.35020236e-02 2.29135098e+02] [ 5.35478243e-02 2.18076275e-04 9.98565262e-01 2.31737222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.890385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:316.49, Y:229.19, Z:23.18 [[ 4.45268449e-02 -9.99005742e-01 -2.21080620e-03 3.16489304e+02] [ 9.97572040e-01 4.45813448e-02 -5.35026090e-02 2.29192956e+02] [ 5.35479744e-02 1.76863926e-04 9.98565262e-01 2.31779636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:229.25, Z:23.18 [[ 3.88573542e-02 -9.99242356e-01 -2.19547933e-03 3.16495267e+02] [ 9.97808951e-01 3.89191680e-02 -5.35032380e-02 2.29250847e+02] [ 5.35481478e-02 -1.11674658e-04 9.98565262e-01 2.31757088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.010385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:229.31, Z:23.18 [[ 4.15259130e-02 -9.99135048e-01 -2.18038931e-03 3.16501665e+02] [ 9.97701451e-01 4.15830903e-02 -5.35038529e-02 2.29307629e+02] [ 5.35482420e-02 4.64187694e-05 9.98565263e-01 2.31829377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.070385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.50, Y:229.37, Z:23.18 [[ 3.80167600e-02 -9.99274757e-01 -2.16468336e-03 3.16503417e+02] [ 9.97841333e-01 3.80781307e-02 -5.35044884e-02 2.29366875e+02] [ 5.35481117e-02 -1.25943230e-04 9.98565263e-01 2.31821441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.130385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.51, Y:229.42, Z:23.19 [[ 4.05910238e-02 -9.99173530e-01 -2.15059699e-03 3.16513287e+02] [ 9.97739923e-01 4.06479471e-02 -5.35050546e-02 2.29423693e+02] [ 5.35482516e-02 2.60884740e-05 9.98565263e-01 2.31908326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.52, Y:229.48, Z:23.19 [[ 3.66597193e-02 -9.99325515e-01 -2.14032362e-03 3.16518961e+02] [ 9.97892118e-01 3.67217322e-02 -5.35054655e-02 2.29482052e+02] [ 5.35479733e-02 -1.74316723e-04 9.98565263e-01 2.31927377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.52, Y:229.54, Z:23.20 [[ 3.51888764e-02 -9.99378416e-01 -2.12727054e-03 3.16523225e+02] [ 9.97945081e-01 3.52523001e-02 -5.35059845e-02 2.29539803e+02] [ 5.35477172e-02 -2.40083697e-04 9.98565263e-01 2.31982247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.53, Y:229.60, Z:23.20 [[ 3.47149319e-02 -9.99395023e-01 -2.11209540e-03 3.16528206e+02] [ 9.97961683e-01 3.47782229e-02 -5.35065835e-02 2.29597257e+02] [ 5.35476682e-02 -2.50312873e-04 9.98565263e-01 2.32019441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37038572299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.53, Y:229.65, Z:23.20 [[ 3.43766436e-02 -9.99406749e-01 -2.09695728e-03 3.16530855e+02] [ 9.97973394e-01 3.44396093e-02 -5.35071768e-02 2.29654009e+02] [ 5.35476520e-02 -2.53310423e-04 9.98565263e-01 2.32045565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.53, Y:229.71, Z:23.20 [[ 3.11054219e-02 -9.99513943e-01 -2.08110376e-03 3.16529685e+02] [ 9.98080762e-01 3.11722300e-02 -5.35077934e-02 2.29713160e+02] [ 5.35466582e-02 -4.12727140e-04 9.98565263e-01 2.32019367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.53, Y:229.77, Z:23.21 [[ 3.26713411e-02 -9.99464013e-01 -2.06656296e-03 3.16533922e+02] [ 9.98030695e-01 3.27351253e-02 -5.35083550e-02 2.29770678e+02] [ 5.35473244e-02 -3.14303549e-04 9.98565263e-01 2.32057330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:229.83, Z:23.21 [[ 3.24270440e-02 -9.99472001e-01 -2.05100481e-03 3.16537543e+02] [ 9.98038661e-01 3.24903456e-02 -5.35089513e-02 2.29828151e+02] [ 5.35473365e-02 -3.11844980e-04 9.98565264e-01 2.32084176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:229.89, Z:23.21 [[ 3.29963897e-02 -9.99453398e-01 -2.03546781e-03 3.16541640e+02] [ 9.98019987e-01 3.30580429e-02 -5.35095424e-02 2.29886133e+02] [ 5.35475825e-02 -2.65815842e-04 9.98565264e-01 2.32114993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.670385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:229.94, Z:23.21 [[ 3.33177678e-02 -9.99442768e-01 -2.01996961e-03 3.16544060e+02] [ 9.98009302e-01 3.33781303e-02 -5.35101274e-02 2.29944573e+02] [ 5.35477327e-02 -2.33110464e-04 9.98565264e-01 2.32130449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.55, Y:230.00, Z:23.22 [[ 3.85590125e-02 -9.99254314e-01 -2.00441467e-03 3.16554802e+02] [ 9.97820521e-01 3.86110233e-02 -5.35107101e-02 2.30000677e+02] [ 5.35482004e-02 6.32740502e-05 9.98565264e-01 2.32215406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:230.06, Z:23.22 [[ 3.59313182e-02 -9.99352274e-01 -1.99313505e-03 3.16555658e+02] [ 9.97918599e-01 3.59864951e-02 -5.35111302e-02 2.30059514e+02] [ 5.35481956e-02 -6.62610867e-05 9.98565264e-01 2.32199635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.850385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:230.12, Z:23.22 [[ 3.58548098e-02 -9.99355050e-01 -1.97903828e-03 3.16560645e+02] [ 9.97921351e-01 3.59093416e-02 -5.35116516e-02 2.30117172e+02] [ 5.35482052e-02 -5.62744598e-05 9.98565264e-01 2.32234421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.57, Y:230.17, Z:23.23 [[ 3.78768438e-02 -9.99280486e-01 -1.96346922e-03 3.16571302e+02] [ 9.97846650e-01 3.79276408e-02 -5.35122228e-02 2.30174158e+02] [ 5.35481898e-02 6.76329268e-05 9.98565264e-01 2.32294595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.57, Y:230.23, Z:23.24 [[ 3.25251084e-02 -9.99469009e-01 -1.95358532e-03 3.16574356e+02] [ 9.98035444e-01 3.25830537e-02 -5.35125837e-02 2.30232239e+02] [ 5.35478228e-02 -2.09244810e-04 9.98565264e-01 2.32351323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.58, Y:230.29, Z:23.24 [[ 3.24991938e-02 -9.99469881e-01 -1.93889742e-03 3.16584100e+02] [ 9.98036286e-01 3.25563899e-02 -5.35131158e-02 2.30288494e+02] [ 5.35478710e-02 -1.95956854e-04 9.98565264e-01 2.32393034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:230.34, Z:23.24 [[ 2.95385966e-02 -9.99561791e-01 -1.92288975e-03 3.16585225e+02] [ 9.98128335e-01 2.95991818e-02 -5.35136911e-02 2.30344981e+02] [ 5.35471568e-02 -3.38571413e-04 9.98565264e-01 2.32395236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:230.40, Z:23.24 [[ 3.36858741e-02 -9.99430647e-01 -1.90904518e-03 3.16593250e+02] [ 9.97996924e-01 3.37397695e-02 -5.35141849e-02 2.30401631e+02] [ 5.35481272e-02 -1.02549126e-04 9.98565265e-01 2.32444968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:230.46, Z:23.25 [[ 3.47672893e-02 -9.99393632e-01 -1.89817073e-03 3.16599383e+02] [ 9.97959831e-01 3.48190511e-02 -5.35145707e-02 2.30459468e+02] [ 5.35482137e-02 -3.37415780e-05 9.98565265e-01 2.32471324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:230.52, Z:23.25 [[ 3.51705583e-02 -9.99379550e-01 -1.88350187e-03 3.16604997e+02] [ 9.97945700e-01 3.52209561e-02 -5.35150870e-02 2.30516726e+02] [ 5.35482222e-02 2.52289745e-06 9.98565265e-01 2.32502403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:230.57, Z:23.25 [[ 3.62960230e-02 -9.99339338e-01 -1.86698507e-03 3.16609936e+02] [ 9.97905403e-01 3.63439214e-02 -5.35156632e-02 2.30573698e+02] [ 5.35481610e-02 7.93312536e-05 9.98565265e-01 2.32518536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:230.63, Z:23.26 [[ 3.68352666e-02 -9.99319638e-01 -1.85024787e-03 3.16614919e+02] [ 9.97885648e-01 3.68814950e-02 -5.35162418e-02 2.30630199e+02] [ 5.35480714e-02 1.24949236e-04 9.98565265e-01 2.32586947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:230.69, Z:23.26 [[ 3.83024026e-02 -9.99264514e-01 -1.83243009e-03 3.16618377e+02] [ 9.97830428e-01 3.83455714e-02 -5.35168519e-02 2.30687707e+02] [ 5.35477566e-02 2.21369504e-04 9.98565265e-01 2.32605230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:230.75, Z:23.26 [[ 3.96633035e-02 -9.99211451e-01 -1.81604976e-03 3.16623990e+02] [ 9.97777284e-01 3.97036418e-02 -5.35174078e-02 2.30745556e+02] [ 5.35473105e-02 3.10663990e-04 9.98565265e-01 2.32627967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:230.80, Z:23.26 [[ 3.94525042e-02 -9.99219823e-01 -1.80122153e-03 3.16627480e+02] [ 9.97785642e-01 3.94923508e-02 -5.35179069e-02 2.30803569e+02] [ 5.35472879e-02 3.14182461e-04 9.98565265e-01 2.32645316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:230.86, Z:23.27 [[ 3.81926724e-02 -9.99268797e-01 -1.78619096e-03 3.16631356e+02] [ 9.97834645e-01 3.82335222e-02 -5.35184085e-02 2.30861363e+02] [ 5.35475681e-02 2.61687823e-04 9.98565266e-01 2.32655513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:230.92, Z:23.27 [[ 3.67780141e-02 -9.99321890e-01 -1.77140867e-03 3.16637002e+02] [ 9.97887773e-01 3.68201025e-02 -5.35188978e-02 2.30918445e+02] [ 5.35478296e-02 2.00651720e-04 9.98565266e-01 2.32700854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:230.98, Z:23.28 [[ 3.55595235e-02 -9.99366019e-01 -1.75497669e-03 3.16639216e+02] [ 9.97931928e-01 3.56024805e-02 -5.35194366e-02 2.30975712e+02] [ 5.35479879e-02 1.51778397e-04 9.98565266e-01 2.32750502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.03, Z:23.28 [[ 3.36893253e-02 -9.99430842e-01 -1.73822616e-03 3.16641189e+02] [ 9.97996806e-01 3.37340689e-02 -5.35199807e-02 2.31033888e+02] [ 5.35481568e-02 6.83078823e-05 9.98565266e-01 2.32803491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.09, Z:23.28 [[ 3.11065286e-02 -9.99514589e-01 -1.72343967e-03 3.16641778e+02] [ 9.98080647e-01 3.11541861e-02 -5.35204568e-02 2.31092311e+02] [ 5.35481698e-02 -5.52961585e-05 9.98565266e-01 2.32833147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.15, Z:23.29 [[ 2.93485536e-02 -9.99567779e-01 -1.70836981e-03 3.16643250e+02] [ 9.98133894e-01 2.93979261e-02 -5.35209379e-02 2.31149221e+02] [ 5.35480275e-02 -1.34419693e-04 9.98565266e-01 2.32861695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.21, Z:23.29 [[ 2.83368291e-02 -9.99597000e-01 -1.69162319e-03 3.16642389e+02] [ 9.98163135e-01 2.83867562e-02 -5.35214672e-02 2.31205213e+02] [ 5.35479177e-02 -1.71887243e-04 9.98565266e-01 2.32864274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.26, Z:23.29 [[ 2.77121056e-02 -9.99614536e-01 -1.67895531e-03 3.16642935e+02] [ 9.98180679e-01 2.77622505e-02 -5.35218646e-02 2.31263097e+02] [ 5.35478454e-02 -1.92697191e-04 9.98565266e-01 2.32901987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.32, Z:23.29 [[ 2.68774031e-02 -9.99637352e-01 -1.66407749e-03 3.16643192e+02] [ 9.98203509e-01 2.69279487e-02 -5.35223271e-02 2.31320492e+02] [ 5.35477276e-02 -2.22546825e-04 9.98565266e-01 2.32928356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.38, Z:23.30 [[ 2.64222846e-02 -9.99649511e-01 -1.64849672e-03 3.16643043e+02] [ 9.98215662e-01 2.64726489e-02 -5.35228070e-02 2.31377675e+02] [ 5.35476880e-02 -2.31360404e-04 9.98565267e-01 2.32958580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.230385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.44, Z:23.30 [[ 2.47534386e-02 -9.99692254e-01 -1.63258526e-03 3.16642227e+02] [ 9.98258460e-01 2.48053445e-02 -5.35232924e-02 2.31435215e+02] [ 5.35473176e-02 -3.04856515e-04 9.98565267e-01 2.33001182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:231.49, Z:23.30 [[ 2.39633695e-02 -9.99711528e-01 -1.61794697e-03 3.16643649e+02] [ 9.98277747e-01 2.40156249e-02 -5.35237349e-02 2.31493471e+02] [ 5.35471508e-02 -3.32551415e-04 9.98565267e-01 2.33030640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.55, Z:23.31 [[ 2.10211259e-02 -9.99777746e-01 -1.60333271e-03 3.16645777e+02] [ 9.98344094e-01 2.10768184e-02 -5.35241726e-02 2.31551033e+02] [ 5.35460698e-02 -4.75539371e-04 9.98565267e-01 2.33082981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.61, Z:23.31 [[ 1.92668739e-02 -9.99813115e-01 -1.58848999e-03 3.16646334e+02] [ 9.98379531e-01 1.93242872e-02 -5.35246132e-02 2.31607682e+02] [ 5.35453066e-02 -5.54663925e-04 9.98565267e-01 2.33115107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.67, Z:23.31 [[ 1.97443536e-02 -9.99803824e-01 -1.57294918e-03 3.16647006e+02] [ 9.98370180e-01 1.98002504e-02 -5.35250699e-02 2.31665280e+02] [ 5.35457143e-02 -5.13567648e-04 9.98565267e-01 2.33132543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.72, Z:23.32 [[ 2.21962012e-02 -9.99752422e-01 -1.55662155e-03 3.16648498e+02] [ 9.98318614e-01 2.22477079e-02 -5.35255447e-02 2.31722867e+02] [ 5.35469242e-02 -3.65940505e-04 9.98565267e-01 2.33163648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.590385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.78, Z:23.32 [[ 2.50329545e-02 -9.99685437e-01 -1.54190589e-03 3.16648018e+02] [ 9.98251463e-01 2.50796045e-02 -5.35259686e-02 2.31780648e+02] [ 5.35478017e-02 -1.99296674e-04 9.98565267e-01 2.33178842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.84, Z:23.32 [[ 2.73190099e-02 -9.99625601e-01 -1.52661055e-03 3.16649698e+02] [ 9.98191499e-01 2.73615615e-02 -5.35264049e-02 2.31837242e+02] [ 5.35481350e-02 -6.15612937e-05 9.98565268e-01 2.33222369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.89, Z:23.33 [[ 2.80631934e-02 -9.99605010e-01 -1.51049424e-03 3.16650757e+02] [ 9.98170853e-01 2.81038144e-02 -5.35268597e-02 2.31894915e+02] [ 5.35481677e-02 -5.59671143e-06 9.98565268e-01 2.33265465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:231.95, Z:23.33 [[ 2.68820687e-02 -9.99637493e-01 -1.49575891e-03 3.16650724e+02] [ 9.98203362e-01 2.69235952e-02 -5.35272714e-02 2.31952800e+02] [ 5.35481386e-02 -5.41477862e-05 9.98565268e-01 2.33298815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:232.01, Z:23.33 [[ 2.48000201e-02 -9.99691335e-01 -1.48087237e-03 3.16650030e+02] [ 9.98257269e-01 2.48437364e-02 -5.35276833e-02 2.32009879e+02] [ 5.35479516e-02 -1.50803985e-04 9.98565268e-01 2.33319166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:232.07, Z:23.33 [[ 2.21908173e-02 -9.99752680e-01 -1.46528231e-03 3.16648542e+02] [ 9.98318705e-01 2.22374415e-02 -5.35281100e-02 2.32067916e+02] [ 5.35474556e-02 -2.74986226e-04 9.98565268e-01 2.33348047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:232.13, Z:23.34 [[ 1.93669935e-02 -9.99811390e-01 -1.45037047e-03 3.16647432e+02] [ 9.98377525e-01 1.94168694e-02 -5.35285141e-02 2.32125152e+02] [ 5.35465797e-02 -4.11330898e-04 9.98565268e-01 2.33362849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:232.18, Z:23.34 [[ 1.49705851e-02 -9.99886905e-01 -1.43492259e-03 3.16647042e+02] [ 9.98453241e-01 1.50259385e-02 -5.35289282e-02 2.32183144e+02] [ 5.35444354e-02 -6.31343731e-04 9.98565268e-01 2.33391774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:232.24, Z:23.34 [[ 1.14571180e-02 -9.99933357e-01 -1.42001603e-03 3.16645574e+02] [ 9.98499863e-01 1.15167108e-02 -5.35293236e-02 2.32240864e+02] [ 5.35421102e-02 -8.04594035e-04 9.98565268e-01 2.33418412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:232.30, Z:23.34 [[ 9.92705223e-03 -9.99949738e-01 -1.40518267e-03 3.16644943e+02] [ 9.98516304e-01 9.98804454e-03 -5.35297130e-02 2.32297929e+02] [ 5.35410576e-02 -8.71705552e-04 9.98565268e-01 2.33428456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:232.36, Z:23.35 [[ 1.02714856e-02 -9.99946282e-01 -1.38938104e-03 3.16641986e+02] [ 9.98512791e-01 1.03311384e-02 -5.35301232e-02 2.32355658e+02] [ 5.35416015e-02 -8.37480858e-04 9.98565269e-01 2.33504350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:232.41, Z:23.35 [[ 1.21652357e-02 -9.99925056e-01 -1.37443426e-03 3.16639005e+02] [ 9.98491424e-01 1.22213736e-02 -5.35305070e-02 2.32412155e+02] [ 5.35432926e-02 -7.21149585e-04 9.98565269e-01 2.33528144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:232.47, Z:23.36 [[ 1.62947837e-02 -9.99866304e-01 -1.36198897e-03 3.16634332e+02] [ 9.98432428e-01 1.63443341e-02 -5.35308236e-02 2.32469431e+02] [ 5.35459275e-02 -4.87580760e-04 9.98565269e-01 2.33558398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37038572299997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:232.53, Z:23.36 [[ 1.92885562e-02 -9.99813052e-01 -1.34606724e-03 3.16628631e+02] [ 9.98379009e-01 1.93329605e-02 -5.35312240e-02 2.32528177e+02] [ 5.35472399e-02 -3.11345258e-04 9.98565269e-01 2.33558000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:232.59, Z:23.36 [[ 2.12009503e-02 -9.99774348e-01 -1.33133610e-03 3.16625782e+02] [ 9.98340199e-01 2.12418227e-02 -5.35315903e-02 2.32585979e+02] [ 5.35477908e-02 -1.94205764e-04 9.98565269e-01 2.33577317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.490385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:232.64, Z:23.37 [[ 2.10200755e-02 -9.99778191e-01 -1.31374391e-03 3.16621632e+02] [ 9.98344023e-01 2.10602655e-02 -5.35320221e-02 2.32643210e+02] [ 5.35478160e-02 -1.86321231e-04 9.98565269e-01 2.33653097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:232.70, Z:23.37 [[ 2.02392642e-02 -9.99794327e-01 -1.29486032e-03 3.16617239e+02] [ 9.98360162e-01 2.02795632e-02 -5.35324789e-02 2.32701343e+02] [ 5.35477278e-02 -2.09278970e-04 9.98565269e-01 2.33684843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:232.76, Z:23.37 [[ 1.56706323e-02 -9.99876389e-01 -1.28005089e-03 3.16612607e+02] [ 9.98442398e-01 1.57166912e-02 -5.35328330e-02 2.32759727e+02] [ 5.35463339e-02 -4.39163741e-04 9.98565269e-01 2.33683135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.670385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:232.82, Z:23.37 [[ 1.22544144e-02 -9.99924113e-01 -1.26389940e-03 3.16611810e+02] [ 9.98490257e-01 1.23045078e-02 -5.35332143e-02 2.32817205e+02] [ 5.35447035e-02 -6.05973040e-04 9.98565270e-01 2.33723843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.730385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:232.88, Z:23.36 [[-4.20261748e-04 -9.99999133e-01 -1.24808896e-03 3.16596567e+02] [ 9.98565987e-01 -3.52844719e-04 -5.35335829e-02 2.32876816e+02] [ 5.35330961e-02 -1.26879730e-03 9.98565270e-01 2.33582460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:232.93, Z:23.37 [[ 9.79703714e-03 -9.99951248e-01 -1.23299879e-03 3.16601252e+02] [ 9.98517459e-01 9.84900007e-03 -5.35339305e-02 2.32934546e+02] [ 5.35434644e-02 -7.06696912e-04 9.98565270e-01 2.33740223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:232.99, Z:23.39 [[ 1.84803272e-02 -9.99828483e-01 -1.21749461e-03 3.16602046e+02] [ 9.98394274e-01 1.85190069e-02 -5.35342831e-02 2.32991643e+02] [ 5.35476478e-02 -2.26208585e-04 9.98565270e-01 2.33855243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.910385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:233.05, Z:23.39 [[ 1.93945728e-02 -9.99811181e-01 -1.20508803e-03 3.16600054e+02] [ 9.98376921e-01 1.94312767e-02 -5.35345624e-02 2.33049464e+02] [ 5.35478705e-02 -1.64852112e-04 9.98565270e-01 2.33874593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:233.11, Z:23.39 [[ 2.14100563e-02 -9.99770071e-01 -1.18947620e-03 3.16600985e+02] [ 9.98335720e-01 2.14430329e-02 -5.35349093e-02 2.33107019e+02] [ 5.35481060e-02 -4.13111575e-05 9.98565270e-01 2.33941274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.030385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.17, Z:23.39 [[ 1.46685800e-02 -9.99891721e-01 -1.17461201e-03 3.16589295e+02] [ 9.98457601e-01 1.47104312e-02 -5.35352354e-02 2.33166118e+02] [ 5.35467177e-02 -3.87514406e-04 9.98565270e-01 2.33850860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.090385723 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.22, Z:23.40 [[ 2.37663400e-02 -9.99716867e-01 -1.16046220e-03 3.16593073e+02] [ 9.98282412e-01 2.37943822e-02 -5.35355421e-02 2.33223407e+02] [ 5.35479969e-02 1.13874900e-04 9.98565270e-01 2.34000139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.150385723 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.28, Z:23.39 [[ 2.03451453e-02 -9.99792360e-01 -1.14553400e-03 3.16587095e+02] [ 9.98357991e-01 2.03772967e-02 -5.35358616e-02 2.33281834e+02] [ 5.35480882e-02 -5.44581380e-05 9.98565270e-01 2.33929130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.210385723 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.34, Z:23.40 [[ 2.01512136e-02 -9.99796305e-01 -1.13032613e-03 3.16588201e+02] [ 9.98361924e-01 2.01828288e-02 -5.35361827e-02 2.33339745e+02] [ 5.35480908e-02 -4.96555194e-05 9.98565271e-01 2.33971386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.270385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.40, Z:23.41 [[ 2.81437129e-02 -9.99603266e-01 -1.11452892e-03 3.16593678e+02] [ 9.98168666e-01 2.81630136e-02 -5.35365115e-02 2.33396700e+02] [ 5.35466603e-02 3.94228364e-04 9.98565271e-01 2.34081478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.330385723 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.46, Z:23.41 [[ 2.50093876e-02 -9.99686613e-01 -1.09863344e-03 3.16593263e+02] [ 9.98252067e-01 2.50323350e-02 -5.35368377e-02 2.33455062e+02] [ 5.35475613e-02 2.42210426e-04 9.98565271e-01 2.34123664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.59, Y:233.51, Z:23.42 [[ 2.29231371e-02 -9.99736644e-01 -1.08256382e-03 3.16594655e+02] [ 9.98302134e-01 2.29482176e-02 -5.35371627e-02 2.33513158e+02] [ 5.35479063e-02 1.46513948e-04 9.98565271e-01 2.34161325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.450385723 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:233.57, Z:23.42 [[ 2.45885237e-02 -9.99697087e-01 -1.06674406e-03 3.16599961e+02] [ 9.98262525e-01 2.46103673e-02 -5.35374779e-02 2.33569948e+02] [ 5.35475137e-02 2.51516923e-04 9.98565271e-01 2.34238140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.510385723 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:316.60, Y:233.63, Z:23.43 [[ 2.36550501e-02 -9.99719622e-01 -1.05660413e-03 3.16602622e+02] [ 9.98285072e-01 2.36776902e-02 -5.35376780e-02 2.33626580e+02] [ 5.35476852e-02 2.11644330e-04 9.98565271e-01 2.34268411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.570385723 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:233.68, Z:23.43 [[ 2.73926767e-02 -9.99624208e-01 -1.04085269e-03 3.16605294e+02] [ 9.98189574e-01 2.74091095e-02 -5.35379842e-02 2.33684273e+02] [ 5.35463940e-02 4.27580386e-04 9.98565271e-01 2.34283868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.630385723 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:233.74, Z:23.43 [[ 2.81011188e-02 -9.99604563e-01 -1.02234197e-03 3.16607517e+02] [ 9.98169907e-01 2.81155435e-02 -5.35383377e-02 2.33740776e+02] [ 5.35459104e-02 4.84016197e-04 9.98565271e-01 2.34327995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.690385723 meters Centerline goodness : 0.995525 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:233.80, Z:23.44 [[ 2.94113873e-02 -9.99566890e-01 -1.00165158e-03 3.16611335e+02] [ 9.98132207e-01 2.94228234e-02 -5.35387248e-02 2.33797649e+02] [ 5.35450081e-02 5.74867476e-04 9.98565272e-01 2.34355995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:233.85, Z:23.44 [[ 2.97229089e-02 -9.99557697e-01 -9.79492358e-04 3.16613804e+02] [ 9.98123002e-01 2.97327111e-02 -5.35391302e-02 2.33852541e+02] [ 5.35445727e-02 6.13684839e-04 9.98565272e-01 2.34381527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.810385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:233.91, Z:23.44 [[ 3.15426353e-02 -9.99501946e-01 -9.59759143e-04 3.16617829e+02] [ 9.98067232e-01 3.15487686e-02 -5.35394840e-02 2.33909688e+02] [ 5.35430977e-02 7.30872265e-04 9.98565272e-01 2.34411092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87038572299997 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:233.97, Z:23.44 [[ 3.61612046e-02 -9.99345524e-01 -9.43930419e-04 3.16624359e+02] [ 9.97910797e-01 3.61598601e-02 -5.35397631e-02 2.33966669e+02] [ 5.35388550e-02 9.94103972e-04 9.98565272e-01 2.34447479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.930385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:234.02, Z:23.45 [[ 3.50531337e-02 -9.99385022e-01 -9.24813129e-04 3.16626211e+02] [ 9.97950295e-01 3.50523562e-02 -5.35400933e-02 2.34022908e+02] [ 5.35395842e-02 9.53830516e-04 9.98565272e-01 2.34458109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.990385723 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:234.08, Z:23.45 [[ 3.74287125e-02 -9.99298892e-01 -9.03439015e-04 3.16630973e+02] [ 9.97864174e-01 3.74233797e-02 -5.35404540e-02 2.34081124e+02] [ 5.35367261e-02 1.10244083e-03 9.98565273e-01 2.34464690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.050385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:234.14, Z:23.45 [[ 3.45562186e-02 -9.99402362e-01 -8.86363124e-04 3.16636655e+02] [ 9.97967637e-01 3.45540952e-02 -5.35407367e-02 2.34136800e+02] [ 5.35393662e-02 9.65603688e-04 9.98565273e-01 2.34504611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.110385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:234.20, Z:23.45 [[ 2.76226198e-02 -9.99618049e-01 -8.64731991e-04 3.16641964e+02] [ 9.98183337e-01 2.76292906e-02 -5.35410861e-02 2.34195434e+02] [ 5.35445279e-02 6.15784001e-04 9.98565273e-01 2.34480149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.170385723 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:234.25, Z:23.45 [[ 2.64701266e-02 -9.99649244e-01 -8.49516094e-04 3.16653696e+02] [ 9.98214537e-01 2.64776365e-02 -5.35413275e-02 2.34252691e+02] [ 5.35450407e-02 5.69246400e-04 9.98565273e-01 2.34508816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.230385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.66, Y:234.31, Z:23.45 [[ 1.96614493e-02 -9.99806351e-01 -8.29330899e-04 3.16656771e+02] [ 9.98371716e-01 1.96776492e-02 -5.35416402e-02 2.34310038e+02] [ 5.35475912e-02 2.24725731e-04 9.98565273e-01 2.34543287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:234.37, Z:23.46 [[ 1.85516394e-02 -9.99827577e-01 -8.07597981e-04 3.16665611e+02] [ 9.98392947e-01 1.85682679e-02 -5.35419680e-02 2.34366507e+02] [ 5.35477318e-02 1.86991153e-04 9.98565274e-01 2.34568192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.350385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:234.43, Z:23.46 [[ 1.20056080e-02 -9.99927613e-01 -7.96296685e-04 3.16673488e+02] [ 9.98493112e-01 1.20310232e-02 -5.35421361e-02 2.34425004e+02] [ 5.35478406e-02 -1.52290856e-04 9.98565274e-01 2.34619526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.410385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:234.48, Z:23.46 [[ 6.92990980e-03 -9.99975678e-01 -7.86985592e-04 3.16682110e+02] [ 9.98541313e-01 6.96210756e-03 -5.35422729e-02 2.34481675e+02] [ 5.35464497e-02 -4.14794505e-04 9.98565274e-01 2.34628898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.470385723 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:316.69, Y:234.54, Z:23.46 [[ 5.61792017e-03 -9.99983919e-01 -7.75043357e-04 3.16688717e+02] [ 9.98549582e-01 5.65136044e-03 -5.35424458e-02 2.34539215e+02] [ 5.35459648e-02 -4.73122034e-04 9.98565274e-01 2.34635948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:234.59, Z:23.47 [[ 7.71706397e-04 -9.99999418e-01 -7.53458655e-04 3.16695200e+02] [ 9.98565229e-01 8.10941896e-04 -5.35427495e-02 2.34594170e+02] [ 5.35433294e-02 -7.11058332e-04 9.98565274e-01 2.34685088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:234.65, Z:23.47 [[-1.49086318e-03 -9.99998623e-01 -7.28258679e-04 3.16701747e+02] [ 9.98564487e-01 -1.44973179e-03 -5.35430923e-02 2.34651740e+02] [ 5.35419628e-02 -8.07038679e-04 9.98565274e-01 2.34740036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:234.71, Z:23.48 [[-2.83324930e-03 -9.99995732e-01 -7.12843822e-04 3.16706488e+02] [ 9.98561628e-01 -2.79101793e-03 -5.35432975e-02 2.34710086e+02] [ 5.35410795e-02 -8.63519997e-04 9.98565274e-01 2.34779355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:234.77, Z:23.48 [[-2.20906942e-03 -9.99997317e-01 -6.97178737e-04 3.16709776e+02] [ 9.98563163e-01 -2.16857177e-03 -5.35435015e-02 2.34767189e+02] [ 5.35418460e-02 -8.14458317e-04 9.98565274e-01 2.34788800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.770385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:234.82, Z:23.48 [[-1.44849748e-03 -9.99998717e-01 -6.83422108e-04 3.16713453e+02] [ 9.98564513e-01 -1.40982705e-03 -5.35436771e-02 2.34823697e+02] [ 5.35426449e-02 -7.59998946e-04 9.98565275e-01 2.34816679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:234.88, Z:23.48 [[ 2.00623630e-03 -9.99997766e-01 -6.66243028e-04 3.16714638e+02] [ 9.98563415e-01 2.03903197e-03 -5.35438909e-02 2.34881877e+02] [ 5.35451297e-02 -5.57864216e-04 9.98565275e-01 2.34845244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:234.94, Z:23.49 [[ 7.57512191e-03 -9.99971096e-01 -6.51430497e-04 3.16713404e+02] [ 9.98536572e-01 7.59913616e-03 -5.35440711e-02 2.34939883e+02] [ 5.35474738e-02 -2.44874309e-04 9.98565275e-01 2.34862136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.00, Z:23.49 [[ 9.19633278e-03 -9.99957510e-01 -6.36519581e-04 3.16713187e+02] [ 9.98522937e-01 9.21722282e-03 -5.35442484e-02 2.34997786e+02] [ 5.35478402e-02 -1.43168675e-04 9.98565275e-01 2.34896693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.06, Z:23.49 [[ 6.39218437e-03 -9.99979377e-01 -6.21612239e-04 3.16714013e+02] [ 9.98544854e-01 6.41629901e-03 -5.35444214e-02 2.35055008e+02] [ 5.35473056e-02 -2.78441889e-04 9.98565275e-01 2.34940301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.11, Z:23.50 [[ 1.64702792e-03 -9.99998461e-01 -6.05029978e-04 3.16714059e+02] [ 9.98564050e-01 1.67706154e-03 -5.35446088e-02 2.35110719e+02] [ 5.35455411e-02 -5.15971719e-04 9.98565275e-01 2.34973760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.17, Z:23.50 [[-5.26750373e-04 -9.99999688e-01 -5.87899221e-04 3.16714072e+02] [ 9.98565326e-01 -4.94515866e-04 -5.35447969e-02 2.35169090e+02] [ 5.35444895e-02 -6.15260519e-04 9.98565275e-01 2.35021848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.23, Z:23.50 [[-3.72911704e-03 -9.99992883e-01 -5.72586413e-04 3.16712708e+02] [ 9.98558610e-01 -3.69310910e-03 -5.35449607e-02 2.35225819e+02] [ 5.35424649e-02 -7.71436518e-04 9.98565275e-01 2.35014370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.250385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.28, Z:23.50 [[-4.83885706e-03 -9.99988135e-01 -5.60911976e-04 3.16713314e+02] [ 9.98553887e-01 -4.80188243e-03 -5.35450830e-02 2.35283707e+02] [ 5.35417542e-02 -8.19197837e-04 9.98565276e-01 2.35047881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.34, Z:23.51 [[-6.60582627e-03 -9.99978032e-01 -5.45941357e-04 3.16710798e+02] [ 9.98543830e-01 -6.56711877e-03 -5.35452356e-02 2.35341480e+02] [ 5.35404741e-02 -8.98856897e-04 9.98565276e-01 2.35066527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.40, Z:23.51 [[-7.87699768e-03 -9.99968836e-01 -5.29376310e-04 3.16711817e+02] [ 9.98534659e-01 -7.83735377e-03 -5.35453994e-02 2.35397713e+02] [ 5.35395818e-02 -9.50377580e-04 9.98565276e-01 2.35098944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.45, Z:23.51 [[-8.33300353e-03 -9.99965149e-01 -5.12249771e-04 3.16711500e+02] [ 9.98530965e-01 -8.29362240e-03 -5.35455632e-02 2.35454953e+02] [ 5.35394487e-02 -9.57692625e-04 9.98565276e-01 2.35136398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.51, Z:23.52 [[-6.41926328e-03 -9.99979273e-01 -4.96263278e-04 3.16709728e+02] [ 9.98544995e-01 -6.38348276e-03 -5.35457114e-02 2.35510964e+02] [ 5.35414337e-02 -8.39265231e-04 9.98565276e-01 2.35160110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.57, Z:23.52 [[-2.17290925e-04 -9.99999861e-01 -4.79644546e-04 3.16708386e+02] [ 9.98565373e-01 -1.91296239e-04 -5.35458603e-02 2.35566912e+02] [ 5.35457611e-02 -4.90591464e-04 9.98565276e-01 2.35186785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.62, Z:23.52 [[ 3.58256992e-03 -9.99993475e-01 -4.63173616e-04 3.16707259e+02] [ 9.98558886e-01 3.60223163e-03 -5.35460028e-02 2.35624337e+02] [ 5.35473218e-02 -2.70673831e-04 9.98565276e-01 2.35228004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.68, Z:23.53 [[ 1.03924314e-02 -9.99945897e-01 -4.46856644e-04 3.16707886e+02] [ 9.98511202e-01 1.04014494e-02 -5.35461389e-02 2.35681626e+02] [ 5.35478899e-02 1.10283212e-04 9.98565276e-01 2.35260298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.74, Z:23.53 [[ 1.41780139e-02 -9.99899394e-01 -4.30763852e-04 3.16708239e+02] [ 9.98464673e-01 1.41807385e-02 -5.35462684e-02 2.35739291e+02] [ 5.35469899e-02 3.29077250e-04 9.98565277e-01 2.35304287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.80, Z:23.53 [[ 1.69638628e-02 -9.99856017e-01 -4.15875730e-04 3.16710195e+02] [ 9.98421295e-01 1.69617927e-02 -5.35463840e-02 2.35795761e+02] [ 5.35457283e-02 4.93134327e-04 9.98565277e-01 2.35336173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:235.85, Z:23.54 [[ 1.69985900e-02 -9.99855434e-01 -3.98394220e-04 3.16712501e+02] [ 9.98420714e-01 1.69955340e-02 -5.35465141e-02 2.35851627e+02] [ 5.35455440e-02 5.12450199e-04 9.98565277e-01 2.35354085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:235.91, Z:23.54 [[ 1.54502113e-02 -9.99880566e-01 -3.81488856e-04 3.16716442e+02] [ 9.98445844e-01 1.54484718e-02 -5.35466346e-02 2.35909413e+02] [ 5.35461327e-02 4.46410857e-04 9.98565277e-01 2.35402412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:235.97, Z:23.54 [[ 1.35268399e-02 -9.99908441e-01 -3.66339759e-04 3.16720099e+02] [ 9.98473718e-01 1.35270490e-02 -5.35467382e-02 2.35966836e+02] [ 5.35467910e-02 3.58537534e-04 9.98565277e-01 2.35416733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:236.02, Z:23.54 [[ 1.04041200e-02 -9.99945814e-01 -3.50532589e-04 3.16722842e+02] [ 9.98511097e-01 1.04079631e-02 -5.35468417e-02 2.36024542e+02] [ 5.35475885e-02 2.07097084e-04 9.98565277e-01 2.35417573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.090385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:236.08, Z:23.53 [[-1.41929722e-03 -9.99998937e-01 -3.34763795e-04 3.16714397e+02] [ 9.98564353e-01 -1.39933552e-03 -5.35469403e-02 2.36083992e+02] [ 5.35464149e-02 -4.10282216e-04 9.98565277e-01 2.35307035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:236.14, Z:23.55 [[ 6.91405413e-03 -9.99976047e-01 -3.19560289e-04 3.16725716e+02] [ 9.98541342e-01 6.92124618e-03 -5.35470310e-02 2.36139796e+02] [ 5.35479601e-02 5.11329112e-05 9.98565277e-01 2.35503618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:236.20, Z:23.55 [[ 5.63012942e-03 -9.99984105e-01 -3.03585347e-04 3.16723441e+02] [ 9.98549406e-01 5.63830814e-03 -5.35471216e-02 2.36196856e+02] [ 5.35479822e-02 -1.66774287e-06 9.98565278e-01 2.35537893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:236.25, Z:23.56 [[ 5.21977409e-03 -9.99986336e-01 -2.87229962e-04 3.16722138e+02] [ 9.98551635e-01 5.22766575e-03 -5.35472093e-02 2.36254215e+02] [ 5.35479792e-02 -7.30961230e-06 9.98565278e-01 2.35577009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:236.31, Z:23.56 [[ 2.99362465e-03 -9.99995482e-01 -2.71071064e-04 3.16718859e+02] [ 9.98560797e-01 3.00384491e-03 -5.35472911e-02 2.36311493e+02] [ 5.35478635e-02 -1.10380447e-04 9.98565278e-01 2.35596153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:236.37, Z:23.56 [[ 1.72304523e-04 -9.99999952e-01 -2.55833382e-04 3.16717697e+02] [ 9.98565293e-01 1.85756530e-04 -5.35473639e-02 2.36368945e+02] [ 5.35474089e-02 -2.46239883e-04 9.98565278e-01 2.35628283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:236.43, Z:23.57 [[-5.58835184e-03 -9.99984356e-01 -2.39444596e-04 3.16716423e+02] [ 9.98549786e-01 -5.56751298e-03 -5.35474372e-02 2.36425386e+02] [ 5.35452665e-02 -5.38339269e-04 9.98565278e-01 2.35653107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:236.48, Z:23.57 [[-1.23250030e-02 -9.99924020e-01 -2.21122125e-04 3.16714787e+02] [ 9.98489602e-01 -1.22954810e-02 -5.35475129e-02 2.36482537e+02] [ 5.35407256e-02 -8.80761397e-04 9.98565278e-01 2.35693373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.570385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:236.54, Z:23.57 [[-1.60123141e-02 -9.99871774e-01 -2.04251064e-04 3.16712476e+02] [ 9.98437453e-01 -1.59784058e-02 -5.35475773e-02 2.36540883e+02] [ 5.35374475e-02 -1.06135254e-03 9.98565278e-01 2.35747070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:236.60, Z:23.57 [[-2.24322646e-02 -9.99748347e-01 -1.89290521e-04 3.16701585e+02] [ 9.98314250e-01 -2.23899478e-02 -5.35476302e-02 2.36598817e+02] [ 5.35299165e-02 -1.39016603e-03 9.98565279e-01 2.35687062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.690385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:236.65, Z:23.58 [[-1.54172782e-02 -9.99881132e-01 -1.72956138e-04 3.16703812e+02] [ 9.98446754e-01 -1.53858989e-02 -5.35476829e-02 2.36654818e+02] [ 5.35386567e-02 -9.98247021e-04 9.98565279e-01 2.35802815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:236.71, Z:23.58 [[-1.22423458e-02 -9.99925048e-01 -1.55861254e-04 3.16699373e+02] [ 9.98490560e-01 -1.22164364e-02 -5.35477327e-02 2.36711738e+02] [ 5.35418151e-02 -8.11175853e-04 9.98565279e-01 2.35838486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.69, Y:236.77, Z:23.58 [[-8.03734576e-03 -9.99967691e-01 -1.37563333e-04 3.16690618e+02] [ 9.98533094e-01 -8.01844859e-03 -5.35477797e-02 2.36768136e+02] [ 5.35449466e-02 -5.67743561e-04 9.98565279e-01 2.35759987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.69, Y:236.83, Z:23.58 [[-1.81802530e-03 -9.99998340e-01 -1.19402089e-04 3.16688070e+02] [ 9.98563648e-01 -1.80902325e-03 -5.35478202e-02 2.36825253e+02] [ 5.35475153e-02 -2.16581878e-04 9.98565279e-01 2.35848729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:236.88, Z:23.58 [[-3.05845199e-03 -9.99995318e-01 -1.01093288e-04 3.16681951e+02] [ 9.98560631e-01 -3.04865070e-03 -5.35478548e-02 2.36883100e+02] [ 5.35472959e-02 -2.64721320e-04 9.98565279e-01 2.35833453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:236.94, Z:23.59 [[-2.92907098e-03 -9.99995707e-01 -8.63789015e-05 3.16681587e+02] [ 9.98561013e-01 -2.92024321e-03 -5.35478785e-02 2.36940825e+02] [ 5.35473964e-02 -2.43100140e-04 9.98565279e-01 2.35872428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:237.00, Z:23.59 [[-5.67275322e-03 -9.99983907e-01 -7.03838134e-05 3.16678719e+02] [ 9.98549236e-01 -5.66084558e-03 -5.35478996e-02 2.36998289e+02] [ 5.35466394e-02 -3.74045723e-04 9.98565280e-01 2.35933494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:237.06, Z:23.60 [[-9.68948867e-03 -9.99953054e-01 -5.40484941e-05 3.16674676e+02] [ 9.98518432e-01 -9.67269294e-03 -5.35479161e-02 2.37056388e+02] [ 5.35448794e-02 -5.72820343e-04 9.98565280e-01 2.35976241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:237.11, Z:23.60 [[-1.37515540e-02 -9.99905442e-01 -3.82419785e-05 3.16669711e+02] [ 9.98470887e-01 -1.37297768e-02 -5.35479274e-02 2.37113490e+02] [ 5.35423389e-02 -7.74550719e-04 9.98565280e-01 2.35998658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:237.17, Z:23.60 [[-1.55798072e-02 -9.99878627e-01 -2.18644915e-05 3.16666105e+02] [ 9.98444100e-01 -1.55562839e-02 -5.35479340e-02 2.37169742e+02] [ 5.35410947e-02 -8.56096960e-04 9.98565280e-01 2.36023220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.290385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:316.66, Y:237.23, Z:23.61 [[-1.95182801e-02 -9.99809500e-01 -3.20412908e-06 3.16662011e+02] [ 9.98375057e-01 -1.94901053e-02 -5.35479352e-02 2.37225534e+02] [ 5.35376719e-02 -1.04836252e-03 9.98565280e-01 2.36054145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.27, Z:23.60 [[-2.20921699e-02 -9.99755938e-01 1.74729456e-05 3.16652486e+02] [ 9.98321548e-01 -2.20614092e-02 -5.35479284e-02 2.37270034e+02] [ 5.35352449e-02 -1.16554631e-03 9.98565280e-01 2.36026299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.410385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.21, Z:23.60 [[-2.14638220e-02 -9.99769625e-01 3.46511747e-05 3.16654114e+02] [ 9.98335197e-01 -2.14348825e-02 -5.35479173e-02 2.37210518e+02] [ 5.35363240e-02 -1.11474948e-03 9.98565280e-01 2.36046075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.21, Z:23.61 [[-2.17665323e-02 -9.99763080e-01 5.17545526e-05 3.16650071e+02] [ 9.98328643e-01 -2.17380742e-02 -5.35479008e-02 2.37205974e+02] [ 5.35363393e-02 -1.11388406e-03 9.98565281e-01 2.36066123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.530385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.20, Z:23.61 [[-2.24886409e-02 -9.99747096e-01 7.09209085e-05 3.16647575e+02] [ 9.98312659e-01 -2.24601728e-02 -5.35478754e-02 2.37204084e+02] [ 5.35359259e-02 -1.13341770e-03 9.98565281e-01 2.36058210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.590385723 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.20, Z:23.61 [[-2.18694066e-02 -9.99760832e-01 9.00812618e-05 3.16645311e+02] [ 9.98326359e-01 -2.18428528e-02 -5.35478432e-02 2.37199883e+02] [ 5.35370039e-02 -1.08112906e-03 9.98565281e-01 2.36073100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.650385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:237.20, Z:23.61 [[-1.99978046e-02 -9.99800018e-01 1.09229637e-04 3.16639781e+02] [ 9.98365481e-01 -1.99749614e-02 -5.35478042e-02 2.37199969e+02] [ 5.35392774e-02 -9.61787425e-04 9.98565281e-01 2.36081084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.710385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:237.36, Z:23.62 [[-1.66983161e-02 -9.99860567e-01 1.15201298e-04 3.16637187e+02] [ 9.98425958e-01 -1.66805268e-02 -5.35477913e-02 2.37363822e+02] [ 5.35422466e-02 -7.79137978e-04 9.98565281e-01 2.36167800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.770385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:237.19, Z:23.61 [[-1.78968909e-02 -9.99839829e-01 1.35534757e-04 3.16633527e+02] [ 9.98405228e-01 -1.78784706e-02 -5.35477399e-02 2.37194205e+02] [ 5.35415862e-02 -8.23019448e-04 9.98565281e-01 2.36062703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.830385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:237.19, Z:23.60 [[-1.89808298e-02 -9.99819836e-01 1.55861457e-04 3.16629676e+02] [ 9.98385242e-01 -1.89619427e-02 -5.35476807e-02 2.37194081e+02] [ 5.35409888e-02 -8.60769637e-04 9.98565282e-01 2.36022346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.890385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:237.20, Z:23.61 [[-1.43482655e-02 -9.99897043e-01 1.72614833e-04 3.16633745e+02] [ 9.98462370e-01 -1.43369224e-02 -5.35476267e-02 2.37198329e+02] [ 5.35445884e-02 -5.95966151e-04 9.98565282e-01 2.36074971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.950385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:237.20, Z:23.61 [[-1.15682770e-02 -9.99933067e-01 1.89415994e-04 3.16632783e+02] [ 9.98498364e-01 -1.15618223e-02 -5.35475673e-02 2.37196526e+02] [ 5.35461732e-02 -4.30321532e-04 9.98565282e-01 2.36073049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.63, Y:237.20, Z:23.61 [[-7.10869321e-03 -9.99974711e-01 2.08674796e-04 3.16633682e+02] [ 9.98539994e-01 -7.10966828e-03 -5.35474922e-02 2.37203538e+02] [ 5.35476217e-02 -1.72282565e-04 9.98565282e-01 2.36075417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.070385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:237.22, Z:23.61 [[-1.87032054e-03 -9.99998225e-01 2.27999848e-04 3.16635205e+02] [ 9.98563539e-01 -1.87984603e-03 -5.35474100e-02 2.37223764e+02] [ 5.35477435e-02 1.27521514e-04 9.98565282e-01 2.36088117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.130385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:237.21, Z:23.61 [[ 3.38869452e-03 -9.99994228e-01 2.47538915e-04 3.16636687e+02] [ 9.98559625e-01 3.37057794e-03 -5.35473197e-02 2.37207367e+02] [ 5.35461762e-02 4.28637875e-04 9.98565282e-01 2.36068873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.190385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:316.64, Y:237.21, Z:23.61 [[ 7.43415991e-03 -9.99972331e-01 2.67139909e-04 3.16640161e+02] [ 9.98537831e-01 7.40919032e-03 -5.35472219e-02 2.37205103e+02] [ 5.35437610e-02 6.64827915e-04 9.98565283e-01 2.36050049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.250385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.21, Z:23.60 [[ 1.06356589e-02 -9.99943399e-01 2.86644969e-04 3.16645870e+02] [ 9.98509008e-01 1.06050525e-02 -5.35471175e-02 2.37205086e+02] [ 5.35410468e-02 8.55726461e-04 9.98565283e-01 2.36048337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.310385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:316.65, Y:237.20, Z:23.60 [[ 1.27260635e-02 -9.99918974e-01 3.06165265e-04 3.16651538e+02] [ 9.98484675e-01 1.26914135e-02 -5.35470059e-02 2.37201084e+02] [ 5.35387815e-02 9.87143922e-04 9.98565283e-01 2.36036355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:316.66, Y:237.20, Z:23.60 [[ 1.16091206e-02 -9.99932559e-01 3.25691736e-04 3.16661429e+02] [ 9.98498247e-01 1.15750275e-02 -5.35468871e-02 2.37203831e+02] [ 5.35395060e-02 9.46834900e-04 9.98565283e-01 2.36049136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.430385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:237.22, Z:23.61 [[ 8.37109761e-03 -9.99964902e-01 3.45239699e-04 3.16669477e+02] [ 9.98530510e-01 8.34060264e-03 -5.35467611e-02 2.37215069e+02] [ 5.35420022e-02 7.92977537e-04 9.98565283e-01 2.36060023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:237.19, Z:23.60 [[ 3.64676286e-03 -9.99993284e-01 3.64915446e-04 3.16679114e+02] [ 9.98558781e-01 3.62199141e-03 -5.35466270e-02 2.37189927e+02] [ 5.35449457e-02 5.59661374e-04 9.98565284e-01 2.36039108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:316.69, Y:237.18, Z:23.60 [[-2.76115185e-03 -9.99996114e-01 3.84531601e-04 3.16689043e+02] [ 9.98561494e-01 -2.77778102e-03 -5.35464862e-02 2.37184119e+02] [ 5.35473462e-02 2.36128471e-04 9.98565284e-01 2.36027646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.610385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:237.19, Z:23.60 [[-8.34023540e-03 -9.99965138e-01 4.03962700e-04 3.16696689e+02] [ 9.98530455e-01 -8.34990086e-03 -5.35463396e-02 2.37190422e+02] [ 5.35478459e-02 -4.32200180e-05 9.98565284e-01 2.36025024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.70, Y:237.18, Z:23.60 [[-1.27949685e-02 -9.99918051e-01 4.23427421e-04 3.16703829e+02] [ 9.98483342e-01 -1.27992847e-02 -5.35461857e-02 2.37180439e+02] [ 5.35472172e-02 -2.62336530e-04 9.98565284e-01 2.36006620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.730385723 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.18, Z:23.60 [[-1.63145556e-02 -9.99866811e-01 4.42898265e-04 3.16710572e+02] [ 9.98432095e-01 -1.63148644e-02 -5.35460246e-02 2.37176559e+02] [ 5.35461187e-02 -4.31375755e-04 9.98565284e-01 2.35981909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.790385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:237.17, Z:23.60 [[-1.56195597e-02 -9.99877900e-01 4.62310739e-04 3.16716781e+02] [ 9.98443187e-01 -1.56219053e-02 -5.35458570e-02 2.37167619e+02] [ 5.35465413e-02 -3.74771705e-04 9.98565285e-01 2.35997061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.850385723 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:237.32, Z:23.61 [[-1.06329059e-02 -9.99943353e-01 4.81668476e-04 3.16715792e+02] [ 9.98508676e-01 -1.06434429e-02 -5.35456829e-02 2.37320190e+02] [ 5.35477763e-02 -8.83960529e-05 9.98565285e-01 2.36054814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.910385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:237.20, Z:23.60 [[-8.98149027e-03 -9.99959540e-01 5.02068191e-04 3.16717732e+02] [ 9.98524893e-01 -8.99548905e-03 -5.35454916e-02 2.37204281e+02] [ 5.35478415e-02 2.04092748e-05 9.98565285e-01 2.36019460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.970385723 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:237.21, Z:23.60 [[-4.06431870e-03 -9.99991604e-01 5.22775641e-04 3.16716128e+02] [ 9.98557060e-01 -4.08648061e-03 -5.35452895e-02 2.37208192e+02] [ 5.35469762e-02 3.04396186e-04 9.98565285e-01 2.36019702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.030385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.18, Z:23.60 [[-2.97534405e-04 -9.99999808e-01 5.42695118e-04 3.16713967e+02] [ 9.98565380e-01 -3.26166275e-04 -5.35450876e-02 2.37179802e+02] [ 5.35452544e-02 5.25985051e-04 9.98565285e-01 2.36016300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.16, Z:23.60 [[-2.36385049e-03 -9.99997048e-01 5.62474180e-04 3.16712390e+02] [ 9.98562582e-01 -2.39057731e-03 -5.35448798e-02 2.37164430e+02] [ 5.35460664e-02 4.35093580e-04 9.98565286e-01 2.36010940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.150385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.17, Z:23.60 [[-1.14155457e-02 -9.99934671e-01 5.81987418e-04 3.16711091e+02] [ 9.98500033e-01 -1.14303318e-02 -5.35446678e-02 2.37169149e+02] [ 5.35478221e-02 -3.01271441e-05 9.98565286e-01 2.36013982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.210385723 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.19, Z:23.60 [[-1.80301737e-02 -9.99837262e-01 6.01466722e-04 3.16712620e+02] [ 9.98402562e-01 -1.80365121e-02 -5.35444489e-02 2.37189301e+02] [ 5.35465836e-02 -3.64909800e-04 9.98565286e-01 2.36015699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.270385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.15, Z:23.60 [[-2.76728164e-02 -9.99616843e-01 6.18658704e-04 3.16708696e+02] [ 9.98182144e-01 -2.76662373e-02 -5.35442503e-02 2.37154646e+02] [ 5.35408504e-02 -8.64186135e-04 9.98565286e-01 2.35977040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:237.44, Z:23.61 [[-2.85492121e-02 -9.99592184e-01 6.38258521e-04 3.16710142e+02] [ 9.98157487e-01 -2.85424247e-02 -5.35440167e-02 2.37441319e+02] [ 5.35403981e-02 -8.91556966e-04 9.98565286e-01 2.36133020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:237.05, Z:24.55 [[-6.93128303e-02 -9.97594757e-01 6.57068423e-04 3.15938495e+02] [ 9.96161486e-01 -6.92485135e-02 -5.35437859e-02 2.37053547e+02] [ 5.34605011e-02 -3.05672509e-03 9.98565286e-01 2.45533636e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 460.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:237.04, Z:24.55 [[-6.61780286e-02 -9.97804510e-01 2.57454374e-03 3.15935147e+02] [ 9.96372280e-01 -6.62209540e-02 -5.34515276e-02 2.37041723e+02] [ 5.35046640e-02 -9.72112705e-04 9.98567126e-01 2.45522780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.13, Z:24.56 [[-6.25959393e-02 -9.98035581e-01 2.59374077e-03 3.15931407e+02] [ 9.96603549e-01 -6.26450334e-02 -5.34505960e-02 2.37126848e+02] [ 5.35080816e-02 -7.60859013e-04 9.98567127e-01 2.45605123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.04, Z:24.56 [[-5.99963999e-02 -9.98195179e-01 2.61098289e-03 3.15932447e+02] [ 9.96763314e-01 -6.00501466e-02 -5.34497538e-02 2.37043790e+02] [ 5.35100764e-02 -6.04260846e-04 9.98567127e-01 2.45562731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.05, Z:24.56 [[-5.99480993e-02 -9.98198035e-01 2.62825510e-03 3.15927909e+02] [ 9.96766208e-01 -6.00028399e-02 -5.34489044e-02 2.37047099e+02] [ 5.35102942e-02 -5.84404360e-04 9.98567127e-01 2.45567057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.04, Z:24.56 [[-5.96879431e-02 -9.98213574e-01 2.64749898e-03 3.15926413e+02] [ 9.96781802e-01 -5.97440873e-02 -5.34479512e-02 2.37041670e+02] [ 5.35106429e-02 -5.51219467e-04 9.98567127e-01 2.45552195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:237.04, Z:24.55 [[-5.95949739e-02 -9.98219078e-01 2.66676068e-03 3.15924008e+02] [ 9.96787352e-01 -5.96522826e-02 -5.34469902e-02 2.37039966e+02] [ 5.35108836e-02 -5.26978667e-04 9.98567127e-01 2.45543283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81038572299997 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:237.04, Z:24.55 [[-6.05754990e-02 -9.98160004e-01 2.68600992e-03 3.15919903e+02] [ 9.96728263e-01 -6.06324319e-02 -5.34460228e-02 2.37035989e+02] [ 5.35105416e-02 -5.60297501e-04 9.98567127e-01 2.45521073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87038572299997 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:237.02, Z:24.55 [[-6.52334252e-02 -9.97866365e-01 2.70525276e-03 3.15915852e+02] [ 9.96434410e-01 -6.52847057e-02 -5.34450488e-02 2.37023138e+02] [ 5.35076282e-02 -7.90796657e-04 9.98567128e-01 2.45500362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:237.02, Z:24.55 [[-7.13855429e-02 -9.97445084e-01 2.72200230e-03 3.15912403e+02] [ 9.96012867e-01 -7.14288893e-02 -5.34441957e-02 2.37015934e+02] [ 5.35020798e-02 -1.10399361e-03 9.98567128e-01 2.45500717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:237.03, Z:24.55 [[-6.90907517e-02 -9.97606613e-01 2.74106015e-03 3.15915452e+02] [ 9.96174534e-01 -6.91384134e-02 -5.34432182e-02 2.37027546e+02] [ 5.35048205e-02 -9.61857800e-04 9.98567128e-01 2.45503908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.050385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:237.02, Z:24.55 [[-7.00799298e-02 -9.97537567e-01 2.75776642e-03 3.15912607e+02] [ 9.96105471e-01 -7.01270662e-02 -5.34423562e-02 2.37023368e+02] [ 5.35041520e-02 -9.98210356e-04 9.98567128e-01 2.45503903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:237.02, Z:24.55 [[-6.91764054e-02 -9.97600578e-01 2.77695411e-03 3.15909336e+02] [ 9.96168560e-01 -6.92258665e-02 -5.34413591e-02 2.37022333e+02] [ 5.35053678e-02 -9.30566750e-04 9.98567128e-01 2.45504620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.170385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.02, Z:24.55 [[-6.79129768e-02 -9.97687330e-01 2.79613542e-03 3.15904788e+02] [ 9.96255414e-01 -6.79652785e-02 -5.34403555e-02 2.37018646e+02] [ 5.35068058e-02 -8.43628570e-04 9.98567128e-01 2.45486028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.01, Z:24.55 [[-6.70602829e-02 -9.97744954e-01 2.81531349e-03 3.15901151e+02] [ 9.96313121e-01 -6.71148353e-02 -5.34393452e-02 2.37014907e+02] [ 5.35077863e-02 -7.78723834e-04 9.98567129e-01 2.45475948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.290385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:237.15, Z:24.55 [[-7.08726703e-02 -9.97481343e-01 2.83447930e-03 3.15888421e+02] [ 9.96049349e-01 -7.09227770e-02 -5.34383286e-02 2.37149305e+02] [ 5.35047649e-02 -9.64035781e-04 9.98567129e-01 2.45523876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.350385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:237.01, Z:24.54 [[-7.37444270e-02 -9.97273095e-01 2.85205212e-03 3.15893832e+02] [ 9.95840992e-01 -7.37913516e-02 -5.34373907e-02 2.37010575e+02] [ 5.35021288e-02 -1.10051935e-03 9.98567129e-01 2.45415503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.410385723 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:237.02, Z:24.54 [[-7.40738807e-02 -9.97248628e-01 2.86961399e-03 3.15894307e+02] [ 9.95816541e-01 -7.41212728e-02 -5.34364476e-02 2.37019460e+02] [ 5.35021235e-02 -1.10063596e-03 9.98567129e-01 2.45426630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.470385723 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.02, Z:24.55 [[-7.22593954e-02 -9.97381689e-01 2.88883245e-03 3.15896439e+02] [ 9.95949728e-01 -7.23104223e-02 -5.34354086e-02 2.37016079e+02] [ 5.35043908e-02 -9.84078435e-04 9.98567129e-01 2.45456604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.530385723 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.01, Z:24.55 [[-7.19262206e-02 -9.97405723e-01 2.90568934e-03 3.15896866e+02] [ 9.95973811e-01 -7.19786286e-02 -5.34344920e-02 2.37013331e+02] [ 5.35050156e-02 -9.49350578e-04 9.98567129e-01 2.45457935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.590385723 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:315.88, Y:237.16, Z:24.54 [[-7.35783910e-02 -9.97285147e-01 2.92496108e-03 3.15881114e+02] [ 9.95853187e-01 -7.36294590e-02 -5.34334371e-02 2.37155080e+02] [ 5.35037365e-02 -1.01871451e-03 9.98567130e-01 2.45397053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.650385723 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.02, Z:24.54 [[-6.55393550e-02 -9.97845639e-01 2.94523413e-03 3.15895105e+02] [ 9.96414185e-01 -6.56030463e-02 -5.34323196e-02 2.37017133e+02] [ 5.35104234e-02 -5.67246701e-04 9.98567130e-01 2.45435533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.710385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.00, Z:24.54 [[-6.47096230e-02 -9.97899729e-01 2.96556684e-03 3.15896013e+02] [ 9.96468379e-01 -6.47755932e-02 -5.34311911e-02 2.37002791e+02] [ 5.35110675e-02 -5.02418649e-04 9.98567130e-01 2.45425746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.00, Z:24.54 [[-6.45182659e-02 -9.97912062e-01 2.98486169e-03 3.15896916e+02] [ 9.96480773e-01 -6.45855435e-02 -5.34301132e-02 2.37002101e+02] [ 5.35113334e-02 -4.72860967e-04 9.98567130e-01 2.45419971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.00, Z:24.54 [[-6.45584606e-02 -9.97909405e-01 3.00408993e-03 3.15898286e+02] [ 9.96478162e-01 -6.46267100e-02 -5.34290321e-02 2.36999335e+02] [ 5.35114781e-02 -4.55786056e-04 9.98567130e-01 2.45421230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.01, Z:24.54 [[-6.42036102e-02 -9.97932240e-01 3.02332661e-03 3.15899969e+02] [ 9.96501071e-01 -6.42733985e-02 -5.34279436e-02 2.37005133e+02] [ 5.35117869e-02 -4.17518662e-04 9.98567131e-01 2.45394921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:236.99, Z:24.54 [[-6.55592774e-02 -9.97844045e-01 3.04018113e-03 3.15903932e+02] [ 9.96412826e-01 -6.56280236e-02 -5.34269845e-02 2.36993187e+02] [ 5.35113194e-02 -4.73359029e-04 9.98567131e-01 2.45416669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.010385723 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:236.99, Z:24.54 [[-6.90097597e-02 -9.97611325e-01 3.04916499e-03 3.15908060e+02] [ 9.96179898e-01 -6.90740369e-02 -5.34264718e-02 2.36992670e+02] [ 5.35094714e-02 -6.49431110e-04 9.98567131e-01 2.45412419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.070385723 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:236.99, Z:24.54 [[-7.24281189e-02 -9.97368915e-01 3.06837983e-03 3.15912215e+02] [ 9.95937320e-01 -7.24885194e-02 -5.34253682e-02 2.36987197e+02] [ 5.35072238e-02 -8.13584934e-04 9.98567131e-01 2.45433148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.130385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.99, Z:24.54 [[-7.35986545e-02 -9.97283162e-01 3.08758222e-03 3.15915627e+02] [ 9.95851539e-01 -7.36584031e-02 -5.34242584e-02 2.36986884e+02] [ 5.35065398e-02 -8.57180034e-04 9.98567131e-01 2.45441107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.190385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.98, Z:24.54 [[-7.15853972e-02 -9.97429636e-01 3.10677540e-03 3.15918040e+02] [ 9.95998183e-01 -7.16490634e-02 -5.34231423e-02 2.36982227e+02] [ 5.35084229e-02 -7.29974206e-04 9.98567131e-01 2.45439718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.99, Z:24.54 [[-7.03489429e-02 -9.97517546e-01 3.12596216e-03 3.15919229e+02] [ 9.96086220e-01 -7.04154108e-02 -5.34220196e-02 2.36985154e+02] [ 5.35095178e-02 -6.44454768e-04 9.98567132e-01 2.45424345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.98, Z:24.54 [[-6.80557729e-02 -9.97676561e-01 3.14516937e-03 3.15923564e+02] [ 9.96245442e-01 -6.81265592e-02 -5.34208888e-02 2.36982889e+02] [ 5.35110381e-02 -5.02239228e-04 9.98567132e-01 2.45429091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37038572299997 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.98, Z:24.54 [[-6.97639389e-02 -9.97558509e-01 3.16440914e-03 3.15921560e+02] [ 9.96127321e-01 -6.98333048e-02 -5.34197491e-02 2.36982090e+02] [ 5.35103064e-02 -5.74617707e-04 9.98567132e-01 2.45441547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.430385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.98, Z:24.54 [[-6.74402405e-02 -9.97718244e-01 3.18123214e-03 3.15925759e+02] [ 9.96287267e-01 -6.75138405e-02 -5.34187472e-02 2.36981427e+02] [ 5.35116359e-02 -4.33152085e-04 9.98567132e-01 2.45398895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.98, Z:24.54 [[-7.06714921e-02 -9.97494518e-01 3.19805961e-03 3.15930076e+02] [ 9.96063354e-01 -7.07413578e-02 -5.34177398e-02 2.36978783e+02] [ 5.35101377e-02 -5.89641397e-04 9.98567132e-01 2.45402400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.550385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.97, Z:24.54 [[-7.62790399e-02 -9.97081319e-01 3.21731035e-03 3.15932473e+02] [ 9.95649831e-01 -7.63418884e-02 -5.34165803e-02 2.36974947e+02] [ 5.35062899e-02 -8.71250957e-04 9.98567132e-01 2.45398947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.610385723 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.97, Z:24.54 [[-7.98954480e-02 -9.96797995e-01 3.23654856e-03 3.15936095e+02] [ 9.95366330e-01 -7.99541339e-02 -5.34154147e-02 2.36965986e+02] [ 5.35031536e-02 -1.04609702e-03 9.98567133e-01 2.45391068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.670385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.96, Z:24.54 [[-8.18243160e-02 -9.96641451e-01 3.25573253e-03 3.15937855e+02] [ 9.95209716e-01 -8.18812590e-02 -5.34142454e-02 2.36963145e+02] [ 5.35014345e-02 -1.13044745e-03 9.98567133e-01 2.45382459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.730385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.02, Z:24.55 [[-8.26342214e-02 -9.96574564e-01 3.27486532e-03 3.15934688e+02] [ 9.95142823e-01 -8.26910258e-02 -5.34130723e-02 2.37022390e+02] [ 5.35009112e-02 -1.15478892e-03 9.98567133e-01 2.45478809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.96, Z:24.54 [[-8.16826201e-02 -9.96652955e-01 3.29194515e-03 3.15939965e+02] [ 9.95221307e-01 -8.17417065e-02 -5.34120196e-02 2.36964221e+02] [ 5.35023364e-02 -1.08661975e-03 9.98567133e-01 2.45379410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.850385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.94, Z:24.54 [[-8.37086182e-02 -9.96484780e-01 3.30904951e-03 3.15935769e+02] [ 9.95053051e-01 -8.37657103e-02 -5.34109599e-02 2.36940096e+02] [ 5.35003936e-02 -1.17827784e-03 9.98567133e-01 2.45381015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.94, Z:24.54 [[-8.19470963e-02 -9.96631124e-01 3.32808951e-03 3.15935276e+02] [ 9.95199541e-01 -8.20077391e-02 -5.34097735e-02 2.36944309e+02] [ 5.35027717e-02 -1.06466270e-03 9.98567133e-01 2.45374467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.970385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.01, Z:24.54 [[-8.34696605e-02 -9.96504698e-01 3.34703249e-03 3.15927378e+02] [ 9.95073066e-01 -8.35291309e-02 -5.34085864e-02 2.37014094e+02] [ 5.35014820e-02 -1.12745470e-03 9.98567134e-01 2.45371177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:237.04, Z:24.54 [[-7.88578970e-02 -9.96880183e-01 3.36649565e-03 3.15926404e+02] [ 9.95448890e-01 -7.89250334e-02 -5.34073596e-02 2.37039836e+02] [ 5.35064391e-02 -8.60417701e-04 9.98567134e-01 2.45404968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.98, Z:24.53 [[-7.30940469e-02 -9.97319302e-01 3.38666572e-03 3.15929919e+02] [ 9.95888479e-01 -7.31705359e-02 -5.34060805e-02 2.36981359e+02] [ 5.35107191e-02 -5.30925180e-04 9.98567134e-01 2.45340295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.99, Z:24.53 [[-6.99331996e-02 -9.97545860e-01 3.40663274e-03 3.15928978e+02] [ 9.96115348e-01 -7.00152913e-02 -5.34048069e-02 2.36991071e+02] [ 5.35122604e-02 -3.41369861e-04 9.98567134e-01 2.45340831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.98, Z:24.53 [[-6.88377388e-02 -9.97621986e-01 3.42628400e-03 3.15928467e+02] [ 9.96191627e-01 -6.89224533e-02 -5.34035461e-02 2.36979610e+02] [ 5.35126996e-02 -2.62943924e-04 9.98567134e-01 2.45303522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.270385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.95, Z:24.53 [[-6.83910001e-02 -9.97652652e-01 3.44348063e-03 3.15930343e+02] [ 9.96222386e-01 -6.84772755e-02 -5.34024372e-02 2.36951858e+02] [ 5.35128833e-02 -2.21773594e-04 9.98567135e-01 2.45294777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.330385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.97, Z:24.53 [[-7.44326277e-02 -9.97220032e-01 3.46290778e-03 3.15924473e+02] [ 9.95789327e-01 -7.45112785e-02 -5.34011774e-02 2.36967732e+02] [ 5.35107496e-02 -5.26463347e-04 9.98567135e-01 2.45264813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.94, Z:24.52 [[-7.84511318e-02 -9.96911879e-01 3.48228571e-03 3.15928223e+02] [ 9.95480922e-01 -7.85250537e-02 -5.33999138e-02 2.36935695e+02] [ 5.35084550e-02 -7.22734689e-04 9.98567135e-01 2.45228205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.94, Z:24.53 [[-7.79484660e-02 -9.96951240e-01 3.50158417e-03 3.15935548e+02] [ 9.95520375e-01 -7.80241428e-02 -5.33986483e-02 2.36943569e+02] [ 5.35090568e-02 -6.76444334e-04 9.98567135e-01 2.45296644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.94, Z:24.53 [[-7.92420204e-02 -9.96849198e-01 3.51833823e-03 3.15935990e+02] [ 9.95418283e-01 -7.93167378e-02 -5.33975444e-02 2.36944612e+02] [ 5.35083624e-02 -7.29111108e-04 9.98567135e-01 2.45326438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:237.28, Z:24.55 [[-7.72303537e-02 -9.97007000e-01 3.53758771e-03 3.15914083e+02] [ 9.95576295e-01 -7.73089891e-02 -5.33962691e-02 2.37277906e+02] [ 5.35099414e-02 -6.01874283e-04 9.98567135e-01 2.45526340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:237.15, Z:24.54 [[-7.59596217e-02 -9.97104542e-01 3.55938437e-03 3.15922051e+02] [ 9.95674004e-01 -7.60412476e-02 -5.33948161e-02 2.37152089e+02] [ 5.35108737e-02 -5.11863546e-04 9.98567136e-01 2.45424038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:237.23, Z:24.55 [[-7.60281558e-02 -9.97099233e-01 3.58315274e-03 3.15917115e+02] [ 9.95668763e-01 -7.61109561e-02 -5.33932211e-02 2.37230319e+02] [ 5.35110569e-02 -4.91754871e-04 9.98567136e-01 2.45483182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.96, Z:24.54 [[-7.76739096e-02 -9.96972295e-01 3.60649269e-03 3.15935493e+02] [ 9.95541762e-01 -7.77555983e-02 -5.33916445e-02 2.36955482e+02] [ 5.35104154e-02 -5.56723683e-04 9.98567136e-01 2.45357118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:236.93, Z:24.54 [[-7.98964007e-02 -9.96796570e-01 3.62809617e-03 3.15935382e+02] [ 9.95365922e-01 -7.99760569e-02 -5.33901765e-02 2.36927536e+02] [ 5.35093056e-02 -6.54399643e-04 9.98567136e-01 2.45353552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.93, Y:236.93, Z:24.54 [[-8.20672002e-02 -9.96620124e-01 3.64747008e-03 3.15934265e+02] [ 9.95189362e-01 -8.21447780e-02 -5.33888529e-02 2.36928003e+02] [ 5.35080258e-02 -7.51550251e-04 9.98567137e-01 2.45361761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.930385723 meters Centerline goodness : 0.998001 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:237.56, Z:24.56 [[-8.56967414e-02 -9.96314521e-01 3.66669221e-03 3.15887237e+02] [ 9.94883538e-01 -8.57701371e-02 -5.33875327e-02 2.37561066e+02] [ 5.35052667e-02 -9.27205867e-04 9.98567137e-01 2.45634819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:237.29, Z:24.55 [[-8.70514683e-02 -9.96197022e-01 3.67901337e-03 3.15903028e+02] [ 9.94765975e-01 -8.71235781e-02 -5.33866836e-02 2.37287364e+02] [ 5.35041840e-02 -9.87631878e-04 9.98567137e-01 2.45461894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.93, Z:24.53 [[-8.86844033e-02 -9.96052872e-01 3.70837550e-03 3.15924812e+02] [ 9.94621787e-01 -8.87557402e-02 -5.33846440e-02 2.36930293e+02] [ 5.35030676e-02 -1.04595423e-03 9.98567137e-01 2.45251150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.110385723 meters Centerline goodness : 0.995606 with order 1 Centerline is valid? [True, True] Translation: X:315.87, Y:237.67, Z:24.57 [[-8.90423869e-02 -9.96020852e-01 3.73046041e-03 3.15872831e+02] [ 9.94589800e-01 -8.91143927e-02 -5.33831007e-02 2.37665051e+02] [ 5.35031191e-02 -1.04308083e-03 9.98567138e-01 2.45664886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.170385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.92, Z:24.53 [[-9.00137118e-02 -9.95933483e-01 3.74564134e-03 3.15922895e+02] [ 9.94502402e-01 -9.00851353e-02 -5.33820355e-02 2.36918566e+02] [ 5.35023831e-02 -1.08006585e-03 9.98567138e-01 2.45285717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:236.93, Z:24.53 [[-8.84331493e-02 -9.96075035e-01 3.75532973e-03 3.15918587e+02] [ 9.94644096e-01 -8.85073627e-02 -5.33813539e-02 2.36930194e+02] [ 5.35042083e-02 -9.85464699e-04 9.98567138e-01 2.45325913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:236.92, Z:24.53 [[-8.54957466e-02 -9.96331385e-01 3.77470042e-03 3.15913342e+02] [ 9.94900729e-01 -8.55752166e-02 -5.33799842e-02 2.36920693e+02] [ 5.35071744e-02 -8.08309400e-04 9.98567138e-01 2.45337409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.350385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:236.94, Z:24.54 [[-8.35979897e-02 -9.96492339e-01 3.79412553e-03 3.15909190e+02] [ 9.95061896e-01 -8.36812247e-02 -5.33786035e-02 2.36935658e+02] [ 5.35088665e-02 -6.86954197e-04 9.98567138e-01 2.45367522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.410385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:236.91, Z:24.53 [[-8.58994200e-02 -9.96296515e-01 3.81362399e-03 3.15903638e+02] [ 9.94865943e-01 -8.59803952e-02 -5.33772104e-02 2.36908619e+02] [ 5.35074256e-02 -7.91026781e-04 9.98567138e-01 2.45327233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.470385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:237.33, Z:24.56 [[-9.08319692e-02 -9.95858856e-01 3.83307566e-03 3.15863233e+02] [ 9.94427955e-01 -9.09069015e-02 -5.33758135e-02 2.37329463e+02] [ 5.35032296e-02 -1.03651266e-03 9.98567138e-01 2.45566482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:236.90, Z:24.53 [[-9.47268427e-02 -9.95495836e-01 3.85568388e-03 3.15893527e+02] [ 9.94064712e-01 -9.47973886e-02 -5.33741803e-02 2.36897824e+02] [ 5.34992830e-02 -1.22316830e-03 9.98567139e-01 2.45320340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.590385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:237.20, Z:24.55 [[-1.00988897e-01 -9.94880005e-01 3.87539604e-03 3.15862961e+02] [ 9.93448512e-01 -1.01051493e-01 -5.33727490e-02 2.37196430e+02] [ 5.34910954e-02 -1.54004861e-03 9.98567139e-01 2.45492068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.85, Y:237.28, Z:24.55 [[-1.03615862e-01 -9.94609767e-01 3.89412754e-03 3.15852578e+02] [ 9.93178155e-01 -1.03675682e-01 -5.33713823e-02 2.37279970e+02] [ 5.34874245e-02 -1.66255940e-03 9.98567139e-01 2.45540029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.27, Y:236.76, Z:25.51 [[-1.25323536e-01 -9.92108185e-01 3.91929373e-03 3.15268759e+02] [ 9.90675636e-01 -1.25353410e-01 -5.33695342e-02 2.36760799e+02] [ 5.34396486e-02 -2.80570993e-03 9.98567139e-01 2.55105463e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 464.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.26, Y:236.76, Z:25.51 [[-1.23377906e-01 -9.92345452e-01 5.32883206e-03 3.15261316e+02] [ 9.90917696e-01 -1.23486227e-01 -5.32284759e-02 2.36761610e+02] [ 5.34790733e-02 -1.28678388e-03 9.98568141e-01 2.55090965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.26, Y:236.76, Z:25.51 [[-1.18643157e-01 -9.92922555e-01 5.34790398e-03 3.15255428e+02] [ 9.91495416e-01 -1.18759310e-01 -5.32265596e-02 2.36763011e+02] [ 5.34849650e-02 -1.01254481e-03 9.98568142e-01 2.55095368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.890385723 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:315.20, Y:237.27, Z:25.53 [[-1.16151352e-01 -9.93217025e-01 5.36702583e-03 3.15195900e+02] [ 9.91790268e-01 -1.16272109e-01 -5.32246314e-02 2.37271093e+02] [ 5.34876455e-02 -8.59148912e-04 9.98568142e-01 2.55346134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.950385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:236.63, Z:26.49 [[-1.64489563e-01 -9.86364183e-01 5.37427216e-03 3.14686342e+02] [ 9.84933246e-01 -1.64540929e-01 -5.32238997e-02 2.36625739e+02] [ 5.33824361e-02 -3.46147669e-03 9.98568142e-01 2.64887606e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 465.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:236.62, Z:26.49 [[-1.64109607e-01 -9.86409040e-01 8.07733810e-03 3.14685632e+02] [ 9.84994585e-01 -1.64306730e-01 -5.28106706e-02 2.36623645e+02] [ 5.34200839e-02 -7.10604097e-04 9.98571875e-01 2.64899061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.070385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:314.61, Y:237.07, Z:26.51 [[-1.65664830e-01 -9.86148900e-01 8.09394023e-03 3.14613189e+02] [ 9.84734258e-01 -1.65860611e-01 -5.28081260e-02 2.37071088e+02] [ 5.34191412e-02 -7.78068971e-04 9.98571875e-01 2.65130124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:236.62, Z:26.50 [[-1.62379516e-01 -9.86695020e-01 8.11360754e-03 3.14684445e+02] [ 9.85281188e-01 -1.62581060e-01 -5.28051041e-02 2.36624187e+02] [ 5.34216522e-02 -5.80282352e-04 9.98571875e-01 2.64950261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:236.62, Z:26.49 [[-1.59427069e-01 -9.87176205e-01 8.13330708e-03 3.14684191e+02] [ 9.85763136e-01 -1.59633896e-01 -5.28020697e-02 2.36616383e+02] [ 5.34232983e-02 -4.00564931e-04 9.98571876e-01 2.64925498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.250385723 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:314.57, Y:237.38, Z:26.53 [[-1.56953194e-01 -9.87572395e-01 8.15230854e-03 3.14565301e+02] [ 9.86160001e-01 -1.57164576e-01 -5.27991359e-02 2.37380193e+02] [ 5.34242232e-02 -2.47512395e-04 9.98571876e-01 2.65262817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:236.62, Z:26.49 [[-1.56096038e-01 -9.87708119e-01 8.16686850e-03 3.14685083e+02] [ 9.86296027e-01 -1.56309424e-01 -5.27968837e-02 2.36619298e+02] [ 5.34244692e-02 -1.86434410e-04 9.98571876e-01 2.64900598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:236.62, Z:26.48 [[-1.61048050e-01 -9.86912977e-01 8.14261198e-03 3.14684199e+02] [ 9.85499643e-01 -1.61253054e-01 -5.28006244e-02 2.36618705e+02] [ 5.34226424e-02 -4.78896417e-04 9.98571876e-01 2.64839465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:236.62, Z:26.49 [[-1.59118591e-01 -9.87225760e-01 8.15923943e-03 3.14690890e+02] [ 9.85812961e-01 -1.59327246e-01 -5.27980548e-02 2.36616196e+02] [ 5.34235890e-02 -3.57668113e-04 9.98571876e-01 2.64919073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:236.61, Z:26.49 [[-1.60755136e-01 -9.86960456e-01 8.17586134e-03 3.14694881e+02] [ 9.85547443e-01 -1.60962337e-01 -5.27954808e-02 2.36614567e+02] [ 5.34230576e-02 -4.29445449e-04 9.98571876e-01 2.64949889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.550385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:236.61, Z:26.49 [[-1.62856705e-01 -9.86615699e-01 8.19486915e-03 3.14698490e+02] [ 9.85202396e-01 -1.63061913e-01 -5.27925303e-02 2.36609647e+02] [ 5.34222102e-02 -5.24012789e-04 9.98571877e-01 2.64927015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:236.61, Z:26.49 [[-1.62787975e-01 -9.86626904e-01 8.21146086e-03 3.14700141e+02] [ 9.85213744e-01 -1.62994170e-01 -5.27899494e-02 2.36607774e+02] [ 5.34224046e-02 -5.03524871e-04 9.98571877e-01 2.64937280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:236.61, Z:26.50 [[-1.61965247e-01 -9.86762159e-01 8.22802808e-03 3.14702657e+02] [ 9.85349302e-01 -1.62173506e-01 -5.27873671e-02 2.36611197e+02] [ 5.34229445e-02 -4.42237229e-04 9.98571877e-01 2.64959755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.61, Z:26.50 [[-1.63878183e-01 -9.86446110e-01 8.24701231e-03 3.14706519e+02] [ 9.85033001e-01 -1.64084718e-01 -5.27844010e-02 2.36605577e+02] [ 5.34221757e-02 -5.26632435e-04 9.98571877e-01 2.64966963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.60, Z:26.49 [[-1.66792206e-01 -9.85957440e-01 8.26361087e-03 3.14709676e+02] [ 9.84543854e-01 -1.66995453e-01 -5.27818023e-02 2.36601911e+02] [ 5.34205961e-02 -6.67705950e-04 9.98571877e-01 2.64947111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.850385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.60, Z:26.49 [[-1.69400686e-01 -9.85512459e-01 8.28256060e-03 3.14710438e+02] [ 9.84098484e-01 -1.69601207e-01 -5.27788286e-02 2.36601152e+02] [ 5.34189254e-02 -7.89914449e-04 9.98571877e-01 2.64919318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.910385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.59, Z:26.49 [[-1.70575119e-01 -9.85309814e-01 8.28846646e-03 3.14713204e+02] [ 9.83895646e-01 -1.70774270e-01 -5.27779011e-02 2.36593320e+02] [ 5.34180407e-02 -8.47610695e-04 9.98571877e-01 2.64901109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.60, Z:26.49 [[-1.69640019e-01 -9.85471081e-01 8.30738240e-03 3.14713710e+02] [ 9.84057246e-01 -1.69841526e-01 -5.27749235e-02 2.36599767e+02] [ 5.34190994e-02 -7.77799197e-04 9.98571878e-01 2.64932690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:236.59, Z:26.49 [[-1.66153492e-01 -9.86064769e-01 8.32392597e-03 3.14715864e+02] [ 9.84651786e-01 -1.66360883e-01 -5.27723140e-02 2.36589767e+02] [ 5.34216954e-02 -5.72135698e-04 9.98571878e-01 2.64941686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:236.59, Z:26.49 [[-1.62740356e-01 -9.86633657e-01 8.34286041e-03 3.14715144e+02] [ 9.85221553e-01 -1.62953648e-01 -5.27693205e-02 2.36592431e+02] [ 5.34234872e-02 -3.68132117e-04 9.98571878e-01 2.64935344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.59, Z:26.49 [[-1.59120218e-01 -9.87223823e-01 8.35938820e-03 3.14712710e+02] [ 9.85812648e-01 -1.59339571e-01 -5.27667022e-02 2.36587476e+02] [ 5.34245268e-02 -1.55458533e-04 9.98571878e-01 2.64906968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.210385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.59, Z:26.49 [[-1.55970558e-01 -9.87726191e-01 8.37591984e-03 3.14712600e+02] [ 9.86315863e-01 -1.56195294e-01 -5.27640779e-02 2.36586715e+02] [ 5.34247410e-02 3.16599574e-05 9.98571878e-01 2.64885616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.270385723 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.59, Z:26.48 [[-1.58801851e-01 -9.87274784e-01 8.39482490e-03 3.14709442e+02] [ 9.85863976e-01 -1.59023554e-01 -5.27610699e-02 2.36587856e+02] [ 5.34246488e-02 -1.02400134e-04 9.98571878e-01 2.64822851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.330385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:236.59, Z:26.48 [[-1.58838665e-01 -9.87268721e-01 8.41137367e-03 3.14713137e+02] [ 9.85858044e-01 -1.59061199e-01 -5.27584315e-02 2.36586879e+02] [ 5.34246724e-02 -8.76584461e-05 9.98571879e-01 2.64841125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.72, Y:236.58, Z:26.48 [[-1.59806125e-01 -9.87112421e-01 8.43032687e-03 3.14717516e+02] [ 9.85701686e-01 -1.60028290e-01 -5.27554028e-02 2.36578399e+02] [ 5.34246042e-02 -1.20849105e-04 9.98571879e-01 2.64842372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.450385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:236.75, Z:26.50 [[-1.56011687e-01 -9.87719071e-01 8.44924064e-03 3.14699305e+02] [ 9.86309364e-01 -1.56240281e-01 -5.27523734e-02 2.36748879e+02] [ 5.34246370e-02 1.03578387e-04 9.98571879e-01 2.64984350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.510385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:236.92, Z:26.51 [[-1.58501921e-01 -9.87322366e-01 8.46677572e-03 3.14678786e+02] [ 9.85912237e-01 -1.58727897e-01 -5.27495589e-02 2.36915482e+02] [ 5.34247328e-02 -1.34086453e-05 9.98571879e-01 2.65083591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.73, Y:236.60, Z:26.49 [[-1.57235315e-01 -9.87524699e-01 8.48679351e-03 3.14733916e+02] [ 9.86115034e-01 -1.57464168e-01 -5.27463381e-02 2.36595250e+02] [ 5.34246775e-02 7.53676069e-05 9.98571879e-01 2.64944666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.630385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:236.59, Z:26.49 [[-1.54279221e-01 -9.87990653e-01 8.50833517e-03 3.14738330e+02] [ 9.86581870e-01 -1.54513441e-01 -5.27428631e-02 2.36591610e+02] [ 5.34241079e-02 2.57041422e-04 9.98571880e-01 2.64938048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:236.59, Z:26.49 [[-1.51316285e-01 -9.88448615e-01 8.52745528e-03 3.14745276e+02] [ 9.87040714e-01 -1.51555749e-01 -5.27397716e-02 2.36589593e+02] [ 5.34229390e-02 4.36559262e-04 9.98571880e-01 2.64934606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:236.59, Z:26.49 [[-1.49412517e-01 -9.88738012e-01 8.54655334e-03 3.14749312e+02] [ 9.87330751e-01 -1.49655710e-01 -5.27366765e-02 2.36593163e+02] [ 5.34217972e-02 5.58755342e-04 9.98571880e-01 2.64918400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.76, Y:236.59, Z:26.49 [[-1.49001711e-01 -9.88799838e-01 8.56568331e-03 3.14755196e+02] [ 9.87392855e-01 -1.49246509e-01 -5.27335692e-02 2.36591062e+02] [ 5.34213430e-02 6.00302470e-04 9.98571880e-01 2.64904668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.76, Y:236.59, Z:26.49 [[-1.52033793e-01 -9.88338033e-01 8.58242373e-03 3.14762623e+02] [ 9.86930459e-01 -1.52275167e-01 -5.27308445e-02 2.36590926e+02] [ 5.34227892e-02 4.53385105e-04 9.98571880e-01 2.64917133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.77, Y:236.58, Z:26.49 [[-1.56111644e-01 -9.87701963e-01 8.60157257e-03 3.14769968e+02] [ 9.86293576e-01 -1.56348229e-01 -5.27277208e-02 2.36582596e+02] [ 5.34241139e-02 2.52264604e-04 9.98571880e-01 2.64920242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.990385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:314.76, Y:236.63, Z:26.49 [[-1.62551627e-01 -9.86662380e-01 8.62067835e-03 3.14763354e+02] [ 9.85252645e-01 -1.62780040e-01 -5.27245969e-02 2.36629644e+02] [ 5.34246506e-02 -7.69228547e-05 9.98571881e-01 2.64889403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:236.58, Z:26.49 [[-1.59643333e-01 -9.87136970e-01 8.63762599e-03 3.14782723e+02] [ 9.85728064e-01 -1.59876805e-01 -5.27218203e-02 2.36583407e+02] [ 5.34246140e-02 9.76632302e-05 9.98571881e-01 2.64896234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.78, Y:236.60, Z:26.48 [[-1.63203019e-01 -9.86554546e-01 8.65458256e-03 3.14778979e+02] [ 9.85144955e-01 -1.63432314e-01 -5.27190366e-02 2.36596983e+02] [ 5.34246437e-02 -7.78876008e-05 9.98571881e-01 2.64827847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:236.81, Z:26.49 [[-1.62062330e-01 -9.86742423e-01 8.67135217e-03 3.14749369e+02] [ 9.85333245e-01 -1.62294150e-01 -5.27162782e-02 2.36805977e+02] [ 5.34246978e-02 8.48674984e-07 9.98571881e-01 2.64912736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.79, Y:236.56, Z:26.48 [[-1.64903985e-01 -9.86271346e-01 8.68955655e-03 3.14794700e+02] [ 9.84861663e-01 -1.65132718e-01 -5.27132773e-02 2.36562421e+02] [ 5.34245250e-02 -1.34618391e-04 9.98571881e-01 2.64817835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:236.58, Z:26.49 [[-1.61544622e-01 -9.86826970e-01 8.71013048e-03 3.14805803e+02] [ 9.85418257e-01 -1.61779253e-01 -5.27098775e-02 2.36577321e+02] [ 5.34246471e-02 6.81243299e-05 9.98571881e-01 2.64854088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:236.58, Z:26.49 [[-1.62729878e-01 -9.86632065e-01 8.72669146e-03 3.14808911e+02] [ 9.85223218e-01 -1.62963701e-01 -5.27071356e-02 2.36581798e+02] [ 5.34246839e-02 2.07133067e-05 9.98571882e-01 2.64867339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.410385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:236.58, Z:26.49 [[-1.69043402e-01 -9.85569826e-01 8.74336578e-03 3.14807811e+02] [ 9.84159654e-01 -1.69269092e-01 -5.27043694e-02 2.36575681e+02] [ 5.34238177e-02 -3.04458034e-04 9.98571882e-01 2.64864838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:236.94, Z:26.51 [[-1.60521486e-01 -9.86993472e-01 8.76004398e-03 3.14752923e+02] [ 9.85585453e-01 -1.60760243e-01 -5.27015971e-02 2.36936456e+02] [ 5.34243992e-02 1.74033220e-04 9.98571882e-01 2.65056489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.530385723 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.38, Z:27.46 [[-2.44452081e-01 -9.69621631e-01 8.77910409e-03 3.14029567e+02] [ 9.68198424e-01 -2.44570414e-01 -5.26984219e-02 2.36375738e+02] [ 5.32446389e-02 -4.38232413e-03 9.98571882e-01 2.74625047e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 467.590385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.34, Z:27.45 [[-2.46010621e-01 -9.69176960e-01 1.32209852e-02 3.14028899e+02] [ 9.67804504e-01 -2.46365598e-01 -5.15600154e-02 2.36335091e+02] [ 5.32279749e-02 1.11017643e-04 9.98582380e-01 2.74532121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.650385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.36, Z:27.46 [[-2.48239043e-01 -9.68608359e-01 1.32372679e-02 3.14029737e+02] [ 9.67235312e-01 -2.48591729e-01 -5.15558347e-02 2.36359137e+02] [ 5.32280877e-02 5.38191425e-06 9.98582381e-01 2.74633785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.35, Z:27.47 [[-2.52229179e-01 -9.67576760e-01 1.32534749e-02 3.14030740e+02] [ 9.66202490e-01 -2.52577067e-01 -5.15516680e-02 2.36349949e+02] [ 5.32277197e-02 -1.97294495e-04 9.98582381e-01 2.74651393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.34, Z:27.46 [[-2.55871456e-01 -9.66619702e-01 1.32721301e-02 3.14030215e+02] [ 9.65244380e-01 -2.56215160e-01 -5.15468648e-02 2.36341629e+02] [ 5.32267360e-02 -3.78522375e-04 9.98582381e-01 2.74630926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.35, Z:27.46 [[-2.59003561e-01 -9.65784953e-01 1.32883620e-02 3.14027202e+02] [ 9.64408737e-01 -2.59343671e-01 -5.15426800e-02 2.36345324e+02] [ 5.32253973e-02 -5.34325252e-04 9.98582381e-01 2.74630032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.32, Z:27.46 [[-2.68002476e-01 -9.63326352e-01 1.33045926e-02 3.14021183e+02] [ 9.61947230e-01 -2.68330600e-01 -5.15384901e-02 2.36321207e+02] [ 5.32184150e-02 -1.01412692e-03 9.98582381e-01 2.74574609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:236.33, Z:27.47 [[-2.59724920e-01 -9.65590918e-01 1.33095894e-02 3.14025271e+02] [ 9.64214729e-01 -2.60065135e-01 -5.15371996e-02 2.36334177e+02] [ 5.32252121e-02 -5.52192925e-04 9.98582381e-01 2.74653720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.010385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.32, Z:27.46 [[-2.63722728e-01 -9.64506495e-01 1.33245462e-02 3.14017839e+02] [ 9.63129103e-01 -2.64058037e-01 -5.15333324e-02 2.36315505e+02] [ 5.32226873e-02 -7.57252716e-04 9.98582381e-01 2.74578997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.070385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.33, Z:27.46 [[-2.56140151e-01 -9.66547594e-01 1.33406404e-02 3.14017791e+02] [ 9.65173093e-01 -2.56487125e-01 -5.15291657e-02 2.36334671e+02] [ 5.32270936e-02 -3.22661118e-04 9.98582381e-01 2.74644519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.33, Z:27.47 [[-2.52751965e-01 -9.67438925e-01 1.33555111e-02 3.14018468e+02] [ 9.66065852e-01 -2.53104546e-01 -5.15253112e-02 2.36331076e+02] [ 5.32279322e-02 -1.20820454e-04 9.98582382e-01 2.74667233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.190385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.34, Z:27.47 [[-2.52795826e-01 -9.67427241e-01 1.33717362e-02 3.14016567e+02] [ 9.66054375e-01 -2.53149208e-01 -5.15211001e-02 2.36337791e+02] [ 5.32279602e-02 -1.06494773e-04 9.98582382e-01 2.74663627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.250385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.34, Z:27.47 [[-2.55067250e-01 -9.66830626e-01 1.33879925e-02 3.14015182e+02] [ 9.65457154e-01 -2.55418274e-01 -5.15168755e-02 2.36336953e+02] [ 5.32276309e-02 -2.14734600e-04 9.98582382e-01 2.74678933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31038572299997 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.32, Z:27.47 [[-2.62304961e-01 -9.64891895e-01 1.34066587e-02 3.14016018e+02] [ 9.63516079e-01 -2.62646678e-01 -5.15120174e-02 2.36322875e+02] [ 5.32247425e-02 -5.94326446e-04 9.98582382e-01 2.74681616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37038572299997 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.32, Z:27.47 [[-2.66280122e-01 -9.63802221e-01 1.34229168e-02 3.14017563e+02] [ 9.62425221e-01 -2.66617034e-01 -5.15077806e-02 2.36323282e+02] [ 5.32220916e-02 -7.96944431e-04 9.98582382e-01 2.74715824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.430385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.33, Z:27.48 [[-2.67452975e-01 -9.63477190e-01 1.34391132e-02 3.14016123e+02] [ 9.62099992e-01 -2.67789077e-01 -5.15035544e-02 2.36329514e+02] [ 5.32213476e-02 -8.45008132e-04 9.98582382e-01 2.74781208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.490385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.32, Z:27.48 [[-2.67547399e-01 -9.63450747e-01 1.34553640e-02 3.14018364e+02] [ 9.62073728e-01 -2.67884235e-01 -5.14993085e-02 2.36320000e+02] [ 5.32215271e-02 -8.33453850e-04 9.98582382e-01 2.74769716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:236.32, Z:27.48 [[-2.63217793e-01 -9.64642374e-01 1.34716134e-02 3.14017153e+02] [ 9.63267098e-01 -2.63561676e-01 -5.14950575e-02 2.36317070e+02] [ 5.32249155e-02 -5.77653391e-04 9.98582383e-01 2.74775686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:236.34, Z:27.48 [[-2.56550438e-01 -9.66436729e-01 1.34878104e-02 3.14010704e+02] [ 9.65064083e-01 -2.56904673e-01 -5.14908147e-02 2.36335240e+02] [ 5.32276961e-02 -1.93389648e-04 9.98582383e-01 2.74796346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.670385723 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:236.33, Z:27.47 [[-2.53816325e-01 -9.67158163e-01 1.35041179e-02 3.14006249e+02] [ 9.65786751e-01 -2.54175308e-01 -5.14865375e-02 2.36326657e+02] [ 5.32280384e-02 -2.60255578e-05 9.98582383e-01 2.74728299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.730385723 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:314.01, Y:236.31, Z:27.47 [[-2.50573673e-01 -9.68003115e-01 1.35205089e-02 3.14007341e+02] [ 9.66633146e-01 -2.50938122e-01 -5.14822329e-02 2.36314958e+02] [ 5.32277729e-02 1.69279866e-04 9.98582383e-01 2.74748912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.790385723 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:313.92, Y:236.67, Z:27.50 [[-2.49659239e-01 -9.68239133e-01 1.35368090e-02 3.13918300e+02] [ 9.66869741e-01 -2.50025848e-01 -5.14779466e-02 2.36673547e+02] [ 5.32275145e-02 2.36386037e-04 9.98582383e-01 2.75008361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.850385723 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:313.20, Y:236.43, Z:28.44 [[-3.29394725e-01 -9.44094998e-01 1.35554381e-02 3.13196200e+02] [ 9.42700022e-01 -3.29647075e-01 -5.14730406e-02 2.36426111e+02] [ 5.30639507e-02 -4.17623623e-03 9.98582383e-01 2.84363399e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 468.910385723 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:313.18, Y:236.46, Z:28.43 [[-3.30942239e-01 -9.43488605e-01 1.75067602e-02 3.13181433e+02] [ 9.42157889e-01 -3.31404956e-01 -5.00925933e-02 2.36459221e+02] [ 5.30636181e-02 -8.36227116e-05 9.98591130e-01 2.84349090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.970385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:313.23, Y:236.33, Z:28.43 [[-3.29236973e-01 -9.44084876e-01 1.75146574e-02 3.13227508e+02] [ 9.42755144e-01 -3.29702513e-01 -5.00898319e-02 2.36333288e+02] [ 5.30636793e-02 2.06087235e-05 9.98591130e-01 2.84294340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.030385723 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:313.33, Y:236.04, Z:28.41 [[-3.31359344e-01 -9.43341599e-01 1.75389068e-02 3.13329242e+02] [ 9.42011272e-01 -3.31823180e-01 -5.00813396e-02 2.36040569e+02] [ 5.30636268e-02 -7.30719204e-05 9.98591131e-01 2.84125896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.090385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:313.33, Y:236.04, Z:28.41 [[-3.33170480e-01 -9.42703087e-01 1.75590585e-02 3.13330527e+02] [ 9.41372244e-01 -3.33632830e-01 -5.00742732e-02 2.36043889e+02] [ 5.30634503e-02 -1.53659292e-04 9.98591131e-01 2.84142549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.150385723 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:313.26, Y:236.24, Z:28.42 [[-3.36714722e-01 -9.41442818e-01 1.75674780e-02 3.13259332e+02] [ 9.40110399e-01 -3.37172510e-01 -5.00713192e-02 2.36243364e+02] [ 5.30625546e-02 -3.44381547e-04 9.98591131e-01 2.84214609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.210385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:236.28, Z:28.42 [[-3.37062453e-01 -9.41318206e-01 1.75766497e-02 3.13248965e+02] [ 9.39985785e-01 -3.37520237e-01 -5.00680995e-02 2.36281573e+02] [ 5.30624885e-02 -3.54275518e-04 9.98591131e-01 2.84238550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.270385723 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:235.71, Z:29.35 [[-3.96541909e-01 -9.17847979e-01 1.75955119e-02 3.12656066e+02] [ 9.16489301e-01 -3.96914613e-01 -5.00614699e-02 2.35709937e+02] [ 5.29327347e-02 -3.72537248e-03 9.98591131e-01 2.93528736e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 469.330385723 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:312.65, Y:235.71, Z:29.35 [[-3.96950196e-01 -9.17608198e-01 2.06333796e-02 3.12654348e+02] [ 9.16310998e-01 -3.97485833e-01 -4.87767129e-02 2.35707803e+02] [ 5.29593877e-02 -4.55333115e-04 9.98596563e-01 2.93502435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.390385723 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:312.65, Y:235.70, Z:29.34 [[-4.03583174e-01 -9.14709878e-01 2.06509304e-02 3.12648802e+02] [ 9.13409213e-01 -4.04110341e-01 -4.87692812e-02 2.35695595e+02] [ 5.29549978e-02 -8.19711283e-04 9.98596563e-01 2.93384952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.450385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:312.65, Y:235.70, Z:29.35 [[-3.96576359e-01 -9.17769038e-01 2.06684374e-02 3.12654717e+02] [ 9.16472828e-01 -3.97114387e-01 -4.87618606e-02 2.35704816e+02] [ 5.29598597e-02 -3.95739880e-04 9.98596564e-01 2.93504598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.510385723 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:235.70, Z:29.35 [[-3.97272274e-01 -9.17467669e-01 2.06837431e-02 3.12655097e+02] [ 9.16171388e-01 -3.97810132e-01 -4.87553674e-02 2.35701817e+02] [ 5.29596758e-02 -4.19301990e-04 9.98596564e-01 2.93504181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.570385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.76, Z:29.35 [[-4.02186636e-01 -9.15323640e-01 2.07012998e-02 3.12629635e+02] [ 9.14024877e-01 -4.02718470e-01 -4.87479118e-02 2.35756233e+02] [ 5.29569118e-02 -6.84255674e-04 9.98596564e-01 2.93492201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.630385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:312.62, Y:235.76, Z:29.35 [[-4.07878432e-01 -9.12801128e-01 2.07192345e-02 3.12623506e+02] [ 9.11499463e-01 -4.08403125e-01 -4.87402878e-02 2.35757399e+02] [ 5.29519898e-02 -9.94540974e-04 9.98596564e-01 2.93464134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.690385723 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:312.59, Y:235.85, Z:29.35 [[-4.09396423e-01 -9.12120891e-01 2.07376059e-02 3.12585701e+02] [ 9.10818751e-01 -4.09919931e-01 -4.87324701e-02 2.35852574e+02] [ 5.29506620e-02 -1.06269864e-03 9.98596564e-01 2.93536520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.750385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:235.90, Z:29.36 [[-4.12994209e-01 -9.10497085e-01 2.07567305e-02 3.12561285e+02] [ 9.09193294e-01 -4.13513596e-01 -4.87243230e-02 2.35904735e+02] [ 5.29465443e-02 -1.25098307e-03 9.98596564e-01 2.93564050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81038572299997 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:312.66, Y:235.68, Z:29.35 [[-4.12959939e-01 -9.10512164e-01 2.07771103e-02 3.12656204e+02] [ 9.09208828e-01 -4.13480464e-01 -4.87156310e-02 2.35684735e+02] [ 5.29471038e-02 -1.22687185e-03 9.98596565e-01 2.93469895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87038572299997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:312.65, Y:235.68, Z:29.35 [[-4.13999160e-01 -9.10039733e-01 2.07937383e-02 3.12654432e+02] [ 9.08736159e-01 -4.14519086e-01 -4.87085325e-02 2.35681778e+02] [ 5.29461013e-02 -1.26926961e-03 9.98596565e-01 2.93454728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.930385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:312.65, Y:235.68, Z:29.34 [[-4.16288650e-01 -9.08994309e-01 2.08112126e-02 3.12646470e+02] [ 9.07689800e-01 -4.16806229e-01 -4.87010653e-02 2.35677885e+02] [ 5.29432342e-02 -1.38357533e-03 9.98596565e-01 2.93397784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.60, Y:235.79, Z:29.34 [[-4.13410615e-01 -9.10306448e-01 2.08286951e-02 3.12595326e+02] [ 9.09003958e-01 -4.13933254e-01 -4.86935872e-02 2.35794512e+02] [ 5.29477759e-02 -1.19707951e-03 9.98596565e-01 2.93433710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:235.76, Z:29.34 [[-4.12377281e-01 -9.10774658e-01 2.08446908e-02 3.12605032e+02] [ 9.09473107e-01 -4.12902251e-01 -4.86867388e-02 2.35762615e+02] [ 5.29494676e-02 -1.11961925e-03 9.98596565e-01 2.93403316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.110385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.64, Y:235.67, Z:29.34 [[-4.09947862e-01 -9.11870308e-01 2.08636555e-02 3.12639265e+02] [ 9.10570573e-01 -4.10477312e-01 -4.86786106e-02 2.35671134e+02] [ 5.29526368e-02 -9.57861578e-04 9.98596566e-01 2.93403092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.67, Z:29.34 [[-4.07645643e-01 -9.12901408e-01 2.08817697e-02 3.12633358e+02] [ 9.11603410e-01 -4.08179337e-01 -4.86708388e-02 2.35671744e+02] [ 5.29551842e-02 -8.04562939e-04 9.98596566e-01 2.93387183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.67, Z:29.34 [[-4.07141886e-01 -9.13125787e-01 2.08993205e-02 3.12631780e+02] [ 9.11828470e-01 -4.07677231e-01 -4.86633013e-02 2.35667927e+02] [ 5.29558925e-02 -7.56272848e-04 9.98596566e-01 2.93382482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.65, Z:29.33 [[-4.11225386e-01 -9.11293677e-01 2.09168988e-02 3.12633027e+02] [ 9.09994359e-01 -4.11755856e-01 -4.86557445e-02 2.35648661e+02] [ 5.29523279e-02 -9.74217406e-04 9.98596566e-01 2.93322393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.66, Z:29.34 [[-4.08600716e-01 -9.12473177e-01 2.09321669e-02 3.12627871e+02] [ 9.11175727e-01 -4.09135739e-01 -4.86491752e-02 2.35660472e+02] [ 5.29551650e-02 -8.05205471e-04 9.98596566e-01 2.93378684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.410385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.64, Z:29.33 [[-4.12558906e-01 -9.10690043e-01 2.09474242e-02 3.12627412e+02] [ 9.09390614e-01 -4.13089104e-01 -4.86426047e-02 2.35644530e+02] [ 5.29514885e-02 -1.01854882e-03 9.98596566e-01 2.93302963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.470385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.65, Z:29.33 [[-4.13191497e-01 -9.10402877e-01 2.09615884e-02 3.12625966e+02] [ 9.09103389e-01 -4.13721549e-01 -4.86365002e-02 2.35648079e+02] [ 5.29510705e-02 -1.03993733e-03 9.98596567e-01 2.93305042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.530385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.64, Z:29.33 [[-4.14836790e-01 -9.09653956e-01 2.09789881e-02 3.12627222e+02] [ 9.08353889e-01 -4.15365422e-01 -4.86289938e-02 2.35643156e+02] [ 5.29495028e-02 -1.11675028e-03 9.98596567e-01 2.93274392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.590385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.65, Z:29.33 [[-4.13626828e-01 -9.10204422e-01 2.09942131e-02 3.12625710e+02] [ 9.08905392e-01 -4.14158000e-01 -4.86224200e-02 2.35651305e+02] [ 5.29512630e-02 -1.02978379e-03 9.98596567e-01 2.93326225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.63, Z:29.33 [[-4.14489390e-01 -9.09811600e-01 2.10094664e-02 3.12631793e+02] [ 9.08512399e-01 -4.15020146e-01 -4.86158282e-02 2.35630990e+02] [ 5.29505963e-02 -1.06338421e-03 9.98596567e-01 2.93313177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.710385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.63, Z:29.33 [[-4.12949697e-01 -9.10511126e-01 2.10246700e-02 3.12630942e+02] [ 9.09213159e-01 -4.13483461e-01 -4.86092523e-02 2.35631918e+02] [ 5.29526184e-02 -9.57269406e-04 9.98596567e-01 2.93298246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.62, Y:235.65, Z:29.33 [[-4.11109439e-01 -9.11343161e-01 2.10397857e-02 3.12622099e+02] [ 9.10046608e-01 -4.11646630e-01 -4.86027089e-02 2.35650400e+02] [ 5.29547032e-02 -8.33846770e-04 9.98596567e-01 2.93294944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.63, Z:29.33 [[-4.10072751e-01 -9.11809702e-01 2.10572219e-02 3.12632145e+02] [ 9.10514148e-01 -4.10612345e-01 -4.85951534e-02 2.35627424e+02] [ 5.29558876e-02 -7.54649757e-04 9.98596567e-01 2.93283630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.63, Y:235.64, Z:29.33 [[-4.09370215e-01 -9.12124980e-01 2.10724624e-02 3.12627166e+02] [ 9.10830181e-01 -4.09911619e-01 -4.85885438e-02 2.35643984e+02] [ 5.29566716e-02 -6.97267893e-04 9.98596568e-01 2.93295924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.950385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:312.50, Y:235.94, Z:29.35 [[-4.07500378e-01 -9.12961478e-01 2.10898692e-02 3.12502807e+02] [ 9.11668181e-01 -4.08045360e-01 -4.85809871e-02 2.35937843e+02] [ 5.29581931e-02 -5.69807919e-04 9.98596568e-01 2.93477396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.010385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:235.30, Z:30.31 [[-4.59949725e-01 -8.87693999e-01 2.11095676e-02 3.12071951e+02] [ 8.86371555e-01 -4.60419577e-01 -4.85724262e-02 2.35300117e+02] [ 5.28367095e-02 -3.62995380e-03 9.98596568e-01 3.03089618e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 471.070385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:235.31, Z:30.31 [[-4.60724302e-01 -8.87221726e-01 2.38898637e-02 3.12068248e+02] [ 8.85967396e-01 -4.61342920e-01 -4.71644304e-02 2.35307284e+02] [ 5.28667269e-02 -5.64159022e-04 9.98601417e-01 3.03079728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.29, Z:30.31 [[-4.62229229e-01 -8.86438157e-01 2.39067940e-02 3.12079776e+02] [ 8.85183221e-01 -4.62846618e-01 -4.71558472e-02 2.35290809e+02] [ 5.28659210e-02 -6.34917959e-04 9.98601418e-01 3.03107078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.190385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.29, Z:30.31 [[-4.63539563e-01 -8.85753200e-01 2.39236818e-02 3.12081847e+02] [ 8.84497794e-01 -4.64155995e-01 -4.71472780e-02 2.35293990e+02] [ 5.28651726e-02 -6.94184870e-04 9.98601418e-01 3.03109827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.30, Z:30.31 [[-4.65183245e-01 -8.84890615e-01 2.39404909e-02 3.12080990e+02] [ 8.83634505e-01 -4.65798240e-01 -4.71387411e-02 2.35299509e+02] [ 5.28640681e-02 -7.73508737e-04 9.98601418e-01 3.03109842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.30, Z:30.31 [[-4.63803465e-01 -8.85614189e-01 2.39552363e-02 3.12080808e+02] [ 8.84359425e-01 -4.64421202e-01 -4.71312465e-02 2.35304299e+02] [ 5.28654203e-02 -6.74596494e-04 9.98601418e-01 3.03108229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37038572299997 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.30, Z:30.31 [[-4.62616713e-01 -8.86234230e-01 2.39721784e-02 3.12082867e+02] [ 8.84980741e-01 -4.63237031e-01 -4.71226277e-02 2.35301619e+02] [ 5.28664865e-02 -5.84799014e-04 9.98601418e-01 3.03103872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.30, Z:30.31 [[-4.56981567e-01 -8.89152613e-01 2.39891518e-02 3.12083647e+02] [ 8.87903539e-01 -4.57610728e-01 -4.71139853e-02 2.35302853e+02] [ 5.28692164e-02 -2.30170063e-04 9.98601418e-01 3.03106215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:235.31, Z:30.31 [[-4.52598459e-01 -8.91391239e-01 2.40061328e-02 3.12085902e+02] [ 8.90145736e-01 -4.53234660e-01 -4.71053314e-02 2.35305465e+02] [ 5.28696911e-02 4.91563690e-05 9.98601419e-01 3.03101864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.08, Y:235.31, Z:30.31 [[-4.52285736e-01 -8.91549495e-01 2.40231531e-02 3.12084963e+02] [ 8.90304675e-01 -4.52923273e-01 -4.70966496e-02 2.35308095e+02] [ 5.28696393e-02 8.67826972e-05 9.98601419e-01 3.03095897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:235.30, Z:30.31 [[-4.52668720e-01 -8.91354642e-01 2.40402237e-02 3.12089840e+02] [ 8.90110011e-01 -4.53306624e-01 -4.70879344e-02 2.35302450e+02] [ 5.28696416e-02 8.32087790e-05 9.98601419e-01 3.03089063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:235.31, Z:30.31 [[-4.53249900e-01 -8.91058794e-01 2.40572912e-02 3.12090262e+02] [ 8.89814209e-01 -4.53887895e-01 -4.70792131e-02 2.35308847e+02] [ 5.28696600e-02 6.78708915e-05 9.98601419e-01 3.03105369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:235.30, Z:30.30 [[-4.56632257e-01 -8.89329751e-01 2.40743717e-02 3.12097087e+02] [ 8.88083211e-01 -4.57266422e-01 -4.70704772e-02 2.35297278e+02] [ 5.28695776e-02 -1.13852945e-04 9.98601419e-01 3.03032755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.790385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:235.30, Z:30.31 [[-4.55571021e-01 -8.89873389e-01 2.40914328e-02 3.12101585e+02] [ 8.88628067e-01 -4.56207574e-01 -4.70617434e-02 2.35297489e+02] [ 5.28696872e-02 -3.16431368e-05 9.98601420e-01 3.03089977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:235.30, Z:30.30 [[-4.57641931e-01 -8.88809680e-01 2.41084241e-02 3.12104544e+02] [ 8.87563337e-01 -4.58276482e-01 -4.70530376e-02 2.35295582e+02] [ 5.28695191e-02 -1.35689591e-04 9.98601420e-01 3.03025765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:235.31, Z:30.31 [[-4.56697014e-01 -8.89295115e-01 2.41254124e-02 3.12100307e+02] [ 8.88049907e-01 -4.57333788e-01 -4.70443257e-02 2.35310169e+02] [ 5.28696553e-02 -6.04328430e-05 9.98601420e-01 3.03061773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:235.30, Z:30.30 [[-4.61157992e-01 -8.86989600e-01 2.41403446e-02 3.12110870e+02] [ 8.85741609e-01 -4.61789296e-01 -4.70366621e-02 2.35296360e+02] [ 5.28687828e-02 -3.09224948e-04 9.98601420e-01 3.03007900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:235.29, Z:30.30 [[-4.62479418e-01 -8.86300914e-01 2.41552787e-02 3.12116927e+02] [ 8.85052384e-01 -4.63109654e-01 -4.70289916e-02 2.35293763e+02] [ 5.28683810e-02 -3.71253648e-04 9.98601420e-01 3.03040972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:235.30, Z:30.30 [[-4.62666674e-01 -8.86202802e-01 2.41690431e-02 3.12120712e+02] [ 8.84954507e-01 -4.63297377e-01 -4.70219167e-02 2.35295331e+02] [ 5.28684086e-02 -3.66970176e-04 9.98601420e-01 3.03038856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:235.29, Z:30.31 [[-4.61485763e-01 -8.86817925e-01 2.41838487e-02 3.12124089e+02] [ 8.85570870e-01 -4.62118912e-01 -4.70143009e-02 2.35294474e+02] [ 5.28689386e-02 -2.79918558e-04 9.98601420e-01 3.03073004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:235.31, Z:30.31 [[-4.60170690e-01 -8.87500568e-01 2.42007937e-02 3.12119094e+02] [ 8.86254911e-01 -4.60806585e-01 -4.70055767e-02 2.35309150e+02] [ 5.28693611e-02 -1.82516407e-04 9.98601421e-01 3.03081069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:235.31, Z:30.31 [[-4.57888484e-01 -8.88679713e-01 2.42178421e-02 3.12124599e+02] [ 8.87436158e-01 -4.58528479e-01 -4.69967916e-02 2.35309892e+02] [ 5.28696656e-02 -2.75008857e-05 9.98601421e-01 3.03084245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:235.30, Z:30.31 [[-4.58969029e-01 -8.88121726e-01 2.42328282e-02 3.12132425e+02] [ 8.86877801e-01 -4.59608305e-01 -4.69890630e-02 2.35302628e+02] [ 5.28696169e-02 -7.49672244e-05 9.98601421e-01 3.03076680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.390385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:235.57, Z:30.32 [[-4.61606763e-01 -8.86753144e-01 2.42499243e-02 3.11995194e+02] [ 8.85507787e-01 -4.62243244e-01 -4.69802385e-02 2.35572966e+02] [ 5.28692379e-02 -2.12898997e-04 9.98601421e-01 3.03202670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:235.30, Z:30.31 [[-4.61179173e-01 -8.86975076e-01 2.42689865e-02 3.12139640e+02] [ 8.85730544e-01 -4.61817265e-01 -4.69703894e-02 2.35301660e+02] [ 5.28694017e-02 -1.65982771e-04 9.98601421e-01 3.03063782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.15, Y:235.29, Z:30.31 [[-4.60455644e-01 -8.87350442e-01 2.42856429e-02 3.12145733e+02] [ 8.86106884e-01 -4.61095632e-01 -4.69617757e-02 2.35294794e+02] [ 5.28695563e-02 -1.04139278e-04 9.98601422e-01 3.03069700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:235.29, Z:30.30 [[-4.58976577e-01 -8.88115918e-01 2.43026406e-02 3.12144666e+02] [ 8.86873893e-01 -4.59619534e-01 -4.69529778e-02 2.35293542e+02] [ 5.28696553e-02 3.06046352e-06 9.98601422e-01 3.03042621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.630385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:235.29, Z:30.30 [[-4.58916935e-01 -8.88146274e-01 2.43196058e-02 3.12144956e+02] [ 8.86904757e-01 -4.59560873e-01 -4.69441889e-02 2.35290500e+02] [ 5.28696458e-02 2.56908036e-05 9.98601422e-01 3.03028673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:235.58, Z:30.32 [[-4.56069109e-01 -8.89611544e-01 2.43365786e-02 3.11995215e+02] [ 8.88372565e-01 -4.56717917e-01 -4.69353884e-02 2.35580748e+02] [ 5.28692148e-02 2.14167980e-04 9.98601422e-01 3.03237243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.34, Y:235.13, Z:31.31 [[-5.24768625e-01 -8.50896472e-01 2.43533036e-02 3.11340531e+02] [ 8.49610601e-01 -5.25318675e-01 -4.69267087e-02 2.35134555e+02] [ 5.27230160e-02 -3.93483954e-03 9.98601422e-01 3.13058485e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 472.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.90, Y:234.39, Z:32.27 [[-5.82926120e-01 -8.12058341e-01 2.75388597e-02 3.10898708e+02] [ 8.10821173e-01 -5.83563301e-01 -4.49766482e-02 2.34390867e+02] [ 5.25943302e-02 -3.88897255e-03 9.98608388e-01 3.22712100e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 472.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:234.41, Z:32.27 [[-5.85035463e-01 -8.10433497e-01 3.05131836e-02 3.10879997e+02] [ 8.09299485e-01 -5.85830524e-01 -4.28595557e-02 2.34406289e+02] [ 5.26103740e-02 -3.80056239e-04 9.98615043e-01 3.22662991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.90, Y:234.39, Z:32.27 [[-5.83349992e-01 -8.11647029e-01 3.05268258e-02 3.10896363e+02] [ 8.10515179e-01 -5.84148129e-01 -4.28498369e-02 2.34385410e+02] [ 5.26111309e-02 -2.53996366e-04 9.98615043e-01 3.22693424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.32, Y:233.88, Z:33.25 [[-6.37403916e-01 -7.69924365e-01 3.05404648e-02 3.10322281e+02] [ 7.68741121e-01 -6.38123666e-01 -4.28401137e-02 2.33877496e+02] [ 5.24722407e-02 -3.82874505e-03 9.98615043e-01 3.32505858e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.050385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:309.79, Y:233.33, Z:34.24 [[-6.82020758e-01 -7.30575220e-01 3.32796264e-02 3.09789741e+02] [ 7.29454476e-01 -6.82823707e-01 -4.05949842e-02 2.33334494e+02] [ 5.23818075e-02 -3.41064947e-03 9.98621306e-01 3.42410317e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.79, Y:233.34, Z:34.25 [[-6.77845979e-01 -7.34356697e-01 3.52855583e-02 3.09794658e+02] [ 7.33332695e-01 -6.78763639e-01 -3.87695756e-02 2.33341203e+02] [ 5.24212515e-02 -4.03747341e-04 9.98624979e-01 3.42527164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.170385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:309.29, Y:232.76, Z:35.23 [[-7.22836004e-01 -6.90117551e-01 3.52969686e-02 3.09287147e+02] [ 6.89038183e-01 -7.23687853e-01 -3.87591845e-02 2.32757210e+02] [ 5.22923810e-02 -3.69557495e-03 9.98624979e-01 3.52269759e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.81, Y:232.14, Z:36.20 [[-7.64227552e-01 -6.43850671e-01 3.75840806e-02 3.08811180e+02] [ 6.42831426e-01 -7.65142436e-01 -3.63979467e-02 2.32142219e+02] [ 5.21920173e-02 -3.65608559e-03 9.98630375e-01 3.61998639e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.290385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:232.14, Z:36.20 [[-7.64674255e-01 -6.43194330e-01 3.96779119e-02 3.08816181e+02] [ 6.42297811e-01 -7.65702831e-01 -3.39513674e-02 2.32137065e+02] [ 5.22188165e-02 -4.76700611e-04 9.98635553e-01 3.61993327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.350385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:232.14, Z:36.20 [[-7.66213362e-01 -6.41359415e-01 3.96885994e-02 3.08819538e+02] [ 6.40461080e-01 -7.67240352e-01 -3.39388692e-02 2.32135150e+02] [ 5.22177083e-02 -5.85411867e-04 9.98635553e-01 3.61992894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:232.13, Z:36.20 [[-7.68133498e-01 -6.39057821e-01 3.96992525e-02 3.08822274e+02] [ 6.38157053e-01 -7.69158355e-01 -3.39264034e-02 2.32132203e+02] [ 5.22159452e-02 -7.25648990e-04 9.98635553e-01 3.61997884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.470385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:308.38, Y:231.49, Z:37.17 [[-8.00125057e-01 -5.98517249e-01 3.97114199e-02 3.08382787e+02] [ 5.97565435e-01 -8.01102688e-01 -3.39121553e-02 2.31493004e+02] [ 5.21099351e-02 -3.40379325e-03 9.98635554e-01 3.71709417e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.37, Y:231.50, Z:37.17 [[-7.98617242e-01 -6.00415761e-01 4.13692610e-02 3.08368299e+02] [ 5.99575825e-01 -7.99687819e-01 -3.17525294e-02 2.31501101e+02] [ 5.21472132e-02 -5.54108657e-04 9.98639255e-01 3.71681755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.590385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:308.38, Y:231.49, Z:37.17 [[-7.99120069e-01 -5.99745984e-01 4.13747513e-02 3.08376890e+02] [ 5.98905521e-01 -8.00190232e-01 -3.17453739e-02 2.31489005e+02] [ 5.21468323e-02 -5.88798369e-04 9.98639255e-01 3.71693372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:308.08, Y:231.72, Z:37.19 [[-7.97361285e-01 -6.02081623e-01 4.13847840e-02 3.08077781e+02] [ 6.01244974e-01 -7.98434432e-01 -3.17322893e-02 2.31724539e+02] [ 5.21484648e-02 -4.19705542e-04 9.98639255e-01 3.71892233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.710385723 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:307.61, Y:231.10, Z:38.17 [[-8.31908607e-01 -5.53366441e-01 4.13962775e-02 3.07608358e+02] [ 5.52467911e-01 -8.32930502e-01 -3.17172884e-02 2.31099650e+02] [ 5.20315052e-02 -3.51577024e-03 9.98639255e-01 3.81659759e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.770385723 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:307.18, Y:230.45, Z:39.14 [[-8.59553941e-01 -5.09228162e-01 4.30546331e-02 3.07176927e+02] [ 5.08396304e-01 -8.60625315e-01 -2.92790946e-02 2.30451444e+02] [ 5.19636467e-02 -3.27814485e-03 9.98643597e-01 3.91417903e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 473.830385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:230.17, Z:39.12 [[-8.62365386e-01 -5.04340327e-01 4.43483334e-02 3.07635160e+02] [ 5.03609259e-01 -8.63504278e-01 -2.71675634e-02 2.30165613e+02] [ 5.19966734e-02 -1.09413498e-03 9.98646659e-01 3.91162225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:230.16, Z:39.12 [[-8.62653569e-01 -5.03848293e-01 4.43364253e-02 3.07636767e+02] [ 5.03115578e-01 -8.63791400e-01 -2.71869832e-02 2.30162373e+02] [ 5.19955379e-02 -1.14660180e-03 9.98646659e-01 3.91155961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.950385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:307.31, Y:229.49, Z:40.08 [[-8.80600792e-01 -4.71779369e-01 4.43449214e-02 3.07310490e+02] [ 4.71005996e-01 -8.81711389e-01 -2.71731180e-02 2.29490285e+02] [ 5.19191387e-02 -3.04194534e-03 9.98646659e-01 4.00831484e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:307.02, Y:228.80, Z:41.05 [[-8.98649526e-01 -4.36319001e-01 4.53294573e-02 3.07022761e+02] [ 4.35589036e-01 -8.99786720e-01 -2.54175176e-02 2.28802706e+02] [ 5.18769896e-02 -3.09642550e-03 9.98648682e-01 4.10504923e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.070385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:228.11, Z:42.02 [[-9.16092275e-01 -3.98286359e-01 4.62916780e-02 3.06757301e+02] [ 3.97603472e-01 -9.17255737e-01 -2.35242948e-02 2.28108913e+02] [ 5.18307129e-02 -3.14469289e-03 9.98650934e-01 4.20174063e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.130385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:228.10, Z:42.02 [[-9.15693116e-01 -3.99095203e-01 4.72137420e-02 3.06761308e+02] [ 3.98516627e-01 -9.16909079e-01 -2.14997383e-02 2.28101651e+02] [ 5.18711512e-02 -8.71701147e-04 9.98653405e-01 4.20157488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:228.10, Z:42.02 [[-9.15194540e-01 -4.00236404e-01 4.72204807e-02 3.06758083e+02] [ 3.99660109e-01 -9.16411586e-01 -2.14849279e-02 2.28100067e+02] [ 5.18724459e-02 -7.90746233e-04 9.98653405e-01 4.20157799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.250385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:306.54, Y:227.41, Z:42.98 [[-9.33911719e-01 -3.54370429e-01 4.72281831e-02 3.06536359e+02] [ 3.53735355e-01 -9.35099152e-01 -2.14679831e-02 2.27411731e+02] [ 5.17706523e-02 -3.34292282e-03 9.98653406e-01 4.29848431e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.35, Y:226.72, Z:43.95 [[-9.50572412e-01 -3.06740234e-01 4.81925198e-02 3.06349648e+02] [ 3.06167735e-01 -9.51787443e-01 -1.90257955e-02 2.26721006e+02] [ 5.17050122e-02 -3.33040166e-03 9.98656848e-01 4.39543912e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.35, Y:226.72, Z:43.95 [[-9.50965197e-01 -3.05387550e-01 4.90269134e-02 3.06349021e+02] [ 3.04939509e-01 -9.52227817e-01 -1.65553820e-02 2.26715563e+02] [ 5.17405982e-02 -7.93349208e-04 9.98660243e-01 4.39534871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:306.35, Y:226.71, Z:43.95 [[-9.51565858e-01 -3.03509919e-01 4.90321010e-02 3.06348490e+02] [ 3.03060179e-01 -9.52827873e-01 -1.65400034e-02 2.26709720e+02] [ 5.17392077e-02 -8.79225252e-04 9.98660243e-01 4.39529524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.490385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:226.04, Z:44.93 [[-9.63928799e-01 -2.61603928e-01 4.90372853e-02 3.06206968e+02] [ 2.61100205e-01 -9.65170254e-01 -1.65246189e-02 2.26041511e+02] [ 5.16522344e-02 -3.12491079e-03 9.98660243e-01 4.49262689e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.550385723 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:306.22, Y:226.03, Z:44.92 [[-9.64927475e-01 -2.57778517e-01 4.96508166e-02 3.06221494e+02] [ 2.57377832e-01 -9.66203377e-01 -1.44112852e-02 2.26025809e+02] [ 5.16877064e-02 -1.12682552e-03 9.98662661e-01 4.49171407e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.610385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:226.03, Z:44.92 [[-9.63713098e-01 -2.62281054e-01 4.96559504e-02 3.06206711e+02] [ 2.61887243e-01 -9.64991138e-01 -1.43935741e-02 2.26027330e+02] [ 5.16927139e-02 -8.67015905e-04 9.98662662e-01 4.49232165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:226.02, Z:44.92 [[-9.63360741e-01 -2.63571358e-01 4.96610796e-02 3.06206668e+02] [ 2.63180172e-01 -9.64639587e-01 -1.43758556e-02 2.26019854e+02] [ 5.16941070e-02 -7.79323435e-04 9.98662662e-01 4.49223382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.20, Y:226.02, Z:44.92 [[-9.63169581e-01 -2.64268089e-01 4.96662342e-02 3.06204953e+02] [ 2.63878747e-01 -9.64448990e-01 -1.43580250e-02 2.26015583e+02] [ 5.16949173e-02 -7.23349270e-04 9.98662662e-01 4.49212482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.790385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:306.12, Y:225.41, Z:45.91 [[-9.74487197e-01 -2.18877720e-01 4.96713881e-02 3.06118628e+02] [ 2.18429803e-01 -9.75747293e-01 -1.43401733e-02 2.25406207e+02] [ 5.16054669e-02 -3.12460372e-03 9.98662662e-01 4.59135502e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.11, Y:225.41, Z:45.92 [[-9.73599493e-01 -2.22676480e-01 5.01917522e-02 3.06112967e+02] [ 2.22343189e-01 -9.74892132e-01 -1.21998607e-02 2.25405482e+02] [ 5.16481663e-02 -7.17983905e-04 9.98665085e-01 4.59201615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.06, Y:224.81, Z:46.91 [[-9.82881322e-01 -1.77270166e-01 5.01955682e-02 3.06055020e+02] [ 1.76878066e-01 -9.84157353e-01 -1.21841397e-02 2.24814584e+02] [ 5.15602220e-02 -3.09706828e-03 9.98665085e-01 4.69120329e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 474.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.02, Y:224.23, Z:47.91 [[-9.89068126e-01 -1.38500147e-01 5.06157297e-02 3.06018306e+02] [ 1.38165245e-01 -9.90357959e-01 -1.00736148e-02 2.24231692e+02] [ 5.15228879e-02 -2.97015662e-03 9.98667397e-01 4.79058586e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.68, Y:223.69, Z:48.91 [[-9.93781564e-01 -9.90232559e-02 5.09175519e-02 3.05683254e+02] [ 9.87325183e-02 -9.95080222e-01 -8.20006046e-03 2.23686701e+02] [ 5.14790456e-02 -3.12185078e-03 9.98669195e-01 4.89123856e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.99, Y:223.64, Z:48.89 [[-9.93861100e-01 -9.80879612e-02 5.11748599e-02 3.05993265e+02] [ 9.79083860e-02 -9.95177283e-01 -6.01026621e-03 2.23644792e+02] [ 5.15175928e-02 -9.62921851e-04 9.98671623e-01 4.88943565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.01, Y:223.08, Z:49.89 [[-9.97040604e-01 -5.73708507e-02 5.11724401e-02 3.06008048e+02] [ 5.71365621e-02 -9.98348157e-01 -6.03079874e-03 2.23075805e+02] [ 5.14339033e-02 -3.08913392e-03 9.98671623e-01 4.98853861e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.03, Y:222.51, Z:50.88 [[-9.98609135e-01 -1.20220938e-02 5.13348396e-02 3.06032380e+02] [ 1.18380190e-02 -9.99922368e-01 -3.88832494e-03 2.22507862e+02] [ 5.13776002e-02 -3.27521399e-03 9.98673928e-01 5.08766194e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.03, Y:222.51, Z:50.88 [[-9.98581417e-01 -1.38918332e-02 5.14020414e-02 3.06030178e+02] [ 1.38398899e-02 -9.99903291e-01 -1.36634440e-03 2.22509099e+02] [ 5.14160514e-02 -6.53007531e-04 9.98677107e-01 5.08773848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.09, Y:221.94, Z:51.87 [[-9.97789113e-01 4.21267898e-02 5.14025258e-02 3.06087827e+02] [-4.22518300e-02 -9.99106084e-01 -1.34787072e-03 2.21937167e+02] [ 5.12997948e-02 -3.51674151e-03 9.98677107e-01 5.18653573e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.18, Y:221.37, Z:52.85 [[-9.93459581e-01 1.02009016e-01 5.13051883e-02 3.06184890e+02] [-1.02058422e-01 -9.94777017e-01 1.66274244e-03 2.21365681e+02] [ 5.12068369e-02 -3.58425915e-03 9.98681637e-01 5.28530335e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:220.80, Z:53.84 [[-9.85035612e-01 1.64629381e-01 5.10098917e-02 3.06312886e+02] [-1.64600156e-01 -9.86348685e-01 4.80217435e-03 2.20796089e+02] [ 5.11041185e-02 -3.66592338e-03 9.98686603e-01 5.38426949e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:220.80, Z:53.84 [[-9.85235831e-01 1.63590035e-01 5.04842344e-02 3.06312925e+02] [-1.63390322e-01 -9.86528368e-01 8.08589859e-03 2.20800405e+02] [ 5.11269018e-02 -2.82118315e-04 9.98692125e-01 5.38427511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:220.22, Z:54.83 [[-9.71976816e-01 2.29592078e-01 5.04831435e-02 3.06478867e+02] [-2.29479543e-01 -9.73279840e-01 8.09270319e-03 2.20221584e+02] [ 5.09922464e-02 -3.71892884e-03 9.98692125e-01 5.48330480e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:219.64, Z:55.82 [[-9.54407528e-01 2.94338165e-01 4.97123144e-02 3.06694598e+02] [-2.94138940e-01 -9.55694169e-01 1.14428398e-02 2.19644386e+02] [ 5.08778335e-02 -3.70119505e-03 9.98698026e-01 5.58236656e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.690385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:306.68, Y:219.65, Z:55.82 [[-9.53776283e-01 2.96541323e-01 4.87241866e-02 3.06684651e+02] [-2.96176238e-01 -9.55019941e-01 1.47156129e-02 2.19648079e+02] [ 5.08963571e-02 -3.95543668e-04 9.98703862e-01 5.58204413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.750385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:219.66, Z:55.82 [[-9.53694771e-01 2.96802496e-01 4.87294874e-02 3.06686576e+02] [-2.96438649e-01 -9.54938791e-01 1.46980390e-02 2.19656259e+02] [ 5.08960924e-02 -4.27860466e-04 9.98703862e-01 5.58225002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.53, Y:219.62, Z:55.83 [[-9.52981389e-01 2.99084368e-01 4.87341128e-02 3.06533205e+02] [-2.98724284e-01 -9.54226504e-01 1.46826865e-02 2.19619296e+02] [ 5.08947441e-02 -5.65735989e-04 9.98703863e-01 5.58299128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:219.67, Z:55.82 [[-9.52283760e-01 3.01299141e-01 4.87285071e-02 3.06688165e+02] [-3.00941003e-01 -9.53529436e-01 1.47012670e-02 2.19672639e+02] [ 5.08935450e-02 -6.64627990e-04 9.98703863e-01 5.58220867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.96, Y:219.04, Z:56.82 [[-9.34592915e-01 3.52364971e-01 4.87340886e-02 3.06957362e+02] [-3.52075694e-01 -9.35856358e-01 1.46827414e-02 2.19038730e+02] [ 5.07817904e-02 -3.43570196e-03 9.98703863e-01 5.68157792e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 475.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.25, Y:218.40, Z:57.81 [[-9.11541746e-01 4.08426616e-01 4.77424917e-02 3.07254176e+02] [-4.08071695e-01 -9.12783987e-01 1.74035701e-02 2.18399186e+02] [ 5.06866632e-02 -3.61827888e-03 9.98708051e-01 5.78110317e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 476.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.25, Y:218.40, Z:57.81 [[-9.13374290e-01 4.04464946e-01 4.64275055e-02 3.07249545e+02] [-4.03950313e-01 -9.14553493e-01 2.03973542e-02 2.18403298e+02] [ 5.07104521e-02 -1.23986529e-04 9.98713390e-01 5.78109984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.25, Y:218.41, Z:57.81 [[-9.15014253e-01 4.00740318e-01 4.64339747e-02 3.07247458e+02] [-4.00221633e-01 -9.16191679e-01 2.03826167e-02 2.18411764e+02] [ 5.07105575e-02 6.65035469e-05 9.98713390e-01 5.78100801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.62, Y:217.76, Z:58.81 [[-8.79164503e-01 4.74249908e-01 4.64413680e-02 3.07620446e+02] [-4.73830165e-01 -8.80380719e-01 2.03657574e-02 2.17759519e+02] [ 5.05445435e-02 -4.10047005e-03 9.98713390e-01 5.88052335e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 476.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.99, Y:217.09, Z:59.80 [[-8.36701031e-01 5.45855534e-01 4.44198384e-02 3.07991910e+02] [-5.45338684e-01 -8.37869450e-01 2.40936658e-02 2.17089266e+02] [ 5.03696863e-02 -4.06466124e-03 9.98722370e-01 5.98022076e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 476.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.04, Y:217.13, Z:59.80 [[-8.36428019e-01 5.46455319e-01 4.21278336e-02 3.08039908e+02] [-5.45758197e-01 -8.37488255e-01 2.75937160e-02 2.17127318e+02] [ 5.03602987e-02 8.85467061e-05 9.98731111e-01 5.97978486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.05, Y:217.13, Z:59.80 [[-8.36233441e-01 5.46752239e-01 4.21381151e-02 3.08048083e+02] [-5.46056286e-01 -8.37294444e-01 2.75780063e-02 2.17134660e+02] [ 5.03603464e-02 5.18684922e-05 9.98731111e-01 5.97987254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.04, Y:217.13, Z:59.80 [[-8.35238822e-01 5.48269685e-01 4.21481125e-02 3.08043107e+02] [-5.47576430e-01 -8.36301590e-01 2.75627186e-02 2.17129300e+02] [ 5.03603365e-02 -5.78604030e-05 9.98731112e-01 5.97991141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.04, Y:217.13, Z:59.80 [[-8.34621837e-01 5.49207689e-01 4.21580813e-02 3.08044139e+02] [-5.48516399e-01 -8.35685884e-01 2.75474625e-02 2.17131456e+02] [ 5.03601917e-02 -1.32685228e-04 9.98731112e-01 5.97994661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.03, Y:217.12, Z:59.80 [[-8.32976079e-01 5.51699835e-01 4.21680446e-02 3.08030154e+02] [-5.51012502e-01 -8.34042685e-01 2.75322028e-02 2.17121028e+02] [ 5.03594609e-02 -3.01453418e-04 9.98731112e-01 5.97990566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.48, Y:216.48, Z:60.80 [[-7.98655633e-01 6.00308416e-01 4.21780369e-02 3.08482266e+02] [-5.99686600e-01 -7.99761717e-01 2.75168867e-02 2.16478350e+02] [ 5.02509978e-02 -3.31708700e-03 9.98731112e-01 6.07982219e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 476.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.50, Z:60.80 [[-7.98406395e-01 6.00752733e-01 4.05386459e-02 3.08516967e+02] [-6.00015873e-01 -7.99434693e-01 2.97510404e-02 2.16498643e+02] [ 5.02810188e-02 -5.70410114e-04 9.98734947e-01 6.07955919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.50, Z:60.80 [[-7.98323256e-01 6.00862475e-01 4.05495384e-02 3.08522436e+02] [-6.00126510e-01 -7.99352195e-01 2.97361870e-02 2.16497710e+02] [ 5.02807214e-02 -5.95763305e-04 9.98734947e-01 6.07957523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.49, Z:60.80 [[-7.98188241e-01 6.01041096e-01 4.05602468e-02 3.08523641e+02] [-6.00306104e-01 -7.99217874e-01 2.97215735e-02 2.16494342e+02] [ 5.02803613e-02 -6.25153253e-04 9.98734947e-01 6.07955036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.49, Z:60.80 [[-7.98251974e-01 6.00955728e-01 4.05709200e-02 3.08522887e+02] [-6.00221366e-01 -7.99282057e-01 2.97069971e-02 2.16491573e+02] [ 5.02801984e-02 -6.37863989e-04 9.98734947e-01 6.07968059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.49, Z:60.80 [[-7.98189873e-01 6.01037488e-01 4.05815847e-02 3.08520349e+02] [-6.00303973e-01 -7.99220558e-01 2.96924214e-02 2.16486431e+02] [ 5.02798951e-02 -6.61096464e-04 9.98734947e-01 6.07984561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:216.49, Z:60.79 [[-7.96197407e-01 6.03673718e-01 4.05922508e-02 3.08532330e+02] [-6.02944358e-01 -7.97231038e-01 2.96778327e-02 2.16486252e+02] [ 5.02771298e-02 -8.45455121e-04 9.98734948e-01 6.07948579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:308.45, Y:216.43, Z:60.80 [[-7.97391725e-01 6.02094547e-01 4.06028785e-02 3.08454177e+02] [-6.01363880e-01 -7.98424432e-01 2.96632855e-02 2.16428810e+02] [ 5.02784327e-02 -7.63846207e-04 9.98734948e-01 6.08009265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.070385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.48, Z:60.80 [[-7.98584943e-01 6.00510797e-01 4.06062965e-02 3.08519814e+02] [-5.99778320e-01 -7.99616367e-01 2.96586059e-02 2.16477355e+02] [ 5.02797723e-02 -6.69860213e-04 9.98734948e-01 6.07980924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.47, Z:60.80 [[-7.97924830e-01 6.01386900e-01 4.06172665e-02 3.08520563e+02] [-6.00656320e-01 -7.98957598e-01 2.96435750e-02 2.16474928e+02] [ 5.02787313e-02 -7.43673331e-04 9.98734948e-01 6.07975237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.47, Z:60.80 [[-7.96823686e-01 6.02844321e-01 4.06292668e-02 3.08518947e+02] [-6.02116469e-01 -7.97858378e-01 2.96271183e-02 2.16470947e+02] [ 5.02769409e-02 -8.55961033e-04 9.98734948e-01 6.07981332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.250385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.47, Z:60.80 [[-7.97284682e-01 6.02233788e-01 4.06398945e-02 3.08517237e+02] [-6.01505887e-01 -7.98319339e-01 2.96125329e-02 2.16467490e+02] [ 5.02772816e-02 -8.35516903e-04 9.98734948e-01 6.07980595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.47, Z:60.80 [[-7.98724592e-01 6.00322047e-01 4.06505286e-02 3.08520833e+02] [-5.99592412e-01 -7.99758027e-01 2.95979279e-02 2.16466129e+02] [ 5.02788752e-02 -7.33155590e-04 9.98734948e-01 6.07991813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:216.46, Z:60.79 [[-7.97877538e-01 6.01446678e-01 4.06611425e-02 3.08533706e+02] [-6.00719242e-01 -7.98912522e-01 2.95833395e-02 2.16464425e+02] [ 5.02774972e-02 -8.22048654e-04 9.98734949e-01 6.07936842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.49, Y:216.44, Z:60.80 [[-8.01481409e-01 5.96635035e-01 4.06716794e-02 3.08492465e+02] [-5.95902121e-01 -8.02512521e-01 2.95688460e-02 2.16438986e+02] [ 5.02813415e-02 -5.37459653e-04 9.98734949e-01 6.08005427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.45, Z:60.80 [[-8.01828533e-01 5.96167812e-01 4.06810008e-02 3.08518161e+02] [-5.95434948e-01 -8.02859679e-01 2.95560161e-02 2.16454549e+02] [ 5.02814807e-02 -5.24032509e-04 9.98734949e-01 6.08003724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:216.45, Z:60.80 [[-8.00138531e-01 5.98433383e-01 4.06917247e-02 3.08518663e+02] [-5.97704189e-01 -8.01172277e-01 2.95412444e-02 2.16453519e+02] [ 5.02795486e-02 -6.84526347e-04 9.98734949e-01 6.08004740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.53, Y:216.45, Z:60.79 [[-7.95744515e-01 6.04263178e-01 4.07023150e-02 3.08533674e+02] [-6.03542302e-01 -7.96784078e-01 2.95266458e-02 2.16453072e+02] [ 5.02728213e-02 -1.06990244e-03 9.98734949e-01 6.07939604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.670385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:308.91, Y:215.87, Z:61.80 [[-7.73486402e-01 6.32504039e-01 4.07115098e-02 3.08906322e+02] [-6.31821699e-01 -7.74551655e-01 2.95139625e-02 2.15870306e+02] [ 5.02008678e-02 -2.89376660e-03 9.98734949e-01 6.18018765e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 477.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.96, Y:215.91, Z:61.79 [[-7.70901065e-01 6.35724746e-01 3.95675993e-02 3.08960699e+02] [-6.34970891e-01 -7.71914825e-01 3.09753238e-02 2.15905293e+02] [ 5.02345963e-02 -1.24536370e-03 9.98736669e-01 6.17934258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.790385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:308.75, Y:215.74, Z:61.81 [[-7.72901173e-01 6.33290908e-01 3.95778053e-02 3.08745409e+02] [-6.32534528e-01 -7.73913049e-01 3.09622780e-02 2.15742720e+02] [ 5.02379091e-02 -1.10354742e-03 9.98736669e-01 6.18120307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:308.92, Y:215.88, Z:61.81 [[-7.73004840e-01 6.33165154e-01 3.95651995e-02 3.08920424e+02] [-6.32407786e-01 -7.74015977e-01 3.09783779e-02 2.15881642e+02] [ 5.02385260e-02 -1.07490421e-03 9.98736670e-01 6.18063025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:309.24, Y:215.24, Z:62.81 [[-7.50424571e-01 6.59769771e-01 3.95829761e-02 3.09235370e+02] [-6.59049363e-01 -7.51462364e-01 3.09556471e-02 2.15238685e+02] [ 5.01687170e-02 -2.85725697e-03 9.98736670e-01 6.28072096e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 477.970385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:215.43, Z:62.79 [[-7.51213126e-01 6.58939665e-01 3.84364043e-02 3.09471296e+02] [-6.58147383e-01 -7.52195109e-01 3.23193531e-02 2.15432654e+02] [ 5.02081790e-02 -1.01809660e-03 9.98738255e-01 6.27931308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.030385723 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:215.42, Z:62.78 [[-7.50815359e-01 6.59391613e-01 3.84577474e-02 3.09470214e+02] [-6.58601223e-01 -7.51798864e-01 3.22939364e-02 2.15424721e+02] [ 5.02068416e-02 -1.08153606e-03 9.98738256e-01 6.27848199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:215.42, Z:62.79 [[-7.51936445e-01 6.58112307e-01 3.84678417e-02 3.09467716e+02] [-6.57320858e-01 -7.52919098e-01 3.22819079e-02 2.15421506e+02] [ 5.02082935e-02 -1.01177166e-03 9.98738256e-01 6.27859175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.150385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:309.38, Y:215.35, Z:62.80 [[-7.53277086e-01 6.56576702e-01 3.84794152e-02 3.09377406e+02] [-6.55783955e-01 -7.54258692e-01 3.22681066e-02 2.15348816e+02] [ 5.02099204e-02 -9.27357785e-04 9.98738256e-01 6.27968540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.210385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:309.46, Y:215.42, Z:62.79 [[-7.51066006e-01 6.59104225e-01 3.84899375e-02 3.09462792e+02] [-6.58315423e-01 -7.52050785e-01 3.22555505e-02 2.15417385e+02] [ 5.02061573e-02 -1.11247198e-03 9.98738256e-01 6.27871161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.270385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:309.84, Y:214.85, Z:63.80 [[-7.28071662e-01 6.84418934e-01 3.85016544e-02 3.09839484e+02] [-6.83665029e-01 -7.29083404e-01 3.22415586e-02 2.14848092e+02] [ 5.01376505e-02 -2.84806949e-03 9.98738256e-01 6.37967944e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 478.330385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:309.96, Y:214.95, Z:63.79 [[-7.29107803e-01 6.83380699e-01 3.73179872e-02 3.09955354e+02] [-6.82556995e-01 -7.30061512e-01 3.35579680e-02 2.14953232e+02] [ 5.01772938e-02 -1.00427685e-03 9.98739821e-01 6.37949007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.390385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:309.90, Y:214.90, Z:63.79 [[-7.27061715e-01 6.85556389e-01 3.73323058e-02 3.09898655e+02] [-6.84736355e-01 -7.28018582e-01 3.35420314e-02 2.14896326e+02] [ 5.01735663e-02 -1.17566020e-03 9.98739822e-01 6.37887531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.450385723 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:214.95, Z:63.80 [[-7.31015277e-01 6.81338420e-01 3.73446303e-02 3.09946951e+02] [-6.80513565e-01 -7.31967991e-01 3.35283041e-02 2.14946256e+02] [ 5.01791958e-02 -9.03825018e-04 9.98739822e-01 6.37964104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.510385723 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:214.95, Z:63.80 [[-7.32790746e-01 6.79427832e-01 3.73569753e-02 3.09947245e+02] [-6.78601194e-01 -7.33741913e-01 3.35145437e-02 2.14948036e+02] [ 5.01810923e-02 -7.91340593e-04 9.98739822e-01 6.37980157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.570385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:214.94, Z:63.80 [[-7.33631934e-01 6.78518786e-01 3.73689986e-02 3.09937798e+02] [-6.77691652e-01 -7.34582670e-01 3.35011323e-02 2.14942059e+02] [ 5.01817664e-02 -7.47157905e-04 9.98739822e-01 6.37990365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:309.92, Y:214.92, Z:63.79 [[-7.31350648e-01 6.80976422e-01 3.73810377e-02 3.09918773e+02] [-6.80153169e-01 -7.32304746e-01 3.34876936e-02 2.14921526e+02] [ 5.01786411e-02 -9.33584818e-04 9.98739822e-01 6.37931372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.690385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:214.94, Z:63.80 [[-7.33819348e-01 6.78314759e-01 3.73932038e-02 3.09937002e+02] [-6.77488737e-01 -7.34771050e-01 3.34741031e-02 2.14943741e+02] [ 5.01814218e-02 -7.69529882e-04 9.98739822e-01 6.37988605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.750385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:214.94, Z:63.80 [[-7.33535952e-01 6.78620547e-01 3.74053542e-02 3.09935136e+02] [-6.77795614e-01 -7.34488597e-01 3.34605202e-02 2.14943627e+02] [ 5.01808027e-02 -8.08690505e-04 9.98739823e-01 6.37968105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:214.94, Z:63.80 [[-7.32205883e-01 6.80054512e-01 3.74219951e-02 3.09931702e+02] [-6.79232395e-01 -7.33160960e-01 3.34418989e-02 2.14942945e+02] [ 5.01786600e-02 -9.31876236e-04 9.98739823e-01 6.37981723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87038572299997 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:214.95, Z:63.80 [[-7.29133632e-01 6.83346794e-01 3.74340206e-02 3.09930092e+02] [-6.82529680e-01 -7.30092991e-01 3.34284324e-02 2.14945083e+02] [ 5.01735282e-02 -1.17603581e-03 9.98739823e-01 6.37966617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.930385723 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:214.95, Z:63.79 [[-7.22554639e-01 6.90298914e-01 3.74459925e-02 3.09946471e+02] [-6.89491720e-01 -7.23522360e-01 3.34150163e-02 2.14952661e+02] [ 5.01593623e-02 -1.67452673e-03 9.98739823e-01 6.37878037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.990385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:309.94, Y:214.95, Z:63.79 [[-7.22698065e-01 6.90148192e-01 3.74563666e-02 3.09942819e+02] [-6.89341398e-01 -7.23666119e-01 3.34033834e-02 2.14949654e+02] [ 5.01591881e-02 -1.67966359e-03 9.98739823e-01 6.37878190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.050385723 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:214.94, Z:63.79 [[-7.22379788e-01 6.90480686e-01 3.74681736e-02 3.09931251e+02] [-6.89675022e-01 -7.23348784e-01 3.33901344e-02 2.14941693e+02] [ 5.01578007e-02 -1.72050526e-03 9.98739823e-01 6.37877938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:214.95, Z:63.79 [[-7.21886456e-01 6.90995797e-01 3.74800305e-02 3.09933054e+02] [-6.90191515e-01 -7.22856598e-01 3.33768199e-02 2.14946221e+02] [ 5.01559296e-02 -1.77412484e-03 9.98739824e-01 6.37883154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.170385723 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:214.95, Z:63.80 [[-7.24898377e-01 6.87834791e-01 3.74919028e-02 3.09925065e+02] [-6.87026966e-01 -7.25865571e-01 3.33634785e-02 2.14948955e+02] [ 5.01626427e-02 -1.57281678e-03 9.98739824e-01 6.37965626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.230385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:214.23, Z:64.81 [[-7.11404489e-01 7.01781392e-01 3.75037502e-02 3.10216322e+02] [-7.00993199e-01 -7.12387747e-01 3.33501556e-02 2.14233614e+02] [ 5.01217307e-02 -2.56442349e-03 9.98739824e-01 6.48062859e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 479.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:214.46, Z:64.79 [[-7.15293561e-01 6.97860565e-01 3.66845177e-02 3.10454012e+02] [-6.97021504e-01 -7.16232819e-01 3.42282310e-02 2.14456324e+02] [ 5.01611881e-02 -1.08666446e-03 9.98740544e-01 6.47922068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.350385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:214.45, Z:64.79 [[-7.19802764e-01 6.93206893e-01 3.67176336e-02 3.10447929e+02] [-6.92363571e-01 -7.20738196e-01 3.41926696e-02 2.14452602e+02] [ 5.01663953e-02 -8.09973803e-04 9.98740545e-01 6.47911046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.44, Y:214.44, Z:64.79 [[-7.23291331e-01 6.89565939e-01 3.67214527e-02 3.10435356e+02] [-6.88718116e-01 -7.24222686e-01 3.41885676e-02 2.14444863e+02] [ 5.01697808e-02 -5.62435167e-04 9.98740545e-01 6.47941975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.470385723 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:310.06, Y:214.10, Z:64.82 [[-7.24749730e-01 6.88032311e-01 3.67337351e-02 3.10060633e+02] [-6.87183186e-01 -7.25679897e-01 3.41753657e-02 2.14101149e+02] [ 5.01706890e-02 -4.74218070e-04 9.98740545e-01 6.48170947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.530385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:310.44, Y:214.45, Z:64.79 [[-7.24023043e-01 6.88797219e-01 3.67290660e-02 3.10435065e+02] [-6.87948822e-01 -7.24953874e-01 3.41803831e-02 2.14447303e+02] [ 5.01702315e-02 -5.20332711e-04 9.98740545e-01 6.47909694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:214.44, Z:64.80 [[-7.26681849e-01 6.85988406e-01 3.67885463e-02 3.10422107e+02] [-6.85139654e-01 -7.27612353e-01 3.41162440e-02 2.14443817e+02] [ 5.01711485e-02 -4.13636587e-04 9.98740549e-01 6.47976618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.650385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:214.45, Z:64.80 [[-7.26022677e-01 6.86685437e-01 3.67992408e-02 3.10420764e+02] [-6.85838163e-01 -7.26954526e-01 3.41047045e-02 2.14446517e+02] [ 5.01705786e-02 -4.77534919e-04 9.98740549e-01 6.47954648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.710385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:214.44, Z:64.79 [[-7.22987326e-01 6.89879873e-01 3.68115141e-02 3.10418365e+02] [-6.89037390e-01 -7.23923509e-01 3.40914519e-02 2.14442987e+02] [ 5.01677270e-02 -7.16821955e-04 9.98740550e-01 6.47888870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.770385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:214.45, Z:64.79 [[-7.22038818e-01 6.90871898e-01 3.68234509e-02 3.10417719e+02] [-6.90031359e-01 -7.22976746e-01 3.40785537e-02 2.14448346e+02] [ 5.01664138e-02 -8.03297257e-04 9.98740550e-01 6.47901055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.41, Y:214.45, Z:64.79 [[-7.21396587e-01 6.91541825e-01 3.68356899e-02 3.10413400e+02] [-6.90702833e-01 -7.22335899e-01 3.40653194e-02 2.14452222e+02] [ 5.01653343e-02 -8.67910267e-04 9.98740550e-01 6.47933759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.890385723 meters Centerline goodness : 0.995162 with order 1 Centerline is valid? [True, True] Translation: X:309.86, Y:213.95, Z:64.82 [[-7.19768068e-01 6.93236089e-01 3.68463533e-02 3.09862833e+02] [-6.92399897e-01 -7.20709874e-01 3.40537815e-02 2.13949431e+02] [ 5.01628410e-02 -1.00158674e-03 9.98740550e-01 6.48247320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.950385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:214.44, Z:64.79 [[-7.20857457e-01 6.92103497e-01 3.68412353e-02 3.10399195e+02] [-6.91265543e-01 -7.21797695e-01 3.40593176e-02 2.14444428e+02] [ 5.01644915e-02 -9.15163504e-04 9.98740550e-01 6.47944006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:214.44, Z:64.79 [[-7.23037467e-01 6.89820901e-01 3.69316285e-02 3.10398446e+02] [-6.88984991e-01 -7.23979510e-01 3.39610182e-02 2.14441167e+02] [ 5.01647625e-02 -8.90249110e-04 9.98740559e-01 6.47930323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.070385723 meters Centerline goodness : 0.993803 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:213.86, Z:64.83 [[-7.26446514e-01 6.86229275e-01 3.69437968e-02 3.09773181e+02] [-6.85389380e-01 -7.27385006e-01 3.39477760e-02 2.13864555e+02] [ 5.01683216e-02 -6.59642426e-04 9.98740559e-01 6.48306339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.42, Z:64.79 [[-7.29515286e-01 6.82966847e-01 3.69287642e-02 3.10385385e+02] [-6.82121927e-01 -7.30449256e-01 3.39641209e-02 2.14419662e+02] [ 5.01709569e-02 -4.12574438e-04 9.98740559e-01 6.47930024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.41, Z:64.79 [[-7.30643493e-01 6.81753576e-01 3.70425012e-02 3.10381785e+02] [-6.80913407e-01 -7.31581720e-01 3.38396198e-02 2.14413858e+02] [ 5.01698986e-02 -4.98037608e-04 9.98740574e-01 6.47918913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.42, Z:64.79 [[-7.31003678e-01 6.81366694e-01 3.70546923e-02 3.10385112e+02] [-6.80526705e-01 -7.31942066e-01 3.38262652e-02 2.14416185e+02] [ 5.01699785e-02 -4.89583315e-04 9.98740574e-01 6.47926874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.42, Z:64.79 [[-7.30642656e-01 6.81753149e-01 3.70668691e-02 3.10385267e+02] [-6.80914333e-01 -7.31582092e-01 3.38129166e-02 2.14415577e+02] [ 5.01695200e-02 -5.34203294e-04 9.98740574e-01 6.47931798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.39, Z:64.79 [[-7.30420666e-01 6.81990321e-01 3.70790089e-02 3.10356357e+02] [-6.81152485e-01 -7.31360977e-01 3.37995990e-02 2.14387785e+02] [ 5.01691395e-02 -5.68533435e-04 9.98740574e-01 6.47943340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.42, Z:64.79 [[-7.29974469e-01 6.82467223e-01 3.70912910e-02 3.10392889e+02] [-6.81630687e-01 -7.30915936e-01 3.37861153e-02 2.14420372e+02] [ 5.01685320e-02 -6.19560624e-04 9.98740574e-01 6.47936371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.41, Z:64.79 [[-7.30216706e-01 6.82207382e-01 3.71032235e-02 3.10377575e+02] [-6.81371177e-01 -7.31158467e-01 3.37730062e-02 2.14407281e+02] [ 5.01685302e-02 -6.19453656e-04 9.98740574e-01 6.47944655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.550385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.41, Z:64.80 [[-7.28569300e-01 6.83965893e-01 3.71137743e-02 3.10378494e+02] [-6.83132551e-01 -7.29513595e-01 3.37614077e-02 2.14405744e+02] [ 5.01666543e-02 -7.56102141e-04 9.98740574e-01 6.47954983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.41, Z:64.79 [[-7.27088690e-01 6.85539070e-01 3.71243848e-02 3.10379653e+02] [-6.84708367e-01 -7.28035307e-01 3.37497364e-02 2.14407127e+02] [ 5.01646258e-02 -8.80325246e-04 9.98740575e-01 6.47911468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.40, Z:64.79 [[-7.25447994e-01 6.87274473e-01 3.71349734e-02 3.10376123e+02] [-6.86446630e-01 -7.26397113e-01 3.37380817e-02 2.14403454e+02] [ 5.01620598e-02 -1.01595367e-03 9.98740575e-01 6.47902082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.41, Z:64.79 [[-7.23226557e-01 6.89611080e-01 3.71470900e-02 3.10379096e+02] [-6.88786987e-01 -7.24178934e-01 3.37247354e-02 2.14405910e+02] [ 5.01580913e-02 -1.19580793e-03 9.98740575e-01 6.47889183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.41, Z:64.79 [[-7.22487836e-01 6.90384329e-01 3.71591850e-02 3.10388692e+02] [-6.89561940e-01 -7.23441685e-01 3.37114035e-02 2.14412447e+02] [ 5.01563281e-02 -1.26748073e-03 9.98740575e-01 6.47906942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.850385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.39, Z:64.80 [[-7.22306118e-01 6.90573801e-01 3.71711930e-02 3.10360633e+02] [-6.89752344e-01 -7.23260768e-01 3.36981579e-02 2.14387131e+02] [ 5.01555306e-02 -1.29853186e-03 9.98740575e-01 6.47951827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.32, Y:214.34, Z:64.80 [[-7.23477573e-01 6.89345780e-01 3.71832877e-02 3.10315298e+02] [-6.88523387e-01 -7.24431418e-01 3.36848071e-02 2.14341377e+02] [ 5.01572214e-02 -1.23136074e-03 9.98740575e-01 6.47959636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.40, Z:64.79 [[-7.28321419e-01 6.84225476e-01 3.71942108e-02 3.10375214e+02] [-6.83396991e-01 -7.29269977e-01 3.36727416e-02 2.14396481e+02] [ 5.01643689e-02 -8.93832815e-04 9.98740576e-01 6.47922137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.39, Z:64.79 [[-7.32111452e-01 6.80167986e-01 3.72066229e-02 3.10369567e+02] [-6.79334940e-01 -7.33056007e-01 3.36590214e-02 2.14388053e+02] [ 5.01683272e-02 -6.33603896e-04 9.98740576e-01 6.47910798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.38, Z:64.79 [[-7.35426370e-01 6.76581719e-01 3.72187073e-02 3.10370314e+02] [-6.75744743e-01 -7.36367444e-01 3.36456536e-02 2.14384743e+02] [ 5.01706785e-02 -4.06444962e-04 9.98740576e-01 6.47917344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.38, Z:64.79 [[-7.36910378e-01 6.74964414e-01 3.72308153e-02 3.10363967e+02] [-6.74126050e-01 -7.37850215e-01 3.36322501e-02 2.14377729e+02] [ 5.01713371e-02 -3.14308315e-04 9.98740576e-01 6.47940348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.38, Z:64.79 [[-7.37690080e-01 6.74111496e-01 3.72429431e-02 3.10365617e+02] [-6.73272723e-01 -7.38629553e-01 3.36188150e-02 2.14377888e+02] [ 5.01715680e-02 -2.74391383e-04 9.98740576e-01 6.47947999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.38, Z:64.80 [[-7.36741043e-01 6.75147906e-01 3.72550792e-02 3.10364189e+02] [-6.74311135e-01 -7.37682298e-01 3.36053608e-02 2.14376522e+02] [ 5.01710014e-02 -3.63066228e-04 9.98740576e-01 6.47951203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.37, Z:64.80 [[-7.35613747e-01 6.76375319e-01 3.72671935e-02 3.10360358e+02] [-6.75540799e-01 -7.36556998e-01 3.35919211e-02 2.14372037e+02] [ 5.01701586e-02 -4.64830713e-04 9.98740576e-01 6.47951631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.390385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.37, Z:64.79 [[-7.34288446e-01 6.77813198e-01 3.72793161e-02 3.10358780e+02] [-6.76981208e-01 -7.35233930e-01 3.35784624e-02 2.14368056e+02] [ 5.01689431e-02 -5.81119476e-04 9.98740577e-01 6.47945737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.450385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.38, Z:64.80 [[-7.33495953e-01 6.78669704e-01 3.72977116e-02 3.10376504e+02] [-6.77839857e-01 -7.34443318e-01 3.35580170e-02 2.14381435e+02] [ 5.01678645e-02 -6.67205864e-04 9.98740577e-01 6.47972285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.37, Z:64.79 [[-7.32594050e-01 6.79642594e-01 3.73082042e-02 3.10365694e+02] [-6.78814599e-01 -7.33543034e-01 3.35463478e-02 2.14369923e+02] [ 5.01667001e-02 -7.49498820e-04 9.98740577e-01 6.47942724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.570385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.37, Z:64.79 [[-7.31791462e-01 6.80506116e-01 3.73186574e-02 3.10365370e+02] [-6.79679833e-01 -7.32741938e-01 3.35347150e-02 2.14367316e+02] [ 5.01655240e-02 -8.24320689e-04 9.98740577e-01 6.47939353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.36, Z:64.80 [[-7.31665407e-01 6.80640987e-01 3.73306804e-02 3.10366819e+02] [-6.79815562e-01 -7.32616627e-01 3.35213258e-02 2.14362362e+02] [ 5.01650654e-02 -8.51583017e-04 9.98740577e-01 6.47952521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:214.35, Z:64.80 [[-7.33212917e-01 6.78973005e-01 3.73426948e-02 3.10364540e+02] [-6.78146098e-01 -7.34162849e-01 3.35079364e-02 2.14353579e+02] [ 5.01666035e-02 -7.55350954e-04 9.98740578e-01 6.47978810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.750385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:310.22, Y:214.21, Z:64.80 [[-7.33255930e-01 6.78925891e-01 3.73547250e-02 3.10218055e+02] [-6.78099606e-01 -7.34206403e-01 3.34945198e-02 2.14211136e+02] [ 5.01663749e-02 -7.70169025e-04 9.98740578e-01 6.48043489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:214.35, Z:64.80 [[-7.35991701e-01 6.75959380e-01 3.73514877e-02 3.10369879e+02] [-6.75129080e-01 -7.36938668e-01 3.34981295e-02 2.14345129e+02] [ 5.01691304e-02 -5.62730227e-04 9.98740578e-01 6.47965259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:214.30, Z:64.80 [[-7.35279345e-01 6.76733282e-01 3.73677807e-02 3.10337549e+02] [-6.75904902e-01 -7.36227992e-01 3.34799445e-02 2.14304419e+02] [ 5.01681988e-02 -6.39954534e-04 9.98740578e-01 6.48002654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.33, Z:64.80 [[-7.35829178e-01 6.76134801e-01 3.73784767e-02 3.10378331e+02] [-6.75306257e-01 -7.36777681e-01 3.34679987e-02 2.14333602e+02] [ 5.01685061e-02 -6.15189204e-04 9.98740578e-01 6.47959227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.990385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:310.38, Y:214.33, Z:64.79 [[-7.31807885e-01 6.80484585e-01 3.73891596e-02 3.10383401e+02] [-6.79662288e-01 -7.32761808e-01 3.34560600e-02 2.14328651e+02] [ 5.01636813e-02 -9.28593185e-04 9.98740578e-01 6.47927132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.33, Z:64.79 [[-7.28619802e-01 6.83896520e-01 3.73996410e-02 3.10392072e+02] [-6.83079290e-01 -7.29578070e-01 3.34443390e-02 2.14328489e+02] [ 5.01584250e-02 -1.17871256e-03 9.98740578e-01 6.47931925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.110385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:214.33, Z:64.79 [[-7.27051969e-01 6.85562402e-01 3.74115944e-02 3.10393875e+02] [-6.84748054e-01 -7.28012688e-01 3.34309623e-02 2.14325844e+02] [ 5.01551262e-02 -1.31146951e-03 9.98740579e-01 6.47939688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:214.32, Z:64.79 [[-7.25302494e-01 6.87412375e-01 3.74235025e-02 3.10397610e+02] [-6.86601164e-01 -7.26265863e-01 3.34176268e-02 2.14320067e+02] [ 5.01511025e-02 -1.45713231e-03 9.98740579e-01 6.47942156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.230385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:214.32, Z:64.79 [[-7.24596329e-01 6.88156052e-01 3.74353947e-02 3.10402164e+02] [-6.87346517e-01 -7.25561106e-01 3.34042995e-02 2.14317022e+02] [ 5.01490372e-02 -1.52645535e-03 9.98740579e-01 6.47940481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:214.31, Z:64.80 [[-7.26461368e-01 6.86186260e-01 3.74472566e-02 3.10400469e+02] [-6.85374794e-01 -7.27424521e-01 3.33909966e-02 2.14310749e+02] [ 5.01524958e-02 -1.40813669e-03 9.98740579e-01 6.47953976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.350385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:213.91, Z:65.80 [[-7.08196720e-01 7.05020723e-01 3.74591138e-02 3.10819543e+02] [-7.04235521e-01 -7.09181402e-01 3.33776895e-02 2.13910427e+02] [ 5.00972697e-02 -2.74206826e-03 9.98740579e-01 6.57981317e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 482.410385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:213.90, Z:65.80 [[-7.12631460e-01 7.00596349e-01 3.63477399e-02 3.10819724e+02] [-6.99744530e-01 -7.13557350e-01 3.45470849e-02 2.13901893e+02] [ 5.01397585e-02 -8.14792591e-04 9.98741879e-01 6.57965829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.470385723 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:213.53, Z:66.80 [[-6.78414409e-01 7.33779224e-01 3.63585052e-02 3.11237406e+02] [-7.32973124e-01 -6.79380365e-01 3.45357515e-02 2.13529114e+02] [ 5.00428715e-02 -3.22025571e-03 9.98741879e-01 6.68040598e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 482.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:213.53, Z:66.80 [[-6.79472480e-01 7.32889649e-01 3.44950931e-02 3.11239165e+02] [-7.31990040e-01 -6.80347283e-01 3.63064259e-02 2.13525264e+02] [ 5.00772466e-02 -5.80847355e-04 9.98745179e-01 6.68036388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:213.52, Z:66.80 [[-6.80220891e-01 7.32194462e-01 3.45081024e-02 3.11238919e+02] [-7.31294586e-01 -6.81095419e-01 3.62940568e-02 2.13523354e+02] [ 5.00776178e-02 -5.47612822e-04 9.98745179e-01 6.68037930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:213.51, Z:66.80 [[-6.81095678e-01 7.31380183e-01 3.45211013e-02 3.11232392e+02] [-7.30479888e-01 -6.81969774e-01 3.62816887e-02 2.13514745e+02] [ 5.00780557e-02 -5.05668843e-04 9.98745179e-01 6.68045516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:213.51, Z:66.80 [[-6.80626910e-01 7.31815826e-01 3.45341280e-02 3.11228403e+02] [-7.30916720e-01 -6.81502229e-01 3.62692852e-02 2.13512229e+02] [ 5.00775221e-02 -5.55720048e-04 9.98745179e-01 6.67993238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.770385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:213.47, Z:66.81 [[-6.81413481e-01 7.31082945e-01 3.45455434e-02 3.11185816e+02] [-7.30183449e-01 -6.82288399e-01 3.62584091e-02 2.13467975e+02] [ 5.00779280e-02 -5.17615243e-04 9.98745179e-01 6.68073621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:213.52, Z:66.80 [[-6.80070656e-01 7.32331689e-01 3.45572088e-02 3.11231252e+02] [-7.31434363e-01 -6.80947800e-01 3.62472876e-02 2.13518199e+02] [ 5.00766926e-02 -6.25613418e-04 9.98745179e-01 6.68044471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.22, Y:213.51, Z:66.80 [[-6.79151037e-01 7.33183900e-01 3.45722089e-02 3.11218951e+02] [-7.32288404e-01 -6.80030048e-01 3.62329751e-02 2.13509604e+02] [ 5.00755748e-02 -7.09165024e-04 9.98745180e-01 6.68029785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:213.53, Z:66.80 [[-6.75773816e-01 7.36297307e-01 3.45835900e-02 3.11238894e+02] [-7.35406415e-01 -6.76657493e-01 3.62221087e-02 2.13526478e+02] [ 5.00714865e-02 -9.55041321e-04 9.98745180e-01 6.68006891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:213.52, Z:66.80 [[-6.77163664e-01 7.35018789e-01 3.45941111e-02 3.11230068e+02] [-7.34126741e-01 -6.78046174e-01 3.62120578e-02 2.13524297e+02] [ 5.00729475e-02 -8.74972322e-04 9.98745180e-01 6.68018594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.22, Y:213.52, Z:66.81 [[-6.79595165e-01 7.32770688e-01 3.46053542e-02 3.11218735e+02] [-7.31876268e-01 -6.80475271e-01 3.62013104e-02 2.13520905e+02] [ 5.00753468e-02 -7.24601936e-04 9.98745180e-01 6.68099909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.22, Y:213.53, Z:66.81 [[-6.81770004e-01 7.30747040e-01 3.46182856e-02 3.11215713e+02] [-7.29850635e-01 -6.82648088e-01 3.61889402e-02 2.13525954e+02] [ 5.00770674e-02 -5.93643798e-04 9.98745180e-01 6.68107488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:213.12, Z:67.81 [[-6.40702704e-01 7.67007716e-01 3.46295980e-02 3.11646124e+02] [-7.66161353e-01 -6.41629118e-01 3.61781120e-02 2.13122767e+02] [ 4.99682495e-02 -3.35244553e-03 9.98745180e-01 6.78109721e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 483.250385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:311.68, Y:213.16, Z:67.81 [[-6.42688279e-01 7.65438166e-01 3.24990693e-02 3.11676231e+02] [-7.64494428e-01 -6.43509312e-01 3.80004591e-02 2.13163956e+02] [ 5.00004554e-02 -4.22907714e-04 9.98749105e-01 6.78094081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31038572299997 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:311.67, Y:213.17, Z:67.81 [[-6.45102941e-01 7.63403629e-01 3.25129844e-02 3.11672103e+02] [-7.62457901e-01 -6.45921682e-01 3.79885497e-02 2.13168004e+02] [ 5.00014382e-02 -2.83256660e-04 9.98749106e-01 6.78119089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.66, Y:213.17, Z:67.81 [[-6.49051757e-01 7.60048574e-01 3.25266286e-02 3.11661184e+02] [-7.59099199e-01 -6.49866266e-01 3.79768636e-02 2.13166953e+02] [ 5.00022197e-02 -4.19876707e-05 9.98749106e-01 6.78091347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.66, Y:213.17, Z:67.81 [[-6.51921134e-01 7.57588256e-01 3.25402835e-02 3.11656590e+02] [-7.56636391e-01 -6.52732731e-01 3.79651599e-02 2.13172638e+02] [ 5.00020674e-02 1.29127422e-04 9.98749106e-01 6.78128102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.490385723 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:213.17, Z:67.81 [[-6.53101562e-01 7.56570355e-01 3.25522125e-02 3.11647102e+02] [-7.55617736e-01 -6.53912273e-01 3.79549290e-02 2.13172954e+02] [ 5.00018654e-02 1.91394333e-04 9.98749106e-01 6.78095850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.550385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:311.56, Y:213.09, Z:67.82 [[-6.55075920e-01 7.54861222e-01 3.25587972e-02 3.11558327e+02] [-7.53906768e-01 -6.55884470e-01 3.79492796e-02 2.13087025e+02] [ 5.00012490e-02 3.13361706e-04 9.98749106e-01 6.78178688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:311.63, Y:213.18, Z:67.81 [[-6.54051005e-01 7.55748935e-01 3.25703935e-02 3.11630391e+02] [-7.54796074e-01 -6.54861432e-01 3.79393243e-02 2.13181748e+02] [ 5.00016985e-02 2.30248027e-04 9.98749106e-01 6.78116855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.62, Y:213.18, Z:67.81 [[-6.53262670e-01 7.56429774e-01 3.25865129e-02 3.11618623e+02] [-7.55478448e-01 -6.54074898e-01 3.79254741e-02 2.13184547e+02] [ 5.00019779e-02 1.56888294e-04 9.98749106e-01 6.78126348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.61, Y:213.19, Z:67.82 [[-6.52771143e-01 7.56853395e-01 3.26002135e-02 3.11610215e+02] [-7.55903184e-01 -6.53584675e-01 3.79136937e-02 2.13192079e+02] [ 5.00021077e-02 1.06359967e-04 9.98749107e-01 6.78157181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.60, Y:213.20, Z:67.82 [[-6.52448086e-01 7.57131312e-01 3.26139618e-02 3.11602754e+02] [-7.56182040e-01 -6.53262712e-01 3.79018635e-02 2.13197152e+02] [ 5.00021728e-02 6.69061144e-05 9.98749107e-01 6.78160977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.850385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:311.59, Y:213.20, Z:67.82 [[-6.51064377e-01 7.58320917e-01 3.26276409e-02 3.11594080e+02] [-7.57373723e-01 -6.51881419e-01 3.78900842e-02 2.13199072e+02] [ 5.00021963e-02 -4.24337870e-05 9.98749107e-01 6.78164944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.910385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.18, Z:67.82 [[-6.50596931e-01 7.58721410e-01 3.26413157e-02 3.11571461e+02] [-7.57775310e-01 -6.51415239e-01 3.78783000e-02 2.13176830e+02] [ 5.00021277e-02 -9.12774286e-05 9.98749107e-01 6.78157871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:311.56, Y:213.16, Z:67.82 [[-6.52889002e-01 7.56749359e-01 3.26551334e-02 3.11555517e+02] [-7.55801384e-01 -6.53705136e-01 3.78663840e-02 2.13158468e+02] [ 5.00021903e-02 4.17506878e-05 9.98749107e-01 6.78200342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.030385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.17, Z:67.82 [[-6.54764950e-01 7.55126204e-01 3.26692003e-02 3.11566243e+02] [-7.54176811e-01 -6.55579434e-01 3.78542439e-02 2.13171898e+02] [ 5.00019874e-02 1.47278794e-04 9.98749107e-01 6.78176406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.090385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:311.55, Y:213.15, Z:67.82 [[-6.52749598e-01 7.56867381e-01 3.27067238e-02 3.11552869e+02] [-7.55921785e-01 -6.53568486e-01 3.78217953e-02 2.13154600e+02] [ 5.00021671e-02 -3.55633857e-05 9.98749109e-01 6.78177439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.150385723 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:213.18, Z:67.81 [[-6.49769141e-01 7.59427032e-01 3.27207200e-02 3.11581893e+02] [-7.58485272e-01 -6.50592437e-01 3.78096828e-02 2.13182363e+02] [ 5.00015482e-02 -2.50619092e-04 9.98749109e-01 6.78146250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.59, Y:213.19, Z:67.82 [[-6.47498963e-01 7.61362947e-01 3.27346474e-02 3.11585707e+02] [-7.60424257e-01 -6.48325758e-01 3.77976211e-02 2.13186353e+02] [ 5.00004232e-02 -4.18299474e-04 9.98749109e-01 6.78155912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.17, Z:67.82 [[-6.46931779e-01 7.61844356e-01 3.27482845e-02 3.11574628e+02] [-7.60906881e-01 -6.47759950e-01 3.77858020e-02 2.13173675e+02] [ 4.99999271e-02 -4.73558909e-04 9.98749109e-01 6.78156286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.17, Z:67.82 [[-6.47923789e-01 7.61000311e-01 3.27611011e-02 3.11573256e+02] [-7.60062318e-01 -6.48751374e-01 3.77746865e-02 2.13170669e+02] [ 5.00003575e-02 -4.25360493e-04 9.98749109e-01 6.78175592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.390385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.16, Z:67.82 [[-6.50111845e-01 7.59131345e-01 3.27748375e-02 3.11566541e+02] [-7.58191574e-01 -6.50937410e-01 3.77627645e-02 2.13159884e+02] [ 5.00012660e-02 -2.99585148e-04 9.98749109e-01 6.78173840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:213.17, Z:67.81 [[-6.48792760e-01 7.60258415e-01 3.27886681e-02 3.11579485e+02] [-7.59320685e-01 -6.49620642e-01 3.77507518e-02 2.13174431e+02] [ 5.00005224e-02 -4.04699416e-04 9.98749110e-01 6.78140213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.17, Z:67.82 [[-6.46540812e-01 7.62173851e-01 3.28024374e-02 3.11572955e+02] [-7.61239180e-01 -6.47372146e-01 3.77387836e-02 2.13168780e+02] [ 4.99988983e-02 -5.70836713e-04 9.98749110e-01 6.78193416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:213.17, Z:67.81 [[-6.44182983e-01 7.64167194e-01 3.28143868e-02 3.11578184e+02] [-7.63235624e-01 -6.45017791e-01 3.77283906e-02 2.13174808e+02] [ 4.99966616e-02 -7.41121782e-04 9.98749110e-01 6.78145217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:213.17, Z:67.81 [[-6.43337919e-01 7.64878195e-01 3.28278590e-02 3.11580100e+02] [-7.63948146e-01 -6.44174420e-01 3.77166646e-02 2.13174963e+02] [ 4.99955214e-02 -8.14221528e-04 9.98749110e-01 6.78137826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:213.17, Z:67.81 [[-6.43520793e-01 7.64723797e-01 3.28405838e-02 3.11575717e+02] [-7.63794112e-01 -6.44357699e-01 3.77055817e-02 2.13170842e+02] [ 4.99954386e-02 -8.19118670e-04 9.98749110e-01 6.78130084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.16, Z:67.81 [[-6.44858150e-01 7.63595817e-01 3.28541453e-02 3.11567147e+02] [-7.62665270e-01 -6.45694097e-01 3.76937614e-02 2.13163066e+02] [ 4.99965262e-02 -7.49586353e-04 9.98749110e-01 6.78133881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.17, Z:67.81 [[-6.47775355e-01 7.61122066e-01 3.28677621e-02 3.11568975e+02] [-7.60188928e-01 -6.48608409e-01 3.76818843e-02 2.13166623e+02] [ 4.99988205e-02 -5.76312883e-04 9.98749111e-01 6.78136487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.38, Y:212.95, Z:67.83 [[-6.50718853e-01 7.58606499e-01 3.28809217e-02 3.11378883e+02] [-7.57670721e-01 -6.51548939e-01 3.76703978e-02 2.12947095e+02] [ 5.00005382e-02 -4.00073640e-04 9.98749111e-01 6.78310002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:213.16, Z:67.82 [[-6.51498558e-01 7.57937149e-01 3.28771465e-02 3.11569332e+02] [-7.57000352e-01 -6.52327494e-01 3.76736923e-02 2.13159425e+02] [ 5.00009576e-02 -3.43655265e-04 9.98749111e-01 6.78159105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.02, Y:212.50, Z:68.82 [[-6.01926633e-01 7.97872815e-01 3.29135035e-02 3.12019092e+02] [-7.96992404e-01 -6.02815225e-01 3.76419024e-02 2.12496224e+02] [ 4.98742117e-02 -3.57414866e-03 9.98749112e-01 6.88201381e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 485.050385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.72, Z:68.80 [[-6.00530486e-01 7.99025948e-01 3.03425404e-02 3.12194133e+02] [-7.98043589e-01 -6.01296393e-01 3.96115937e-02 2.12716475e+02] [ 4.98955513e-02 -4.26700232e-04 9.98754350e-01 6.88026391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.71, Z:68.80 [[-5.98121596e-01 8.00829304e-01 3.03806092e-02 3.12191565e+02] [-7.99850737e-01 -5.98892340e-01 3.95823749e-02 2.12714070e+02] [ 4.98934399e-02 -6.24879382e-04 9.98754351e-01 6.88033793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:212.58, Z:68.81 [[-5.96142748e-01 8.02302712e-01 3.04003512e-02 3.12089622e+02] [-8.01326822e-01 -5.96916879e-01 3.95672067e-02 2.12580119e+02] [ 4.98913600e-02 -7.72913518e-04 9.98754352e-01 6.88074794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.60, Z:68.81 [[-5.97128732e-01 8.01568646e-01 3.04135286e-02 3.12101985e+02] [-8.00592320e-01 -5.97902312e-01 3.95570752e-02 2.12596269e+02] [ 4.98920303e-02 -7.28171233e-04 9.98754352e-01 6.88063828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.71, Z:68.80 [[-5.96853647e-01 8.01772891e-01 3.04295087e-02 3.12188602e+02] [-8.00797456e-01 -5.97628350e-01 3.95447786e-02 2.12705354e+02] [ 4.98914686e-02 -7.65427795e-04 9.98754352e-01 6.88002801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.71, Z:68.80 [[-5.95693618e-01 8.02633620e-01 3.04694298e-02 3.12188995e+02] [-8.01660876e-01 -5.96471696e-01 3.95139953e-02 2.12706219e+02] [ 4.98894136e-02 -8.87914971e-04 9.98754353e-01 6.88007658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.410385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.70, Z:68.80 [[-5.93884449e-01 8.03972644e-01 3.04835827e-02 3.12186281e+02] [-8.03002214e-01 -5.94665411e-01 3.95030739e-02 2.12702338e+02] [ 4.98869230e-02 -1.01812316e-03 9.98754353e-01 6.88012555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.71, Z:68.81 [[-5.96467395e-01 8.02057688e-01 3.04977273e-02 3.12192711e+02] [-8.01085309e-01 -5.97245928e-01 3.94921508e-02 2.12710168e+02] [ 4.98896266e-02 -8.75500971e-04 9.98754354e-01 6.88102017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.70, Z:68.81 [[-5.97428030e-01 8.01341893e-01 3.05109739e-02 3.12191142e+02] [-8.00369103e-01 -5.98206050e-01 3.94819140e-02 2.12704489e+02] [ 4.98903609e-02 -8.32438711e-04 9.98754354e-01 6.88092524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.70, Z:68.81 [[-5.98257742e-01 8.00722110e-01 3.05250257e-02 3.12187986e+02] [-7.99749068e-01 -5.99035446e-01 3.94710470e-02 2.12698308e+02] [ 4.98909124e-02 -7.98501428e-04 9.98754354e-01 6.88095105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.69, Z:68.81 [[-5.98586012e-01 8.00476199e-01 3.05391570e-02 3.12186383e+02] [-7.99503395e-01 -5.99364014e-01 3.94601105e-02 2.12693306e+02] [ 4.98909510e-02 -7.95889548e-04 9.98754354e-01 6.88060550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.69, Z:68.80 [[-5.97782495e-01 8.01075893e-01 3.05532665e-02 3.12185286e+02] [-8.00104427e-01 -5.98562167e-01 3.94491827e-02 2.12687898e+02] [ 4.98898187e-02 -8.63772907e-04 9.98754354e-01 6.88004675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.15, Y:212.65, Z:68.80 [[-6.00145615e-01 7.99306515e-01 3.05669017e-02 3.12153250e+02] [-7.98333288e-01 -6.00923087e-01 3.94386148e-02 2.12646418e+02] [ 4.98918987e-02 -7.33663393e-04 9.98754354e-01 6.88031148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.830385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:312.18, Y:212.67, Z:68.80 [[-6.01532885e-01 7.98262471e-01 3.05812889e-02 3.12175073e+02] [-7.97288462e-01 -6.02309376e-01 3.94274556e-02 2.12668872e+02] [ 4.98928552e-02 -6.65197626e-04 9.98754354e-01 6.88026303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:212.62, Z:68.80 [[-6.01459048e-01 7.98317481e-01 3.05976004e-02 3.12138380e+02] [-7.97344186e-01 -6.02236434e-01 3.94147931e-02 2.12619239e+02] [ 4.98925080e-02 -6.90434844e-04 9.98754355e-01 6.88048006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.68, Z:68.80 [[-5.97751187e-01 8.01097006e-01 3.06121865e-02 3.12189412e+02] [-8.00127905e-01 -5.98533795e-01 3.94034612e-02 2.12678232e+02] [ 4.98884230e-02 -9.40198949e-04 9.98754355e-01 6.87980586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.010385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.68, Z:68.80 [[-5.95748405e-01 8.02586900e-01 3.06285055e-02 3.12194390e+02] [-8.01620408e-01 -5.96534231e-01 3.93907723e-02 2.12683996e+02] [ 4.98854698e-02 -1.08544524e-03 9.98754355e-01 6.88010210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.67, Z:68.80 [[-5.93783847e-01 8.04040931e-01 3.06418931e-02 3.12189900e+02] [-8.03076898e-01 -5.94572689e-01 3.93803554e-02 2.12674409e+02] [ 4.98822504e-02 -1.22437753e-03 9.98754355e-01 6.87982361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.130385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.67, Z:68.80 [[-5.92171974e-01 8.05228339e-01 3.06541273e-02 3.12189943e+02] [-8.04266380e-01 -5.92963344e-01 3.93708299e-02 2.12668652e+02] [ 4.98792818e-02 -1.33978190e-03 9.98754355e-01 6.87985068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.190385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.67, Z:68.80 [[-5.92737402e-01 8.04811676e-01 3.06681872e-02 3.12194770e+02] [-8.03849727e-01 -5.93528783e-01 3.93598748e-02 2.12666474e+02] [ 4.98797386e-02 -1.32254402e-03 9.98754355e-01 6.87966417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:212.66, Z:68.80 [[-5.94243283e-01 8.03699895e-01 3.06822325e-02 3.12195385e+02] [-8.02737029e-01 -5.95033549e-01 3.93489230e-02 2.12661131e+02] [ 4.98816830e-02 -1.24693096e-03 9.98754356e-01 6.87958046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:212.65, Z:68.80 [[-5.96740143e-01 8.01847204e-01 3.06963113e-02 3.12196103e+02] [-8.00882449e-01 -5.97528100e-01 3.93379370e-02 2.12653147e+02] [ 4.98849234e-02 -1.10961077e-03 9.98754356e-01 6.87959540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37038572299997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.65, Z:68.79 [[-5.95096868e-01 8.03066991e-01 3.07103639e-02 3.12210139e+02] [-8.02104415e-01 -5.95887487e-01 3.93269634e-02 2.12654804e+02] [ 4.98821077e-02 -1.22956573e-03 9.98754356e-01 6.87948885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:212.64, Z:68.80 [[-5.99169309e-01 8.00032593e-01 3.07244152e-02 3.12201656e+02] [-7.99066575e-01 -5.99955717e-01 3.93159827e-02 2.12641398e+02] [ 4.98873561e-02 -9.93923048e-04 9.98754356e-01 6.87966862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.490385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.64, Z:68.80 [[-6.00269356e-01 7.99207013e-01 3.07384209e-02 3.12205418e+02] [-7.98240473e-01 -6.01055123e-01 3.93050295e-02 2.12635731e+02] [ 4.98883406e-02 -9.43046932e-04 9.98754356e-01 6.87973899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.550385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.63, Z:68.80 [[-6.03186578e-01 7.97007049e-01 3.07524857e-02 3.12206895e+02] [-7.96038204e-01 -6.03969500e-01 3.92940220e-02 2.12626651e+02] [ 4.98911760e-02 -7.78526818e-04 9.98754356e-01 6.87959939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.610385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.62, Z:68.80 [[-6.04741317e-01 7.95827467e-01 3.07665662e-02 3.12205542e+02] [-7.94857656e-01 -6.05523041e-01 3.92829942e-02 2.12621737e+02] [ 4.98923505e-02 -6.98991081e-04 9.98754357e-01 6.87964868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.62, Z:68.79 [[-6.05592649e-01 7.95179144e-01 3.07842761e-02 3.12208917e+02] [-7.94209201e-01 -6.06374210e-01 3.92691109e-02 2.12617206e+02] [ 4.98927691e-02 -6.68070459e-04 9.98754357e-01 6.87948123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.61, Z:68.79 [[-6.03810563e-01 7.96532651e-01 3.07983653e-02 3.12211431e+02] [-7.95565023e-01 -6.04594988e-01 3.92580578e-02 2.12613992e+02] [ 4.98908621e-02 -7.97672232e-04 9.98754357e-01 6.87925217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.61, Z:68.79 [[-6.00813798e-01 7.98794951e-01 3.08124373e-02 3.12209069e+02] [-7.97830841e-01 -6.01602544e-01 3.92470100e-02 2.12611188e+02] [ 4.98871541e-02 -1.00296761e-03 9.98754357e-01 6.87939153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.61, Z:68.79 [[-5.98924638e-01 8.00211850e-01 3.08265053e-02 3.12212485e+02] [-7.99250175e-01 -5.99716348e-01 3.92359572e-02 2.12614227e+02] [ 4.98842371e-02 -1.13870833e-03 9.98754357e-01 6.87941653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.61, Z:68.79 [[-6.00660621e-01 7.98909056e-01 3.08405410e-02 3.12212710e+02] [-7.97946229e-01 -6.01450930e-01 3.92249216e-02 2.12611327e+02] [ 4.98862172e-02 -1.04822758e-03 9.98754357e-01 6.87927290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.61, Z:68.79 [[-6.02596444e-01 7.97449386e-01 3.08545381e-02 3.12208307e+02] [-7.96485208e-01 -6.03385104e-01 3.92139084e-02 2.12607433e+02] [ 4.98882758e-02 -9.45021417e-04 9.98754358e-01 6.87937086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:212.60, Z:68.79 [[-6.04627487e-01 7.95910004e-01 3.08685463e-02 3.12206204e+02] [-7.94944380e-01 -6.05414376e-01 3.92028782e-02 2.12604912e+02] [ 4.98902247e-02 -8.35639691e-04 9.98754358e-01 6.87928921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:212.60, Z:68.79 [[-6.06585719e-01 7.94418044e-01 3.08826208e-02 3.12200246e+02] [-7.93451049e-01 -6.07370922e-01 3.91917877e-02 2.12601174e+02] [ 4.98918692e-02 -7.30669182e-04 9.98754358e-01 6.87927846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:212.60, Z:68.79 [[-6.09209347e-01 7.92407324e-01 3.08966691e-02 3.12197043e+02] [-7.91438299e-01 -6.09992042e-01 3.91807097e-02 2.12603139e+02] [ 4.98938036e-02 -5.83552620e-04 9.98754358e-01 6.87938089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:212.61, Z:68.79 [[-6.11871958e-01 7.90352601e-01 3.09107221e-02 3.12199694e+02] [-7.89381507e-01 -6.12652085e-01 3.91696198e-02 2.12608707e+02] [ 4.98953292e-02 -4.33560443e-04 9.98754358e-01 6.87942948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.60, Z:68.79 [[-6.14162433e-01 7.88573570e-01 3.09229802e-02 3.12187678e+02] [-7.87600703e-01 -6.14940348e-01 3.91599401e-02 2.12600838e+02] [ 4.98962820e-02 -3.04396903e-04 9.98754358e-01 6.87946366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.330385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:312.18, Y:212.60, Z:68.79 [[-6.13706111e-01 7.88928204e-01 3.09369963e-02 3.12179491e+02] [-7.87956345e-01 -6.14485285e-01 3.91488640e-02 2.12602113e+02] [ 4.98959720e-02 -3.51105416e-04 9.98754359e-01 6.87943834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:212.62, Z:68.80 [[-6.13476507e-01 7.89106207e-01 3.09510728e-02 3.12187443e+02] [-7.88135135e-01 -6.14256662e-01 3.91377319e-02 2.12615876e+02] [ 4.98957299e-02 -3.83548906e-04 9.98754359e-01 6.87968697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.450385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:212.55, Z:68.80 [[-6.14137545e-01 7.88591371e-01 3.09632937e-02 3.12123758e+02] [-7.87620132e-01 -6.14917492e-01 3.91280612e-02 2.12546965e+02] [ 4.98959223e-02 -3.57301976e-04 9.98754359e-01 6.87988376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.17, Y:212.61, Z:68.80 [[-6.13834948e-01 7.88826370e-01 3.09776470e-02 3.12165689e+02] [-7.87856003e-01 -6.14615979e-01 3.91166944e-02 2.12612650e+02] [ 4.98956369e-02 -3.94731055e-04 9.98754359e-01 6.87975422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.570385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:312.16, Y:212.62, Z:68.80 [[-6.13975276e-01 7.88716584e-01 3.09921069e-02 3.12162989e+02] [-7.87746656e-01 -6.14756851e-01 3.91052345e-02 2.12621796e+02] [ 4.98955570e-02 -4.04281398e-04 9.98754359e-01 6.87976489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.16, Y:212.63, Z:68.80 [[-6.14898519e-01 7.87996538e-01 3.10043141e-02 3.12157863e+02] [-7.87026182e-01 -6.15679564e-01 3.90955537e-02 2.12625911e+02] [ 4.98958836e-02 -3.61408864e-04 9.98754359e-01 6.87962473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.15, Y:212.63, Z:68.80 [[-6.15368602e-01 7.87628961e-01 3.10177947e-02 3.12147324e+02] [-7.86658678e-01 -6.16149737e-01 3.90848555e-02 2.12625147e+02] [ 4.98959702e-02 -3.48824538e-04 9.98754359e-01 6.87982222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:212.62, Z:68.80 [[-6.15238726e-01 7.87729935e-01 3.10299714e-02 3.12136609e+02] [-7.86760268e-01 -6.16020625e-01 3.90751858e-02 2.12623206e+02] [ 4.98957960e-02 -3.72581085e-04 9.98754360e-01 6.87995716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:212.63, Z:68.80 [[-6.16130227e-01 7.87032353e-01 3.10421935e-02 3.12134899e+02] [-7.86062290e-01 -6.16911635e-01 3.90654739e-02 2.12629874e+02] [ 4.98960822e-02 -3.31678383e-04 9.98754360e-01 6.87991773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:212.63, Z:68.80 [[-6.18755859e-01 7.84969234e-01 3.10562318e-02 3.12127649e+02] [-7.83997125e-01 -6.19534719e-01 3.90543106e-02 2.12633020e+02] [ 4.98968461e-02 -1.82912934e-04 9.98754360e-01 6.88010546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:311.95, Y:212.42, Z:68.81 [[-6.22869428e-01 7.81708621e-01 3.10694084e-02 3.11954088e+02] [-7.80732958e-01 -6.23643831e-01 3.90438252e-02 2.12424109e+02] [ 4.98971397e-02 6.22939172e-05 9.98754360e-01 6.88115161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.62, Z:68.80 [[-6.25686057e-01 7.79455461e-01 3.10828295e-02 3.12111104e+02] [-7.78477540e-01 -6.26457607e-01 3.90331377e-02 2.12618808e+02] [ 4.98966674e-02 2.25205363e-04 9.98754360e-01 6.88029432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.80 [[-6.25767813e-01 7.79388262e-01 3.11220314e-02 3.12105966e+02] [-7.78411813e-01 -6.26541223e-01 3.90018562e-02 2.12608288e+02] [ 4.98968246e-02 1.80349356e-04 9.98754361e-01 6.87998846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.61, Z:68.80 [[-6.27391487e-01 7.78081282e-01 3.11358333e-02 3.12104045e+02] [-7.77103769e-01 -6.28163551e-01 3.89908348e-02 2.12608733e+02] [ 4.98964344e-02 2.66744480e-04 9.98754362e-01 6.88040552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.80 [[-6.23529408e-01 7.81179108e-01 3.11492917e-02 3.12110190e+02] [-7.80205968e-01 -6.24306976e-01 3.89800801e-02 2.12609588e+02] [ 4.98971443e-02 2.36292584e-06 9.98754362e-01 6.88046889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.80 [[-6.21422558e-01 7.82855573e-01 3.11633845e-02 3.12106569e+02] [-7.81885095e-01 -6.22203447e-01 3.89688101e-02 2.12606700e+02] [ 4.98969154e-02 -1.50088172e-04 9.98754362e-01 6.88049096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.290385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:212.62, Z:68.81 [[-6.17824681e-01 7.85697548e-01 3.11773396e-02 3.12117458e+02] [-7.84731226e-01 -6.18610706e-01 3.89576420e-02 2.12624935e+02] [ 4.98955599e-02 -3.96839246e-04 9.98754362e-01 6.88080168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.81 [[-6.16751533e-01 7.86539699e-01 3.11905393e-02 3.12106388e+02] [-7.85574984e-01 -6.17539529e-01 3.89470711e-02 2.12612861e+02] [ 4.98948085e-02 -4.81841603e-04 9.98754362e-01 6.88073062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.410385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.80 [[-6.15630645e-01 7.87416790e-01 3.12042771e-02 3.12106854e+02] [-7.86453756e-01 -6.16420695e-01 3.89360613e-02 2.12611239e+02] [ 4.98938706e-02 -5.70488386e-04 9.98754362e-01 6.88048988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.81 [[-6.14381427e-01 7.88391185e-01 3.12218242e-02 3.12105810e+02] [-7.87430118e-01 -6.15173868e-01 3.89219857e-02 2.12610628e+02] [ 4.98926008e-02 -6.72059626e-04 9.98754363e-01 6.88070022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.530385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.81 [[-6.11845608e-01 7.90360219e-01 3.12358109e-02 3.12106217e+02] [-7.89402275e-01 -6.12641821e-01 3.89107578e-02 2.12610743e+02] [ 4.98898791e-02 -8.50243914e-04 9.98754363e-01 6.88083503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:212.61, Z:68.81 [[-6.10477548e-01 7.91416842e-01 3.12497302e-02 3.12107241e+02] [-7.90460847e-01 -6.11276101e-01 3.88995759e-02 2.12610510e+02] [ 4.98879927e-02 -9.54370462e-04 9.98754363e-01 6.88088333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.60, Z:68.81 [[-6.10782177e-01 7.91181221e-01 3.12635366e-02 3.12103052e+02] [-7.90225486e-01 -6.11581040e-01 3.88884765e-02 2.12599954e+02] [ 4.98880185e-02 -9.52855055e-04 9.98754363e-01 6.88095358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.710385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.60, Z:68.81 [[-6.12161286e-01 7.90114094e-01 3.12774479e-02 3.12100656e+02] [-7.89157538e-01 -6.12959165e-01 3.88772846e-02 2.12595016e+02] [ 4.98892889e-02 -8.83665207e-04 9.98754363e-01 6.88108891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.60, Z:68.81 [[-6.13559988e-01 7.89027876e-01 3.12914115e-02 3.12104733e+02] [-7.88070479e-01 -6.14356859e-01 3.88660424e-02 2.12597971e+02] [ 4.98904842e-02 -8.13189166e-04 9.98754363e-01 6.88105372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.830385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.60, Z:68.81 [[-6.14639827e-01 7.88186437e-01 3.13053473e-02 3.12104792e+02] [-7.87228521e-01 -6.15436073e-01 3.88548144e-02 2.12595569e+02] [ 4.98912776e-02 -7.62745846e-04 9.98754364e-01 6.88082704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.10, Y:212.59, Z:68.81 [[-6.15234561e-01 7.87721750e-01 3.13189853e-02 3.12103086e+02] [-7.86763793e-01 -6.16030756e-01 3.88438183e-02 2.12592829e+02] [ 4.98915787e-02 -7.42584154e-04 9.98754364e-01 6.88103586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.950385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:312.64, Y:212.05, Z:69.82 [[-5.81845937e-01 8.12695242e-01 3.13328806e-02 3.12636982e+02] [-8.11771922e-01 -5.82682053e-01 3.88326066e-02 2.12049629e+02] [ 4.98161818e-02 -2.84055832e-03 9.98754364e-01 6.98150322e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 489.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.72, Y:212.17, Z:69.81 [[-5.85644288e-01 8.10017324e-01 2.98781139e-02 3.12716571e+02] [-8.09033355e-01 -5.86405411e-01 3.99214886e-02 2.12165431e+02] [ 4.98577850e-02 -7.92598992e-04 9.98756013e-01 6.98117275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:211.61, Z:70.81 [[-5.52192516e-01 8.33180337e-01 2.98990305e-02 3.13254739e+02] [-8.32228998e-01 -5.52994051e-01 3.99058171e-02 2.11614966e+02] [ 4.97827281e-02 -2.84714666e-03 9.98756013e-01 7.08144127e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 489.130385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:211.77, Z:70.80 [[-5.50998830e-01 8.34022034e-01 2.84171712e-02 3.13369129e+02] [-8.33017621e-01 -5.51730005e-01 4.09346351e-02 2.11773639e+02] [ 4.98189936e-02 -1.11706829e-03 9.98757638e-01 7.08049952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.190385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:211.77, Z:70.80 [[-5.55143469e-01 8.31268212e-01 2.84409788e-02 3.13362830e+02] [-8.30261017e-01 -5.55870807e-01 4.09180871e-02 2.11768074e+02] [ 4.98234150e-02 -8.98027132e-04 9.98757639e-01 7.08042904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:211.76, Z:70.80 [[-5.54735223e-01 8.31540140e-01 2.84574680e-02 3.13363701e+02] [-8.30533890e-01 -5.55463866e-01 4.09066161e-02 2.11763095e+02] [ 4.98225885e-02 -9.42550824e-04 9.98757639e-01 7.08040380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.36, Y:211.76, Z:70.80 [[-5.53485756e-01 8.32371762e-01 2.84739809e-02 3.13364115e+02] [-8.31367197e-01 -5.54216721e-01 4.08951187e-02 2.11760172e+02] [ 4.98206984e-02 -1.03746791e-03 9.98757639e-01 7.08038451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:211.76, Z:70.80 [[-5.52540970e-01 8.32998661e-01 2.84904890e-02 3.13366664e+02] [-8.31995517e-01 -5.53273883e-01 4.08836147e-02 2.11755172e+02] [ 4.98190398e-02 -1.11408702e-03 9.98757639e-01 7.08031958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:211.76, Z:70.80 [[-5.51709056e-01 8.33549384e-01 2.85051191e-02 3.13368641e+02] [-8.32547498e-01 -5.52443688e-01 4.08734117e-02 2.11755383e+02] [ 4.98174803e-02 -1.18163419e-03 9.98757639e-01 7.08038420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:211.76, Z:70.80 [[-5.45201959e-01 8.37819461e-01 2.85197252e-02 3.13381129e+02] [-8.36823856e-01 -5.45945081e-01 4.08632177e-02 2.11756705e+02] [ 4.98062027e-02 -1.58728004e-03 9.98757640e-01 7.08006700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:211.73, Z:70.80 [[-5.44185713e-01 8.38479416e-01 2.85338310e-02 3.13365156e+02] [-8.37485226e-01 -5.44930728e-01 4.08533656e-02 2.11725390e+02] [ 4.98036674e-02 -1.66484408e-03 9.98757640e-01 7.08012647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:211.74, Z:70.81 [[-5.48568270e-01 8.35618237e-01 2.85484707e-02 3.13376947e+02] [-8.34620692e-01 -5.49308784e-01 4.08431328e-02 2.11741146e+02] [ 4.98111923e-02 -1.42189769e-03 9.98757640e-01 7.08058676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:211.74, Z:70.81 [[-5.49030317e-01 8.35314225e-01 2.85632102e-02 3.13382849e+02] [-8.34316804e-01 -5.49770999e-01 4.08328223e-02 2.11739889e+02] [ 4.98114619e-02 -1.41230892e-03 9.98757640e-01 7.08050481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.730385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:313.29, Y:211.60, Z:70.81 [[-5.48246451e-01 8.35828416e-01 2.85777612e-02 3.13292019e+02] [-8.34832219e-01 -5.48988778e-01 4.08226359e-02 2.11596530e+02] [ 4.98095893e-02 -1.47677060e-03 9.98757640e-01 7.08082328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.39, Y:211.73, Z:70.80 [[-5.49265531e-01 8.35158552e-01 2.85931577e-02 3.13390613e+02] [-8.34162010e-01 -5.50007394e-01 4.08118490e-02 2.11727135e+02] [ 4.98108129e-02 -1.43478400e-03 9.98757640e-01 7.08018231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.39, Y:211.72, Z:70.81 [[-5.52174364e-01 8.33237471e-01 2.86144942e-02 3.13388941e+02] [-8.32239120e-01 -5.52913792e-01 4.07968838e-02 2.11721655e+02] [ 4.98148407e-02 -1.28710810e-03 9.98757641e-01 7.08055905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.39, Y:211.71, Z:70.81 [[-5.54636943e-01 8.31599808e-01 2.86290143e-02 3.13388837e+02] [-8.30599799e-01 -5.55374125e-01 4.07866918e-02 2.11713158e+02] [ 4.98180189e-02 -1.15744750e-03 9.98757641e-01 7.08056571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.39, Y:211.71, Z:70.81 [[-5.57865414e-01 8.29436993e-01 2.86435691e-02 3.13390293e+02] [-8.28434650e-01 -5.58599419e-01 4.07764678e-02 2.11706353e+02] [ 4.98217919e-02 -9.81544058e-04 9.98757641e-01 7.08054267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.030385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:313.39, Y:211.70, Z:70.81 [[-5.60492337e-01 8.27663609e-01 2.86581562e-02 3.13390077e+02] [-8.26659467e-01 -5.61223878e-01 4.07662132e-02 2.11700499e+02] [ 4.98243528e-02 -8.41386056e-04 9.98757641e-01 7.08062649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.090385723 meters Centerline goodness : 0.995235 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:210.75, Z:71.84 [[-5.19656101e-01 8.53894261e-01 2.86727580e-02 3.13535738e+02] [-8.52927371e-01 -5.20436215e-01 4.07559406e-02 2.10750692e+02] [ 4.97236054e-02 -3.27670689e-03 9.98757641e-01 7.18434329e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 490.150385723 meters Centerline goodness : 0.995407 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:210.75, Z:71.84 [[-5.24102588e-01 8.51244937e-01 2.64297966e-02 3.13543396e+02] [-8.50200232e-01 -5.24768441e-01 4.21621701e-02 2.10753449e+02] [ 4.97598570e-02 -3.73316704e-04 9.98761141e-01 7.18425658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.94, Y:211.38, Z:71.81 [[-5.27307551e-01 8.49262337e-01 2.64618427e-02 3.13938283e+02] [-8.48216137e-01 -5.27971053e-01 4.21420478e-02 2.11379240e+02] [ 4.97607409e-02 -2.23541984e-04 9.98761142e-01 7.18089780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.33, Y:210.81, Z:72.82 [[-4.70260632e-01 8.82127470e-01 2.65719002e-02 3.14334145e+02] [-8.81131056e-01 -4.70996776e-01 4.20725389e-02 2.10807922e+02] [ 4.96286216e-02 -3.62826778e-03 9.98761150e-01 7.28232130e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 490.330385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.50, Y:211.11, Z:72.80 [[-4.69725773e-01 8.82496553e-01 2.36121114e-02 3.14497282e+02] [-8.81415292e-01 -4.70318770e-01 4.36730857e-02 2.11109647e+02] [ 4.96465667e-02 -2.97702125e-04 9.98766805e-01 7.28049119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.390385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:211.11, Z:72.81 [[-4.69447454e-01 8.82643425e-01 2.36574071e-02 3.14494272e+02] [-8.81563585e-01 -4.70043032e-01 4.36485355e-02 2.11108988e+02] [ 4.96460923e-02 -3.64814780e-04 9.98766806e-01 7.28059192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:211.11, Z:72.81 [[-4.68172837e-01 8.83319750e-01 2.36730759e-02 3.14487975e+02] [-8.82241199e-01 -4.68770747e-01 4.36400358e-02 2.11110779e+02] [ 4.96453510e-02 -4.54283542e-04 9.98766806e-01 7.28075624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:210.96, Z:72.81 [[-4.67494964e-01 8.83678278e-01 2.36887862e-02 3.14396649e+02] [-8.82600618e-01 -4.68094478e-01 4.36315062e-02 2.10956456e+02] [ 4.96448043e-02 -5.10227933e-04 9.98766806e-01 7.28148946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.570385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:211.11, Z:72.81 [[-4.68426443e-01 8.83184476e-01 2.37033401e-02 3.14470753e+02] [-8.82106584e-01 -4.69025539e-01 4.36235983e-02 2.11109317e+02] [ 4.96451566e-02 -4.74425405e-04 9.98766806e-01 7.28137502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:211.12, Z:72.81 [[-4.67903175e-01 8.83461163e-01 2.37274612e-02 3.14467960e+02] [-8.82384290e-01 -4.68504100e-01 4.36104746e-02 2.11119387e+02] [ 4.96445734e-02 -5.31259490e-04 9.98766807e-01 7.28141567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.46, Y:211.12, Z:72.82 [[-4.67240414e-01 8.83811440e-01 2.37430824e-02 3.14461472e+02] [-8.82735449e-01 -4.67842917e-01 4.36019682e-02 2.11117728e+02] [ 4.96439512e-02 -5.86258841e-04 9.98766807e-01 7.28154301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.46, Y:211.12, Z:72.81 [[-4.63895734e-01 8.85571155e-01 2.37587107e-02 3.14456023e+02] [-8.84497885e-01 -4.64503070e-01 4.35934507e-02 2.11115437e+02] [ 4.96410965e-02 -7.91713541e-04 9.98766807e-01 7.28119795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.45, Y:211.11, Z:72.81 [[-4.64263344e-01 8.85378018e-01 2.37762972e-02 3.14450764e+02] [-8.84304986e-01 -4.64871099e-01 4.35838567e-02 2.11114725e+02] [ 4.96411021e-02 -7.91111106e-04 9.98766807e-01 7.28116948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:211.11, Z:72.81 [[-4.65401625e-01 8.84779681e-01 2.37958864e-02 3.14444154e+02] [-8.83706413e-01 -4.66008964e-01 4.35731588e-02 2.11111202e+02] [ 4.96417419e-02 -7.49558517e-04 9.98766807e-01 7.28122115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:211.11, Z:72.81 [[-4.65401971e-01 8.84779077e-01 2.38115408e-02 3.14437932e+02] [-8.83706247e-01 -4.66010081e-01 4.35646024e-02 2.11110826e+02] [ 4.96414668e-02 -7.67355555e-04 9.98766808e-01 7.28101586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:211.11, Z:72.81 [[-4.64902224e-01 8.85041241e-01 2.38311620e-02 3.14432504e+02] [-8.83969302e-01 -4.65511904e-01 4.35538664e-02 2.11114436e+02] [ 4.96406576e-02 -8.17726277e-04 9.98766808e-01 7.28143593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:211.11, Z:72.81 [[-4.65011787e-01 8.84983206e-01 2.38487443e-02 3.14426017e+02] [-8.83911685e-01 -4.65622200e-01 4.35442368e-02 2.11110804e+02] [ 4.96404230e-02 -8.31600415e-04 9.98766808e-01 7.28105145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.10, Z:72.81 [[-4.66879296e-01 8.83998938e-01 2.38663168e-02 3.14421698e+02] [-8.82926621e-01 -4.67488311e-01 4.35346032e-02 2.11104465e+02] [ 4.96417671e-02 -7.46801572e-04 9.98766808e-01 7.28106539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.11, Z:72.81 [[-4.73140479e-01 8.80663324e-01 2.38788034e-02 3.14415252e+02] [-8.79587057e-01 -4.73742486e-01 4.35277533e-02 2.11105852e+02] [ 4.96456996e-02 -4.08744391e-04 9.98766808e-01 7.28148452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.230385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.10, Z:72.81 [[-4.78187443e-01 8.77932698e-01 2.38945075e-02 3.14410604e+02] [-8.76853424e-01 -4.78784041e-01 4.35191308e-02 2.11100307e+02] [ 4.96471768e-02 -1.41678865e-04 9.98766809e-01 7.28128722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.09, Z:72.81 [[-4.83335297e-01 8.75108678e-01 2.39121724e-02 3.14405868e+02] [-8.74026399e-01 -4.83926425e-01 4.35094224e-02 2.11090861e+02] [ 4.96472053e-02 1.29769670e-04 9.98766809e-01 7.28103790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:211.09, Z:72.81 [[-4.86400484e-01 8.73408279e-01 2.39279514e-02 3.14403992e+02] [-8.72324360e-01 -4.86988600e-01 4.35007431e-02 2.11085899e+02] [ 4.96465487e-02 2.85847636e-04 9.98766809e-01 7.28115031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:211.07, Z:72.81 [[-4.85983325e-01 8.73639921e-01 2.39477691e-02 3.14398156e+02] [-8.72556820e-01 -4.86572945e-01 4.34898304e-02 2.11073791e+02] [ 4.96467886e-02 2.39543176e-04 9.98766809e-01 7.28109348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.09, Z:72.81 [[-4.82651809e-01 8.75484422e-01 2.39636609e-02 3.14405004e+02] [-8.74404009e-01 -4.83246340e-01 4.34810720e-02 2.11088449e+02] [ 4.96473526e-02 3.22969536e-05 9.98766809e-01 7.28123260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:211.08, Z:72.81 [[-4.80711914e-01 8.76550427e-01 2.39875947e-02 3.14402035e+02] [-8.75471991e-01 -4.81310023e-01 4.34678642e-02 2.11083327e+02] [ 4.96472447e-02 -1.04947095e-04 9.98766810e-01 7.28123954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:211.09, Z:72.81 [[-4.76519330e-01 8.78836258e-01 2.40033191e-02 3.14404259e+02] [-8.77761128e-01 -4.77123361e-01 4.34591794e-02 2.11086643e+02] [ 4.96460469e-02 -3.60041381e-04 9.98766810e-01 7.28141223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.650385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.09, Z:72.81 [[-4.70857030e-01 8.81882501e-01 2.40189734e-02 3.14407537e+02] [-8.80811719e-01 -4.71468734e-01 4.34505259e-02 2.11089575e+02] [ 4.96424534e-02 -6.97207725e-04 9.98766810e-01 7.28133677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.710385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.09, Z:72.81 [[-4.67151904e-01 8.83850294e-01 2.40365441e-02 3.14408197e+02] [-8.82782587e-01 -4.67768960e-01 4.34408037e-02 2.11089150e+02] [ 4.96387164e-02 -9.25588389e-04 9.98766810e-01 7.28125601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.08, Z:72.81 [[-4.61844422e-01 8.86634776e-01 2.40521194e-02 3.14406062e+02] [-8.85571235e-01 -4.62468630e-01 4.34321784e-02 2.11080609e+02] [ 4.96318304e-02 -1.24095576e-03 9.98766810e-01 7.28130917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.09, Z:72.81 [[-4.59248662e-01 8.87981650e-01 2.40677134e-02 3.14414345e+02] [-8.86920391e-01 -4.59876742e-01 4.34235353e-02 2.11087110e+02] [ 4.96274842e-02 -1.40394525e-03 9.98766811e-01 7.28127969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.08, Z:72.81 [[-4.60577702e-01 8.87292612e-01 2.40832217e-02 3.14416947e+02] [-8.86230861e-01 -4.61204950e-01 4.34149325e-02 2.11083478e+02] [ 4.96290499e-02 -1.34734446e-03 9.98766811e-01 7.28148227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.950385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.07, Z:72.82 [[-4.61915404e-01 8.86596534e-01 2.40986577e-02 3.14413587e+02] [-8.85534283e-01 -4.62541805e-01 4.34063627e-02 2.11069956e+02] [ 4.96305673e-02 -1.29012003e-03 9.98766811e-01 7.28150283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.07, Z:72.82 [[-4.68422619e-01 8.83175384e-01 2.41141480e-02 3.14416963e+02] [-8.82108997e-01 -4.69041952e-01 4.33977554e-02 2.11068526e+02] [ 4.96383763e-02 -9.42816625e-04 9.98766811e-01 7.28154887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.070385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:314.34, Y:210.91, Z:72.82 [[-4.71284120e-01 8.81651311e-01 2.41297296e-02 3.14335678e+02] [-8.80583364e-01 -4.71900759e-01 4.33890901e-02 2.10911789e+02] [ 4.96408859e-02 -7.99649289e-04 9.98766811e-01 7.28244584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.130385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.05, Z:72.82 [[-4.75226718e-01 8.79531993e-01 2.41462243e-02 3.14417173e+02] [-8.78461761e-01 -4.75839382e-01 4.33799088e-02 2.11053435e+02] [ 4.96437421e-02 -5.96243063e-04 9.98766811e-01 7.28206325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:210.98, Z:72.82 [[-4.78263764e-01 8.77883486e-01 2.41734805e-02 3.14382906e+02] [-8.76811909e-01 -4.78874073e-01 4.33647150e-02 2.10983778e+02] [ 4.96452202e-02 -4.55823725e-04 9.98766812e-01 7.28224124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:210.98, Z:72.82 [[-4.81610168e-01 8.76051663e-01 2.41894449e-02 3.14381375e+02] [-8.74978212e-01 -4.82217173e-01 4.33558080e-02 2.10976974e+02] [ 4.96464934e-02 -2.84639301e-04 9.98766812e-01 7.28239579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31038572299997 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.03, Z:72.82 [[-4.83996448e-01 8.74734877e-01 2.42143403e-02 3.14417427e+02] [-8.73660469e-01 -4.84601758e-01 4.33418994e-02 2.11033290e+02] [ 4.96469829e-02 -1.77786538e-04 9.98766812e-01 7.28205358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:211.00, Z:72.82 [[-4.84583398e-01 8.74409356e-01 2.42323805e-02 3.14400463e+02] [-8.73335047e-01 -4.85188881e-01 4.33318108e-02 2.10995323e+02] [ 4.96470224e-02 -1.65111084e-04 9.98766813e-01 7.28203077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.02, Z:72.82 [[-4.83844504e-01 8.74818049e-01 2.42462020e-02 3.14417578e+02] [-8.73744638e-01 -4.84451579e-01 4.33240757e-02 2.11024672e+02] [ 4.96467942e-02 -2.22873108e-04 9.98766813e-01 7.28208756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:211.00, Z:72.82 [[-4.80662572e-01 8.76569932e-01 2.42620403e-02 3.14406552e+02] [-8.75499181e-01 -4.81274327e-01 4.33152042e-02 2.11001566e+02] [ 4.96455027e-02 -4.21398890e-04 9.98766813e-01 7.28215687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.02, Z:72.82 [[-4.78106277e-01 8.77966386e-01 2.42778052e-02 3.14417221e+02] [-8.76897871e-01 -4.78721927e-01 4.33063663e-02 2.11018278e+02] [ 4.96438516e-02 -5.84110109e-04 9.98766813e-01 7.28199851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.610385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.03, Z:72.82 [[-4.76221451e-01 8.78989733e-01 2.42936249e-02 3.14422878e+02] [-8.77922992e-01 -4.76840170e-01 4.32974901e-02 2.11027018e+02] [ 4.96422255e-02 -7.08738286e-04 9.98766813e-01 7.28202527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.03, Z:72.82 [[-4.74663473e-01 8.79831603e-01 2.43091991e-02 3.14423744e+02] [-8.78766407e-01 -4.75284848e-01 4.32887443e-02 2.11025395e+02] [ 4.96405993e-02 -8.14521837e-04 9.98766813e-01 7.28202227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.02, Z:72.82 [[-4.74499263e-01 8.79919746e-01 2.43246953e-02 3.14424319e+02] [-8.78855111e-01 -4.75121598e-01 4.32800350e-02 2.11023251e+02] [ 4.96401454e-02 -8.41538094e-04 9.98766814e-01 7.28204287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.42, Y:211.02, Z:72.82 [[-4.75345931e-01 8.79462221e-01 2.43402298e-02 3.14422536e+02] [-8.78397434e-01 -4.75968006e-01 4.32712968e-02 2.11016824e+02] [ 4.96406414e-02 -8.11560525e-04 9.98766814e-01 7.28198615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:210.99, Z:72.82 [[-4.76352810e-01 8.78916833e-01 2.43557246e-02 3.14409116e+02] [-8.77851779e-01 -4.76974427e-01 4.32625736e-02 2.10988043e+02] [ 4.96412620e-02 -7.72467619e-04 9.98766814e-01 7.28222565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.910385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:211.01, Z:72.82 [[-4.77204192e-01 8.78454434e-01 2.43714460e-02 3.14425271e+02] [-8.77389229e-01 -4.77825551e-01 4.32537153e-02 2.11011565e+02] [ 4.96417176e-02 -7.42390003e-04 9.98766814e-01 7.28212454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:211.01, Z:72.82 [[-4.76975329e-01 8.78578285e-01 2.43871594e-02 3.14425483e+02] [-8.77513694e-01 -4.77597739e-01 4.32448541e-02 2.11007166e+02] [ 4.96412419e-02 -7.73337792e-04 9.98766814e-01 7.28204288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.98, Y:210.63, Z:73.81 [[-4.44808732e-01 8.95293082e-01 2.44026566e-02 3.14980445e+02] [-8.94252230e-01 -4.45470075e-01 4.32361074e-02 2.10634306e+02] [ 4.95796411e-02 -2.59033198e-03 9.98766814e-01 7.38078948e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 493.090385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:314.99, Y:210.64, Z:73.81 [[-4.44593592e-01 8.95441525e-01 2.28257182e-02 3.14985357e+02] [-8.94357602e-01 -4.45178379e-01 4.40532688e-02 2.10637657e+02] [ 4.96086425e-02 -8.28553587e-04 9.98768390e-01 7.38070089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:314.98, Y:210.62, Z:73.80 [[-4.40110714e-01 8.97652950e-01 2.28416221e-02 3.14983330e+02] [-8.96572392e-01 -4.40701694e-01 4.40450211e-02 2.10621377e+02] [ 4.96034847e-02 -1.09448202e-03 9.98768390e-01 7.38045749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.99, Y:210.64, Z:73.81 [[-4.44145836e-01 8.95662838e-01 2.28595194e-02 3.14985312e+02] [-8.94580107e-01 -4.44732826e-01 4.40357304e-02 2.10635735e+02] [ 4.96075459e-02 -8.91384965e-04 9.98768390e-01 7.38078578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.270385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:210.61, Z:73.81 [[-4.46220407e-01 8.94630687e-01 2.28753376e-02 3.14973229e+02] [-8.93547019e-01 -4.46805665e-01 4.40275118e-02 2.10610772e+02] [ 4.96091936e-02 -7.94215507e-04 9.98768390e-01 7.38096368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.330385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:210.60, Z:73.80 [[-4.44520753e-01 8.95476014e-01 2.28912342e-02 3.14971680e+02] [-8.94393884e-01 -4.45108848e-01 4.40192451e-02 2.10595465e+02] [ 4.96072691e-02 -9.06311856e-04 9.98768390e-01 7.38034342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.390385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:314.98, Y:210.62, Z:73.81 [[-4.51833145e-01 8.91808311e-01 2.29073319e-02 3.14979958e+02] [-8.90721828e-01 -4.52413161e-01 4.40108664e-02 2.10624475e+02] [ 4.96128348e-02 -5.18492380e-04 9.98768390e-01 7.38090849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.450385723 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:314.93, Y:210.51, Z:73.81 [[-4.52855722e-01 8.91289074e-01 2.29233685e-02 3.14925198e+02] [-8.90202349e-01 -4.53435283e-01 4.40025120e-02 2.10512466e+02] [ 4.96132223e-02 -4.79647160e-04 9.98768391e-01 7.38083937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.510385723 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:314.97, Y:210.61, Z:73.81 [[-4.60018385e-01 8.87613004e-01 2.29399198e-02 3.14969661e+02] [-8.86522077e-01 -4.60589996e-01 4.39938816e-02 2.10608545e+02] [ 4.96154390e-02 -9.87509689e-05 9.98768391e-01 7.38062727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.570385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:210.61, Z:73.81 [[-4.65510884e-01 8.84744269e-01 2.29607437e-02 3.14964114e+02] [-8.83650355e-01 -4.66076758e-01 4.39830108e-02 2.10612376e+02] [ 4.96151857e-02 1.85300959e-04 9.98768391e-01 7.38109990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.630385723 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:210.61, Z:73.81 [[-4.67850378e-01 8.83508967e-01 2.29767146e-02 3.14959605e+02] [-8.82413969e-01 -4.68414150e-01 4.39746660e-02 2.10610269e+02] [ 4.96146300e-02 2.98590176e-04 9.98768391e-01 7.38113650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.690385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:314.95, Y:210.61, Z:73.81 [[-4.69829087e-01 8.82457913e-01 2.29926195e-02 3.14952010e+02] [-8.81362061e-01 -4.70391196e-01 4.39663485e-02 2.10608640e+02] [ 4.96139779e-02 3.91846853e-04 9.98768391e-01 7.38115124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.750385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:314.93, Y:210.59, Z:73.81 [[-4.70725433e-01 8.81979689e-01 2.30086020e-02 3.14932313e+02] [-8.80883674e-01 -4.71287225e-01 4.39579829e-02 2.10587395e+02] [ 4.96137082e-02 4.24238683e-04 9.98768392e-01 7.38123766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81038572299997 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:315.43, Y:209.95, Z:74.81 [[-3.85263479e-01 9.22519176e-01 2.30308755e-02 3.15431874e+02] [-9.21481834e-01 -3.85927391e-01 4.39463100e-02 2.09951867e+02] [ 4.94295594e-02 -4.29162512e-03 9.98768392e-01 7.48107912e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 493.87038572299997 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:210.34, Z:74.79 [[-3.84008090e-01 9.23140779e-01 1.86785668e-02 3.15591980e+02] [-9.22007729e-01 -3.84461947e-01 4.57248159e-02 2.10344007e+02] [ 4.93916403e-02 3.36916304e-04 9.98779431e-01 7.47887651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.930385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:315.58, Y:210.34, Z:74.79 [[-3.80385150e-01 9.24637890e-01 1.87592542e-02 3.15579748e+02] [-9.23508257e-01 -3.80847435e-01 4.56916890e-02 2.10341889e+02] [ 4.93926807e-02 5.61138379e-05 9.98779435e-01 7.47888200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.990385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:210.34, Z:74.79 [[-3.77415145e-01 9.25853767e-01 1.87779176e-02 3.15574529e+02] [-9.24726005e-01 -3.77881975e-01 4.56840176e-02 2.10343025e+02] [ 4.93925564e-02 -1.22588637e-04 9.98779435e-01 7.47883752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.050385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:315.57, Y:210.35, Z:74.79 [[-3.72753586e-01 9.27739884e-01 1.88008481e-02 3.15568386e+02] [-9.26614959e-01 -3.73227211e-01 4.56745788e-02 2.10352812e+02] [ 4.93911165e-02 -3.95784022e-04 9.98779436e-01 7.47893357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.110385723 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.35, Z:74.79 [[-3.70950684e-01 9.28461857e-01 1.88194144e-02 3.15560917e+02] [-9.27338241e-01 -3.71427406e-01 4.56669276e-02 2.10348268e+02] [ 4.93900467e-02 -5.11784620e-04 9.98779436e-01 7.47896907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.170385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.34, Z:74.79 [[-3.73248559e-01 9.27540061e-01 1.88400470e-02 3.15560359e+02] [-9.26415697e-01 -3.73723514e-01 4.56584140e-02 2.10343071e+02] [ 4.93909767e-02 -4.11777997e-04 9.98779436e-01 7.47890609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.230385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.34, Z:74.79 [[-3.76199582e-01 9.26346711e-01 1.88585942e-02 3.15561211e+02] [-9.25221224e-01 -3.76671868e-01 4.56507521e-02 2.10342875e+02] [ 4.93919259e-02 -2.74577744e-04 9.98779436e-01 7.47889485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.290385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.33, Z:74.79 [[-3.79188273e-01 9.25126925e-01 1.88792341e-02 3.15557243e+02] [-9.24000344e-01 -3.79657942e-01 4.56422147e-02 2.10329413e+02] [ 4.93924929e-02 -1.37426217e-04 9.98779437e-01 7.47912786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.350385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.33, Z:74.79 [[-3.78925560e-01 9.25233476e-01 1.89323578e-02 3.15556815e+02] [-9.24108127e-01 -3.79398169e-01 4.56201684e-02 2.10326298e+02] [ 4.93922089e-02 -2.08897797e-04 9.98779438e-01 7.47921620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.410385723 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.32, Z:74.79 [[-3.75931980e-01 9.26453459e-01 1.89508700e-02 3.15559069e+02] [-9.25330030e-01 -3.76409137e-01 4.56124770e-02 2.10322278e+02] [ 4.93911177e-02 -3.88620320e-04 9.98779438e-01 7.47928069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.470385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.32, Z:74.79 [[-3.70138029e-01 9.28783076e-01 1.89693792e-02 3.15559375e+02] [-9.27663043e-01 -3.70623102e-01 4.56047781e-02 2.10322702e+02] [ 4.93874363e-02 -7.17129327e-04 9.98779439e-01 7.47925973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.530385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.32, Z:74.79 [[-3.64547366e-01 9.30991192e-01 1.89899628e-02 3.15560871e+02] [-9.29874540e-01 -3.65040171e-01 4.55962055e-02 2.10322634e+02] [ 4.93817650e-02 -1.03630633e-03 9.98779439e-01 7.47917698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.590385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.32, Z:74.79 [[-3.60378026e-01 9.32612523e-01 1.90147160e-02 3.15560812e+02] [-9.31498629e-01 -3.60877032e-01 4.55858805e-02 2.10319358e+02] [ 4.93759373e-02 -1.28403221e-03 9.98779439e-01 7.47921311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.650385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.32, Z:74.79 [[-3.59558759e-01 9.32928272e-01 1.90351647e-02 3.15560122e+02] [-9.31815265e-01 -3.60059742e-01 4.55773402e-02 2.10318533e+02] [ 4.93741857e-02 -1.34952519e-03 9.98779439e-01 7.47926203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.31, Z:74.79 [[-3.61045177e-01 9.32353658e-01 1.90534958e-02 3.15558024e+02] [-9.31240256e-01 -3.61545280e-01 4.55696757e-02 2.10313063e+02] [ 4.93757553e-02 -1.29067065e-03 9.98779440e-01 7.47934410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:210.31, Z:74.79 [[-3.65017867e-01 9.30805147e-01 1.90718237e-02 3.15556604e+02] [-9.29690021e-01 -3.65514115e-01 4.55620038e-02 2.10308382e+02] [ 4.93803684e-02 -1.09993873e-03 9.98779440e-01 7.47923829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.55, Y:210.29, Z:74.79 [[-3.70029723e-01 9.28823756e-01 1.90901799e-02 3.15548386e+02] [-9.27706367e-01 -3.70520852e-01 4.55543114e-02 2.10290753e+02] [ 4.93852363e-02 -8.53632182e-04 9.98779440e-01 7.47921753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.25, Z:74.79 [[-3.76094129e-01 9.26384405e-01 1.91086398e-02 3.15531187e+02] [-9.25264222e-01 -3.76578850e-01 4.55465667e-02 2.10252141e+02] [ 4.93895387e-02 -5.50744455e-04 9.98779440e-01 7.47945168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.950385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:315.54, Y:210.26, Z:74.79 [[-3.75920091e-01 9.26451756e-01 1.92673020e-02 3.15535035e+02] [-9.25335086e-01 -3.76412815e-01 4.54793503e-02 2.10264194e+02] [ 4.93868834e-02 -7.32109036e-04 9.98779455e-01 7.47941744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.26, Z:74.79 [[-3.74539496e-01 9.27010323e-01 1.92880146e-02 3.15530446e+02] [-9.25894838e-01 -3.75034900e-01 4.54705643e-02 2.10256814e+02] [ 4.93853611e-02 -8.28150881e-04 9.98779455e-01 7.47945440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.070385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.27, Z:74.80 [[-3.72742549e-01 9.27733933e-01 1.93065298e-02 3.15533176e+02] [-9.26619816e-01 -3.73241020e-01 4.54627015e-02 2.10266277e+02] [ 4.93832798e-02 -9.43929826e-04 9.98779455e-01 7.47950660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.27, Z:74.80 [[-3.71920650e-01 9.28063346e-01 1.93249905e-02 3.15533435e+02] [-9.26950078e-01 -3.72421011e-01 4.54548530e-02 2.10265427e+02] [ 4.93820155e-02 -1.00770299e-03 9.98779456e-01 7.47951303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.190385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.25, Z:74.80 [[-3.73533483e-01 9.27414995e-01 1.93433533e-02 3.15527491e+02] [-9.26301261e-01 -3.74032807e-01 4.54470374e-02 2.10252911e+02] [ 4.93833127e-02 -9.41782373e-04 9.98779456e-01 7.47954550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.25, Z:74.79 [[-3.76314734e-01 9.26289557e-01 1.93617635e-02 3.15529070e+02] [-9.25174732e-01 -3.76811617e-01 4.54391927e-02 2.10253989e+02] [ 4.93855871e-02 -8.13576680e-04 9.98779456e-01 7.47946139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.25, Z:74.79 [[-3.77529204e-01 9.25794808e-01 1.93823077e-02 3.15528986e+02] [-9.24679781e-01 -3.78025632e-01 4.54304279e-02 2.10251909e+02] [ 4.93862634e-02 -7.71114796e-04 9.98779456e-01 7.47947672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.25, Z:74.80 [[-3.77993797e-01 9.25604786e-01 1.94027918e-02 3.15527556e+02] [-9.24489958e-01 -3.78490672e-01 4.54216777e-02 2.10249581e+02] [ 4.93862980e-02 -7.68573744e-04 9.98779457e-01 7.47960931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:210.24, Z:74.80 [[-3.78942666e-01 9.25216339e-01 1.94211602e-02 3.15526239e+02] [-9.24101403e-01 -3.79439298e-01 4.54138224e-02 2.10242590e+02] [ 4.93867620e-02 -7.37886482e-04 9.98779457e-01 7.47960374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:209.64, Z:75.80 [[-3.36905602e-01 9.41337729e-01 1.94395447e-02 3.16130179e+02] [-9.40246724e-01 -3.37452808e-01 4.54059516e-02 2.09642507e+02] [ 4.93022643e-02 -2.98044872e-03 9.98779457e-01 7.58004374e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 495.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:209.64, Z:75.80 [[-3.41593256e-01 9.39685396e-01 1.74758226e-02 3.16128330e+02] [-9.38551680e-01 -3.42039399e-01 4.61496842e-02 2.09638536e+02] [ 4.93436042e-02 -6.37541731e-04 9.98781659e-01 7.58002263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:209.98, Z:75.78 [[-3.45752382e-01 9.38161156e-01 1.75765442e-02 3.16260958e+02] [-9.37027418e-01 -3.46198451e-01 4.61112918e-02 2.09978026e+02] [ 4.93447952e-02 -5.26614882e-04 9.98781665e-01 7.57837430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:209.97, Z:75.79 [[-3.55199086e-01 9.34623274e-01 1.76902470e-02 3.16252816e+02] [-9.33487258e-01 -3.55639302e-01 4.60676296e-02 2.09968839e+02] [ 4.93472259e-02 -1.50440270e-04 9.98781672e-01 7.57936339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:209.97, Z:75.79 [[-3.56492984e-01 9.34130114e-01 1.77110683e-02 3.16257243e+02] [-9.32993886e-01 -3.56932653e-01 4.60596234e-02 2.09970671e+02] [ 4.93473398e-02 -1.04385840e-04 9.98781672e-01 7.57852444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.790385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:209.96, Z:75.79 [[-3.63643050e-01 9.31369630e-01 1.77297591e-02 3.16248033e+02] [-9.30230416e-01 -3.64074920e-01 4.60524276e-02 2.09958292e+02] [ 4.93467931e-02 2.53884073e-04 9.98781673e-01 7.57946744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.850385723 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:316.82, Y:209.20, Z:76.80 [[-2.79979505e-01 9.59841727e-01 1.77577059e-02 3.16817389e+02] [-9.58745743e-01 -2.80511615e-01 4.60416489e-02 2.09200546e+02] [ 4.91739385e-02 -4.13440687e-03 9.98781673e-01 7.67974338e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 495.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.88, Y:209.42, Z:76.79 [[-2.80803786e-01 9.59670010e-01 1.35168705e-02 3.16881430e+02] [-9.58505906e-01 -2.81128750e-01 4.72551943e-02 2.09423870e+02] [ 4.91493737e-02 3.13437245e-04 9.98791390e-01 7.67875147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.46, Z:77.74 [[-2.08397777e-01 9.77899718e-01 1.68079939e-02 3.17705856e+02] [-9.76826094e-01 -2.08964917e-01 4.63081610e-02 2.09464483e+02] [ 4.87970186e-02 -6.76796927e-03 9.98785786e-01 7.77423249e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 496.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.46, Z:77.74 [[-2.05652049e-01 9.78573206e-01 1.00854041e-02 3.17707493e+02] [-9.77408504e-01 -2.05899196e-01 4.77298340e-02 2.09460047e+02] [ 4.87837133e-02 -4.18215291e-05 9.98809365e-01 7.77389609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.090385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:317.61, Y:209.02, Z:77.76 [[-2.04244397e-01 9.78867750e-01 1.01071053e-02 3.17613682e+02] [-9.77703632e-01 -2.04494277e-01 4.77252382e-02 2.09016110e+02] [ 4.87835418e-02 -1.34141097e-04 9.98809365e-01 7.77576210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.45, Z:77.74 [[-2.05019034e-01 9.78705615e-01 1.01249693e-02 3.17705937e+02] [-9.77541486e-01 -2.05268864e-01 4.77214480e-02 2.09451077e+02] [ 4.87835901e-02 -1.13772347e-04 9.98809365e-01 7.77370156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.45, Z:77.74 [[-2.03224650e-01 9.79079095e-01 1.01915213e-02 3.17706528e+02] [-9.77916136e-01 -2.03479856e-01 4.77072309e-02 2.09451062e+02] [ 4.87829218e-02 -2.71167822e-04 9.98809368e-01 7.77360778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.45, Z:77.74 [[-2.01504363e-01 9.79434370e-01 1.02131076e-02 3.17705804e+02] [-9.78272094e-01 -2.01762663e-01 4.77026093e-02 2.09448457e+02] [ 4.87821989e-02 -3.78914317e-04 9.98809368e-01 7.77372040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.44, Z:77.74 [[-1.99614225e-01 9.79821113e-01 1.02346547e-02 3.17705291e+02] [-9.78659573e-01 -1.99875816e-01 4.76979859e-02 2.09444381e+02] [ 4.87811536e-02 -4.95046341e-04 9.98809368e-01 7.77378744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.70, Y:209.44, Z:77.74 [[-2.01034297e-01 9.79530511e-01 1.02561921e-02 3.17703869e+02] [-9.78368829e-01 -2.01295253e-01 4.76933544e-02 2.09435092e+02] [ 4.87816186e-02 -4.46338635e-04 9.98809368e-01 7.77398284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.43, Z:77.74 [[-2.04040054e-01 9.78908588e-01 1.02777645e-02 3.17707777e+02] [-9.77746344e-01 -2.04298494e-01 4.76887052e-02 2.09433801e+02] [ 4.87826149e-02 -3.18640619e-04 9.98809369e-01 7.77390759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.43, Z:77.74 [[-2.06830086e-01 9.78322643e-01 1.03015725e-02 3.17712435e+02] [-9.77159922e-01 -2.07086372e-01 4.76835617e-02 2.09434307e+02] [ 4.87832234e-02 -2.03888562e-04 9.98809369e-01 7.77384574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.40, Z:77.74 [[-2.10676258e-01 9.77501173e-01 1.03426480e-02 3.17706034e+02] [-9.76337889e-01 -2.10929972e-01 4.76746508e-02 2.09403134e+02] [ 4.87836015e-02 -5.40020849e-05 9.98809370e-01 7.77425335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.41, Z:77.74 [[-2.09417358e-01 9.77771374e-01 1.03687414e-02 3.17710835e+02] [-9.76608698e-01 -2.09673842e-01 4.76689750e-02 2.09406551e+02] [ 4.87834131e-02 -1.43492291e-04 9.98809370e-01 7.77412647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.41, Z:77.74 [[-2.06202477e-01 9.78454177e-01 1.03904826e-02 3.17711777e+02] [-9.77292588e-01 -2.06463840e-01 4.76642356e-02 2.09409766e+02] [ 4.87825294e-02 -3.26058231e-04 9.98809370e-01 7.77411888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:209.42, Z:77.74 [[-1.98174742e-01 9.80111329e-01 1.04189903e-02 3.17715450e+02] [-9.78952247e-01 -1.98447004e-01 4.76580033e-02 2.09416858e+02] [ 4.87777663e-02 -7.55081505e-04 9.98809371e-01 7.77405312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.40, Z:77.74 [[-1.94474906e-01 9.80851930e-01 1.04404281e-02 3.17712945e+02] [-9.79694133e-01 -1.94752581e-01 4.76533065e-02 2.09401708e+02] [ 4.87741379e-02 -9.61053866e-04 9.98809371e-01 7.77444941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.40, Z:77.74 [[-1.93828663e-01 9.80979646e-01 1.04586220e-02 3.17713911e+02] [-9.79822246e-01 -1.94107985e-01 4.76493131e-02 2.09398087e+02] [ 4.87731083e-02 -1.01178782e-03 9.98809371e-01 7.77445681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:209.39, Z:77.74 [[-1.93769807e-01 9.80990412e-01 1.05390996e-02 3.17716917e+02] [-9.79833982e-01 -1.94053104e-01 4.76315065e-02 2.09389489e+02] [ 4.87711962e-02 -1.09702014e-03 9.98809375e-01 7.77431491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:209.40, Z:77.74 [[-1.92808189e-01 9.81179636e-01 1.05604597e-02 3.17724211e+02] [-9.80023740e-01 -1.93093656e-01 4.76267703e-02 2.09395679e+02] [ 4.87695749e-02 -1.16666986e-03 9.98809375e-01 7.77370140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.73, Y:209.39, Z:77.74 [[-1.94288032e-01 9.80887472e-01 1.05795833e-02 3.17727717e+02] [-9.79731375e-01 -1.94572683e-01 4.76225219e-02 2.09387185e+02] [ 4.87708330e-02 -1.11266366e-03 9.98809375e-01 7.77372060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:317.66, Y:209.06, Z:77.75 [[-1.96716671e-01 9.80403091e-01 1.05986594e-02 3.17656831e+02] [-9.79246518e-01 -1.96999384e-01 4.76182760e-02 2.09059660e+02] [ 4.87730343e-02 -1.01139159e-03 9.98809375e-01 7.77524689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:209.30, Z:77.74 [[-1.95539023e-01 9.80638442e-01 1.06177522e-02 3.17716775e+02] [-9.79482438e-01 -1.95824051e-01 4.76140184e-02 2.09299855e+02] [ 4.87713481e-02 -1.08950318e-03 9.98809376e-01 7.77422259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.230385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:317.70, Y:209.20, Z:77.74 [[-1.96748295e-01 9.80395525e-01 1.07108490e-02 3.17698409e+02] [-9.79240293e-01 -1.97036416e-01 4.75930671e-02 2.09200817e+02] [ 4.87704574e-02 -1.12464003e-03 9.98809380e-01 7.77446972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.67, Y:209.05, Z:77.76 [[-2.00528441e-01 9.79629128e-01 1.07292435e-02 3.17667603e+02] [-9.78473012e-01 -2.00812996e-01 4.75889200e-02 2.09050088e+02] [ 4.87740637e-02 -9.55343315e-04 9.98809380e-01 7.77550644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.350385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.23, Z:77.75 [[-2.00871094e-01 9.79558731e-01 1.07469359e-02 3.17714472e+02] [-9.78402727e-01 -2.01156104e-01 4.75849242e-02 2.09234775e+02] [ 4.87740397e-02 -9.56395637e-04 9.98809380e-01 7.77478562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.21, Z:77.75 [[-2.01028338e-01 9.79526140e-01 1.07772114e-02 3.17713441e+02] [-9.78370455e-01 -2.01314633e-01 4.75780663e-02 2.09212336e+02] [ 4.87735700e-02 -9.79565668e-04 9.98809381e-01 7.77506264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.470385723 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.18, Z:77.76 [[-2.01563458e-01 9.79415971e-01 1.07948086e-02 3.17709138e+02] [-9.78260341e-01 -2.01849976e-01 4.75740734e-02 2.09183205e+02] [ 4.87737392e-02 -9.70938398e-04 9.98809381e-01 7.77599217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.530385723 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:317.71, Y:209.18, Z:77.75 [[-2.00250858e-01 9.79684978e-01 1.08138043e-02 3.17714774e+02] [-9.78529963e-01 -2.00539847e-01 4.75697553e-02 2.09179369e+02] [ 4.87719733e-02 -1.05574716e-03 9.98809381e-01 7.77539616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.590385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:209.33, Z:77.75 [[-2.02078438e-01 9.79309412e-01 1.08341960e-02 3.17755821e+02] [-9.78154107e-01 -2.02366261e-01 4.75651105e-02 2.09330312e+02] [ 4.87734362e-02 -9.85630074e-04 9.98809381e-01 7.77478515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.650385723 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:209.33, Z:77.75 [[-2.02790731e-01 9.79161885e-01 1.08591682e-02 3.17757886e+02] [-9.78006673e-01 -2.03078926e-01 4.75594087e-02 2.09329720e+02] [ 4.87736285e-02 -9.75731744e-04 9.98809382e-01 7.77485535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.710385723 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:317.76, Y:209.33, Z:77.75 [[-2.01715783e-01 9.79383710e-01 1.08762268e-02 3.17761888e+02] [-9.78229022e-01 -2.02006073e-01 4.75555073e-02 2.09328010e+02] [ 4.87721530e-02 -1.04674432e-03 9.98809382e-01 7.77483269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.770385723 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:318.36, Y:209.13, Z:78.71 [[-1.79377439e-01 9.83720017e-01 1.08932601e-02 3.18363284e+02] [-9.82572461e-01 -1.79694751e-01 4.75516052e-02 2.09133685e+02] [ 4.87349276e-02 -2.17373222e-03 9.98809382e-01 7.87111103e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 497.830385723 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.13, Z:78.71 [[-1.78596429e-01 9.83872855e-01 9.87525938e-03 3.18365074e+02] [-9.82713567e-01 -1.78865385e-01 4.77621132e-02 2.09133370e+02] [ 4.87581888e-02 -1.17440850e-03 9.98809922e-01 7.87132844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.890385723 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.13, Z:78.71 [[-1.78264577e-01 9.83932865e-01 9.89233236e-03 3.18367186e+02] [-9.82773860e-01 -1.78534752e-01 4.77585769e-02 2.09130703e+02] [ 4.87573585e-02 -1.20826316e-03 9.98809922e-01 7.87137035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.950385723 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.13, Z:78.71 [[-1.80456570e-01 9.83533038e-01 9.90910408e-03 3.18370219e+02] [-9.82373622e-01 -1.80724976e-01 4.77550968e-02 2.09125026e+02] [ 4.87595380e-02 -1.11672151e-03 9.98809922e-01 7.87127729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.010385723 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.12, Z:78.71 [[-1.82577488e-01 9.83141359e-01 9.92617454e-03 3.18371105e+02] [-9.81981558e-01 -1.82844222e-01 4.77515483e-02 2.09120601e+02] [ 4.87614658e-02 -1.02896260e-03 9.98809922e-01 7.87127397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.070385723 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.12, Z:78.71 [[-1.83676149e-01 9.82936521e-01 9.94321154e-03 3.18372295e+02] [-9.81776613e-01 -1.83942413e-01 4.77480005e-02 2.09118672e+02] [ 4.87622318e-02 -9.91843705e-04 9.98809922e-01 7.87128841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.12, Z:78.72 [[-1.85128414e-01 9.82663860e-01 9.96030861e-03 3.18373151e+02] [-9.81503749e-01 -1.85393794e-01 4.77444338e-02 2.09116011e+02] [ 4.87633090e-02 -9.37228951e-04 9.98809923e-01 7.87156764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.190385723 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:209.11, Z:78.72 [[-1.85798544e-01 9.82537208e-01 9.97676224e-03 3.18374237e+02] [-9.81377099e-01 -1.86063932e-01 4.77409953e-02 2.09112704e+02] [ 4.87636199e-02 -9.20758573e-04 9.98809923e-01 7.87174344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.250385723 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:318.95, Y:208.94, Z:79.67 [[-1.55212074e-01 9.87830621e-01 9.99380608e-03 3.18946994e+02] [-9.86679524e-01 -1.55514165e-01 4.77374272e-02 2.08937719e+02] [ 4.87106708e-02 -2.45125875e-03 9.98809923e-01 7.96721128e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 498.31038572299997 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:318.95, Y:208.93, Z:79.67 [[-1.59001622e-01 9.87242283e-01 8.43558155e-03 3.18948769e+02] [-9.86074394e-01 -1.59223763e-01 4.80112693e-02 2.08930358e+02] [ 4.87419001e-02 -6.84241258e-04 9.98811173e-01 7.96719217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37038572299997 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:318.94, Y:208.86, Z:79.68 [[-1.60881688e-01 9.86937502e-01 8.45275914e-03 3.18937087e+02] [-9.85769351e-01 -1.61102439e-01 4.80082448e-02 2.08858737e+02] [ 4.87428974e-02 -6.08823430e-04 9.98811173e-01 7.96761168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.95, Y:208.92, Z:79.67 [[-1.61838396e-01 9.86780940e-01 8.46815373e-03 3.18947766e+02] [-9.85612716e-01 -1.62058764e-01 4.80055292e-02 2.08920478e+02] [ 4.87432798e-02 -5.77182157e-04 9.98811173e-01 7.96728196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.490385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:318.95, Y:208.92, Z:79.67 [[-1.60569770e-01 9.86988014e-01 8.48587694e-03 3.18946578e+02] [-9.85820238e-01 -1.60792501e-01 4.80023961e-02 2.08922791e+02] [ 4.87422550e-02 -6.57815537e-04 9.98811173e-01 7.96696561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.550385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:318.95, Y:208.92, Z:79.67 [[-1.57492174e-01 9.87483626e-01 8.50312097e-03 3.18945281e+02] [-9.86316714e-01 -1.57719382e-01 4.79993414e-02 2.08923522e+02] [ 4.87396706e-02 -8.27249714e-04 9.98811173e-01 7.96661114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.610385723 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:208.76, Z:80.63 [[-1.24367602e-01 9.92199629e-01 8.52031577e-03 3.19525583e+02] [-9.91041162e-01 -1.24634552e-01 4.79962889e-02 2.08763302e+02] [ 4.86838258e-02 -2.47480029e-03 9.98811174e-01 8.06338673e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 498.670385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:208.77, Z:80.63 [[-1.22688660e-01 9.92421228e-01 6.89915162e-03 3.19526999e+02] [-9.91249100e-01 -1.22879030e-01 4.82282658e-02 2.08773192e+02] [ 4.87105158e-02 -9.21716511e-04 9.98812513e-01 8.06292607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:208.76, Z:80.63 [[-1.25975783e-01 9.92009206e-01 6.91642101e-03 3.19522581e+02] [-9.90836588e-01 -1.26163108e-01 4.82257890e-02 2.08757319e+02] [ 4.87130239e-02 -7.77761462e-04 9.98812513e-01 8.06317772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.790385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:208.75, Z:80.63 [[-1.27915062e-01 9.91760889e-01 6.93363828e-03 3.19519647e+02] [-9.90588039e-01 -1.28100931e-01 4.82233135e-02 2.08750732e+02] [ 4.87142018e-02 -6.99891008e-04 9.98812513e-01 8.06300648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.850385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:208.75, Z:80.63 [[-1.29631352e-01 9.91537895e-01 6.95096186e-03 3.19515708e+02] [-9.90364857e-01 -1.29816033e-01 4.82208164e-02 2.08749417e+02] [ 4.87151130e-02 -6.33058753e-04 9.98812513e-01 8.06300105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.51, Y:208.74, Z:80.63 [[-1.31074001e-01 9.91348066e-01 6.97275021e-03 3.19513472e+02] [-9.90174926e-01 -1.31258035e-01 4.82176656e-02 2.08744086e+02] [ 4.87157190e-02 -5.84160075e-04 9.98812514e-01 8.06290572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.51, Y:208.74, Z:80.63 [[-1.32268166e-01 9.91189321e-01 6.99015357e-03 3.19508864e+02] [-9.90016093e-01 -1.32451633e-01 4.82151425e-02 2.08740394e+02] [ 4.87161916e-02 -5.43036067e-04 9.98812514e-01 8.06283304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.030385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:319.50, Y:208.74, Z:80.63 [[-1.31727699e-01 9.91261155e-01 7.00974084e-03 3.19503529e+02] [-9.90088177e-01 -1.31912759e-01 4.82122946e-02 2.08737558e+02] [ 4.87156491e-02 -5.89366878e-04 9.98812514e-01 8.06270996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.090385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:319.50, Y:208.74, Z:80.63 [[-1.30505635e-01 9.91422664e-01 7.02717774e-03 3.19501428e+02] [-9.90250051e-01 -1.30692988e-01 4.82097530e-02 2.08740636e+02] [ 4.87146446e-02 -6.67018699e-04 9.98812514e-01 8.06253748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:319.49, Y:208.68, Z:80.63 [[-1.30143919e-01 9.91470087e-01 7.04458916e-03 3.19486149e+02] [-9.90297679e-01 -1.30332546e-01 4.82072086e-02 2.08682748e+02] [ 4.87141446e-02 -7.02365253e-04 9.98812514e-01 8.06342026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:208.67, Z:80.63 [[-1.31044277e-01 9.91351366e-01 7.06167221e-03 3.19478587e+02] [-9.90178920e-01 -1.31232670e-01 4.82047061e-02 2.08671655e+02] [ 4.87145233e-02 -6.75368106e-04 9.98812514e-01 8.06346766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.270385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:208.72, Z:80.63 [[-1.33577461e-01 9.91013087e-01 7.07976992e-03 3.19480547e+02] [-9.89840303e-01 -1.33763737e-01 4.82020479e-02 2.08715599e+02] [ 4.87158768e-02 -5.69134426e-04 9.98812515e-01 8.06316344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.330385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:208.73, Z:80.62 [[-1.34786941e-01 9.90849167e-01 7.09990672e-03 3.19482244e+02] [-9.89676311e-01 -1.34972765e-01 4.81990817e-02 2.08729349e+02] [ 4.87163140e-02 -5.30002694e-04 9.98812515e-01 8.06241618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:208.73, Z:80.63 [[-1.36742914e-01 9.90580984e-01 7.11959582e-03 3.19478509e+02] [-9.89407915e-01 -1.36927380e-01 4.81961732e-02 2.08725069e+02] [ 4.87170803e-02 -4.53699284e-04 9.98812515e-01 8.06254265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:208.74, Z:80.63 [[-1.38700243e-01 9.90308676e-01 7.13917537e-03 3.19477965e+02] [-9.89135393e-01 -1.38883343e-01 4.81932728e-02 2.08738613e+02] [ 4.87177287e-02 -3.77192364e-04 9.98812515e-01 8.06265117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.510385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:208.70, Z:80.62 [[-1.42551022e-01 9.89761567e-01 7.15865310e-03 3.19468157e+02] [-9.88587725e-01 -1.42730505e-01 4.81903794e-02 2.08703759e+02] [ 4.87187436e-02 -2.07368756e-04 9.98812515e-01 8.06244636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.16, Y:208.56, Z:81.61 [[-8.65509606e-02 9.96192809e-01 1.04315923e-02 3.20160156e+02] [-9.95069884e-01 -8.69528693e-02 4.76982663e-02 2.08555519e+02] [ 4.84237268e-02 -6.25183260e-03 9.98807317e-01 8.16122489e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 499.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.16, Y:208.55, Z:81.61 [[-8.89274913e-02 9.96028106e-01 4.46241995e-03 3.20158716e+02] [-9.94858700e-01 -8.90392600e-02 4.82511884e-02 2.08546930e+02] [ 4.84568703e-02 -1.48620178e-04 9.98825265e-01 8.16083762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:208.55, Z:81.61 [[-9.15168241e-02 9.95793424e-01 4.48629434e-03 3.20153470e+02] [-9.94623840e-01 -9.16267088e-02 4.82489685e-02 2.08545363e+02] [ 4.84570699e-02 -4.65829439e-05 9.98825265e-01 8.16092222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.51, Z:81.61 [[-9.51153085e-02 9.95456065e-01 4.50573468e-03 3.20141152e+02] [-9.94286176e-01 -9.52219075e-02 4.82471530e-02 2.08512778e+02] [ 4.84569657e-02 1.09053132e-04 9.98825265e-01 8.16104146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.52, Z:81.61 [[-9.42934532e-02 9.95534130e-01 4.53212259e-03 3.20134727e+02] [-9.94364449e-01 -9.44022968e-02 4.82446741e-02 2.08517528e+02] [ 4.84570625e-02 4.25753408e-05 9.98825266e-01 8.16095809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.52, Z:81.61 [[-9.29049273e-02 9.95664559e-01 4.55639236e-03 3.20128978e+02] [-9.94495143e-01 -9.30165781e-02 4.82423819e-02 2.08519542e+02] [ 4.84570499e-02 -4.93550822e-05 9.98825266e-01 8.16136842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.49, Z:81.61 [[-9.34775917e-02 9.95610857e-01 4.57828169e-03 3.20123488e+02] [-9.94441478e-01 -9.35896304e-02 4.82403045e-02 2.08488662e+02] [ 4.84570506e-02 -4.34457267e-05 9.98825266e-01 8.16101069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.51, Z:81.61 [[-9.20535504e-02 9.95743442e-01 4.59808395e-03 3.20117524e+02] [-9.94574318e-01 -9.21682208e-02 4.82384169e-02 2.08507140e+02] [ 4.84568845e-02 -1.32618666e-04 9.98825266e-01 8.16098983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.050385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.52, Z:81.61 [[-9.06718565e-02 9.95870096e-01 4.62246908e-03 3.20113504e+02] [-9.94701251e-01 -9.07893301e-02 4.82360801e-02 2.08522437e+02] [ 4.84565406e-02 -2.24320835e-04 9.98825267e-01 8.16132411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.51, Z:81.61 [[-9.27498597e-02 9.95678600e-01 4.64650090e-03 3.20113432e+02] [-9.94509628e-01 -9.28660580e-02 4.82337651e-02 2.08514019e+02] [ 4.84568299e-02 -1.47314937e-04 9.98825267e-01 8.16137945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.50, Z:81.61 [[-9.54454321e-02 9.95423718e-01 4.66816899e-03 3.20113256e+02] [-9.94254538e-01 -9.55595148e-02 4.82316679e-02 2.08501816e+02] [ 4.84570342e-02 -3.78558153e-05 9.98825267e-01 8.16148751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.50, Z:81.61 [[-9.16350085e-02 9.95781607e-01 4.69216602e-03 3.20116467e+02] [-9.94612991e-01 -9.17547274e-02 4.82293333e-02 2.08504176e+02] [ 4.84564114e-02 -2.47393911e-04 9.98825268e-01 8.16098322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.49, Z:81.61 [[-8.88181340e-02 9.96036705e-01 4.71392090e-03 3.20114786e+02] [-9.94868544e-01 -8.89422111e-02 4.82272069e-02 2.08486701e+02] [ 4.84553348e-02 -4.06281094e-04 9.98825268e-01 8.16097138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.49, Z:81.61 [[-8.43306743e-02 9.96426570e-01 4.73572782e-03 3.20117938e+02] [-9.95259098e-01 -8.44610672e-02 4.82250655e-02 2.08488056e+02] [ 4.84527212e-02 -6.46423904e-04 9.98825268e-01 8.16074921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.410385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.49, Z:81.60 [[-8.48612312e-02 9.96381421e-01 4.75758702e-03 3.20118839e+02] [-9.95213997e-01 -8.49920603e-02 4.82229089e-02 2.08487093e+02] [ 4.84527676e-02 -6.42561773e-04 9.98825268e-01 8.16041591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.48, Z:81.61 [[-8.61178911e-02 9.96273490e-01 4.77937648e-03 3.20120303e+02] [-9.95106019e-01 -8.62483021e-02 4.82207492e-02 2.08484198e+02] [ 4.84532672e-02 -6.03317071e-04 9.98825268e-01 8.16077210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.47, Z:81.61 [[-8.79865334e-02 9.96110094e-01 4.80113519e-03 3.20121310e+02] [-9.94942497e-01 -8.81158074e-02 4.82185827e-02 2.08468750e+02] [ 4.84540729e-02 -5.34267496e-04 9.98825269e-01 8.16095315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.47, Z:81.61 [[-9.00643694e-02 9.95924268e-01 4.82296808e-03 3.20122170e+02] [-9.94756520e-01 -9.01922643e-02 4.82163989e-02 2.08469440e+02] [ 4.84548762e-02 -4.55099390e-04 9.98825269e-01 8.16111129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.45, Z:81.61 [[-9.38148495e-02 9.95577873e-01 4.84485339e-03 3.20120106e+02] [-9.94409764e-01 -9.39394051e-02 4.82141997e-02 2.08445920e+02] [ 4.84561130e-02 -2.94561625e-04 9.98825269e-01 8.16125631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.44, Z:81.61 [[-9.51110586e-02 9.95454121e-01 4.99800681e-03 3.20117718e+02] [-9.94286667e-01 -9.52415094e-02 4.81983188e-02 2.08439189e+02] [ 4.84552328e-02 -3.85258409e-04 9.98825281e-01 8.16121225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.44, Z:81.61 [[-9.51756726e-02 9.95447835e-01 5.01978511e-03 3.20117862e+02] [-9.94280492e-01 -9.53071020e-02 4.81960505e-02 2.08441794e+02] [ 4.84550753e-02 -4.03982881e-04 9.98825281e-01 8.16113315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.44, Z:81.61 [[-9.57048812e-02 9.95396985e-01 5.04153262e-03 3.20115575e+02] [-9.94229691e-01 -9.58367429e-02 4.81937755e-02 2.08436302e+02] [ 4.84551029e-02 -4.00061857e-04 9.98825282e-01 8.16116653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.42, Z:81.61 [[-9.46231328e-02 9.95500289e-01 5.06324173e-03 3.20111905e+02] [-9.94333260e-01 -9.47573138e-02 4.81914947e-02 2.08421550e+02] [ 4.84544261e-02 -4.74519454e-04 9.98825282e-01 8.16145947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.43, Z:81.62 [[-9.56212080e-02 9.95404806e-01 5.08504794e-03 3.20111504e+02] [-9.94237763e-01 -9.57552744e-02 4.81891936e-02 2.08426253e+02] [ 4.84546751e-02 -4.47837779e-04 9.98825282e-01 8.16157871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.42, Z:81.61 [[-9.77530561e-02 9.95197587e-01 5.10912166e-03 3.20111415e+02] [-9.94030392e-01 -9.78857881e-02 4.81866412e-02 2.08420696e+02] [ 4.84553394e-02 -3.68230771e-04 9.98825282e-01 8.16146363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.40, Z:81.61 [[-9.93668035e-02 9.95037644e-01 5.13088036e-03 3.20110577e+02] [-9.93870354e-01 -9.94986961e-02 4.81843242e-02 2.08404627e+02] [ 4.84557323e-02 -3.11507606e-04 9.98825283e-01 8.16137812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.41, Z:81.61 [[-9.94310161e-02 9.95031116e-01 5.15274323e-03 3.20111434e+02] [-9.93863938e-01 -9.95638921e-02 4.81819861e-02 2.08405600e+02] [ 4.84556026e-02 -3.30341841e-04 9.98825283e-01 8.16139495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.41, Z:81.61 [[-9.82862464e-02 9.95144732e-01 5.17465078e-03 3.20112928e+02] [-9.93977830e-01 -9.84215256e-02 4.81796332e-02 2.08407451e+02] [ 4.84550052e-02 -4.08092849e-04 9.98825283e-01 8.16142827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.250385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.41, Z:81.62 [[-9.60801006e-02 9.95360041e-01 5.19647373e-03 3.20114262e+02] [-9.94193567e-01 -9.62190223e-02 4.81772794e-02 2.08407207e+02] [ 4.84537384e-02 -5.37422911e-04 9.98825283e-01 8.16151037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.40, Z:81.62 [[-9.34149840e-02 9.95613585e-01 5.21822819e-03 3.20116274e+02] [-9.94447617e-01 -9.35580805e-02 4.81749230e-02 2.08403859e+02] [ 4.84518152e-02 -6.88994924e-04 9.98825283e-01 8.16163106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.40, Z:81.62 [[-9.06090557e-02 9.95872754e-01 5.23994416e-03 3.20116791e+02] [-9.94707326e-01 -9.07564874e-02 4.81725608e-02 2.08400495e+02] [ 4.84492997e-02 -8.47340592e-04 9.98825284e-01 8.16171566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.39, Z:81.62 [[-8.86960837e-02 9.96044838e-01 5.26164367e-03 3.20118107e+02] [-9.94879831e-01 -8.88468027e-02 4.81701906e-02 2.08391270e+02] [ 4.84471499e-02 -9.62195911e-04 9.98825284e-01 8.16172242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.490385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.39, Z:81.62 [[-8.81233688e-02 9.96095388e-01 5.31507944e-03 3.20119812e+02] [-9.94930808e-01 -8.82773403e-02 4.81642939e-02 2.08388636e+02] [ 4.84454321e-02 -1.04373645e-03 9.98825285e-01 8.16172664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.38, Z:81.62 [[-8.80817227e-02 9.96098956e-01 5.33672384e-03 3.20120582e+02] [-9.94934521e-01 -8.82367889e-02 4.81618955e-02 2.08381023e+02] [ 4.84449092e-02 -1.06750805e-03 9.98825286e-01 8.16171818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.610385723 meters Centerline goodness : 0.994358 with order 1 Centerline is valid? [True, True] Translation: X:320.03, Y:207.57, Z:81.65 [[-8.69092288e-02 9.96201812e-01 5.36061827e-03 3.20033543e+02] [-9.95037716e-01 -8.70668200e-02 4.81592358e-02 2.07565047e+02] [ 4.84430500e-02 -1.14853532e-03 9.98825286e-01 8.16484679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.37, Z:81.62 [[-9.23353478e-02 9.95713650e-01 5.33962418e-03 3.20126425e+02] [-9.94548582e-01 -9.24855795e-02 4.81615634e-02 2.08368226e+02] [ 4.84489643e-02 -8.63500945e-04 9.98825286e-01 8.16159588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.35, Z:81.62 [[-9.44816956e-02 9.95511579e-01 5.46855931e-03 3.20124849e+02] [-9.94347006e-01 -9.46356501e-02 4.81469193e-02 2.08354665e+02] [ 4.84483363e-02 -8.88642999e-04 9.98825295e-01 8.16169982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.36, Z:81.62 [[-9.65704710e-02 9.95311020e-01 5.48803141e-03 3.20126800e+02] [-9.94146249e-01 -9.67229230e-02 4.81446997e-02 2.08358031e+02] [ 4.84497686e-02 -8.06549512e-04 9.98825295e-01 8.16186244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.35, Z:81.62 [[-9.85416317e-02 9.95117676e-01 5.50974795e-03 3.20128587e+02] [-9.93952742e-01 -9.86928268e-02 4.81422143e-02 2.08352824e+02] [ 4.84509410e-02 -7.32416731e-04 9.98825295e-01 8.16193793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.35, Z:81.62 [[-1.00395348e-01 9.94932260e-01 5.52920506e-03 3.20130001e+02] [-9.93767167e-01 -1.00545314e-01 4.81399795e-02 2.08349183e+02] [ 4.84519543e-02 -6.61712459e-04 9.98825295e-01 8.16201244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.34, Z:81.62 [[-1.02588974e-01 9.94708357e-01 5.54867434e-03 3.20131382e+02] [-9.93543055e-01 -1.02737313e-01 4.81377354e-02 2.08342087e+02] [ 4.84530635e-02 -5.74445965e-04 9.98825295e-01 8.16199278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:208.12, Z:81.62 [[-1.01253904e-01 9.94844997e-01 5.57487548e-03 3.20109870e+02] [-9.93680060e-01 -1.01405074e-01 4.81347008e-02 2.08121380e+02] [ 4.84518869e-02 -6.65816227e-04 9.98825296e-01 8.16232705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.33, Z:81.62 [[-1.00693780e-01 9.94901813e-01 5.58076058e-03 3.20136822e+02] [-9.93736999e-01 -1.00845891e-01 4.81340185e-02 2.08330887e+02] [ 4.84514190e-02 -6.99011987e-04 9.98825296e-01 8.16156867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.33, Z:81.62 [[-9.87778507e-02 9.95093687e-01 5.61161040e-03 3.20137353e+02] [-9.93929367e-01 -9.89336955e-02 4.81304217e-02 2.08330977e+02] [ 4.84494561e-02 -8.23324765e-04 9.98825296e-01 8.16173801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.210385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.33, Z:81.62 [[-9.70142339e-02 9.95267052e-01 5.63330623e-03 3.20139526e+02] [-9.94103153e-01 -9.71731905e-02 4.81278822e-02 2.08330592e+02] [ 4.84475018e-02 -9.30997863e-04 9.98825296e-01 8.16176493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:208.34, Z:81.61 [[-9.40217266e-02 9.95554098e-01 5.65273077e-03 3.20147616e+02] [-9.94390813e-01 -9.41851201e-02 4.81256007e-02 2.08340799e+02] [ 4.84440421e-02 -1.09617148e-03 9.98825297e-01 8.16141179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:208.33, Z:81.61 [[-9.45328782e-02 9.95505582e-01 5.67203523e-03 3.20151545e+02] [-9.94342345e-01 -9.46966071e-02 4.81233254e-02 2.08332960e+02] [ 4.84441615e-02 -1.09070835e-03 9.98825297e-01 8.16113088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.09, Z:81.63 [[-1.02690026e-01 9.94697124e-01 5.69127334e-03 3.20117086e+02] [-9.93532707e-01 -1.02845145e-01 4.81210501e-02 2.08090363e+02] [ 4.84511899e-02 -7.12914317e-04 9.98825297e-01 8.16253807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:208.31, Z:81.61 [[-1.03237033e-01 9.94640365e-01 5.71476373e-03 3.20145953e+02] [-9.93476016e-01 -1.03392648e-01 4.81182602e-02 2.08305007e+02] [ 4.84512285e-02 -7.09894274e-04 9.98825297e-01 8.16107915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.510385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:208.30, Z:81.62 [[-1.07058480e-01 9.94235998e-01 5.76735940e-03 3.20146461e+02] [-9.93071393e-01 -1.07212164e-01 4.81119555e-02 2.08304466e+02] [ 4.84529691e-02 -5.76606820e-04 9.98825299e-01 8.16161026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.570385723 meters Centerline goodness : 0.995186 with order 1 Centerline is valid? [True, True] Translation: X:320.05, Y:207.51, Z:81.65 [[-1.11070029e-01 9.93795734e-01 5.78679053e-03 3.20049233e+02] [-9.92630640e-01 -1.11219953e-01 4.81096182e-02 2.07512247e+02] [ 4.84547400e-02 -4.00608886e-04 9.98825299e-01 8.16506836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.630385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:208.30, Z:81.62 [[-1.09350785e-01 9.93986498e-01 5.76606423e-03 3.20146614e+02] [-9.92821534e-01 -1.09501721e-01 4.81121022e-02 2.08295715e+02] [ 4.84541740e-02 -4.63576569e-04 9.98825299e-01 8.16173460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.28, Z:81.62 [[-1.10491481e-01 9.93859681e-01 5.87930077e-03 3.20141983e+02] [-9.92695268e-01 -1.10646560e-01 4.80982611e-02 2.08281754e+02] [ 4.84534468e-02 -5.21905947e-04 9.98825306e-01 8.16204345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.28, Z:81.62 [[-1.08823642e-01 9.94043583e-01 5.89656638e-03 3.20141281e+02] [-9.92879545e-01 -1.08981509e-01 4.80961443e-02 2.08280338e+02] [ 4.84522803e-02 -6.20582573e-04 9.98825306e-01 8.16205367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.29, Z:81.62 [[-1.08347161e-01 9.94095515e-01 5.91603816e-03 3.20139007e+02] [-9.92931682e-01 -1.08506529e-01 4.80937491e-02 2.08289063e+02] [ 4.84517090e-02 -6.63400528e-04 9.98825306e-01 8.16234892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:208.28, Z:81.63 [[-1.09447593e-01 9.93974846e-01 5.93549765e-03 3.20135577e+02] [-9.92810965e-01 -1.09606614e-01 4.80913474e-02 2.08280010e+02] [ 4.84521594e-02 -6.29344914e-04 9.98825306e-01 8.16275699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.28, Z:81.63 [[-1.09694996e-01 9.93947444e-01 5.95704933e-03 3.20134446e+02] [-9.92783667e-01 -1.09854769e-01 4.80886776e-02 2.08278977e+02] [ 4.84520285e-02 -6.38973969e-04 9.98825306e-01 8.16283965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:320.10, Y:208.00, Z:81.64 [[-1.10074796e-01 9.93905338e-01 5.97641835e-03 3.20096986e+02] [-9.92741629e-01 -1.10235062e-01 4.80862704e-02 2.08004157e+02] [ 4.84520117e-02 -6.39952876e-04 9.98825307e-01 8.16400142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.26, Z:81.63 [[-1.08897018e-01 9.94034927e-01 6.00021368e-03 3.20130063e+02] [-9.92871569e-01 -1.09059813e-01 4.80833010e-02 2.08264526e+02] [ 4.84508628e-02 -7.21313461e-04 9.98825307e-01 8.16262395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.25, Z:81.63 [[-1.13940045e-01 9.93469271e-01 6.03929958e-03 3.20126358e+02] [-9.92305359e-01 -1.14098825e-01 4.80783913e-02 2.08253825e+02] [ 4.84534814e-02 -5.14775287e-04 9.98825308e-01 8.16348040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.09, Y:207.95, Z:81.65 [[-1.17617708e-01 9.93040479e-01 6.05660926e-03 3.20087148e+02] [-9.91876099e-01 -1.17773016e-01 4.80762107e-02 2.07946294e+02] [ 4.84549284e-02 -3.52792276e-04 9.98825308e-01 8.16459032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.230385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.24, Z:81.63 [[-1.20988035e-01 9.92635385e-01 6.07351270e-03 3.20127190e+02] [-9.91470591e-01 -1.21140208e-01 4.80740752e-02 2.08243085e+02] [ 4.84557747e-02 -2.05321356e-04 9.98825308e-01 8.16282630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.290385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.24, Z:81.63 [[-1.24311231e-01 9.92224336e-01 6.13062803e-03 3.20127402e+02] [-9.91059396e-01 -1.24462270e-01 4.80667905e-02 2.08239287e+02] [ 4.84560712e-02 -1.00574633e-04 9.98825310e-01 8.16280531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.23, Z:81.63 [[-1.27264130e-01 9.91849796e-01 6.15012135e-03 3.20127404e+02] [-9.90684532e-01 -1.27412646e-01 4.80642962e-02 2.08232280e+02] [ 4.84561656e-02 2.40307747e-05 9.98825310e-01 8.16292468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.13, Y:208.23, Z:81.63 [[-1.29190791e-01 9.91600562e-01 6.16963998e-03 3.20126098e+02] [-9.90435131e-01 -1.29337988e-01 4.80617907e-02 2.08227907e+02] [ 4.84560675e-02 9.85125765e-05 9.98825310e-01 8.16305980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.22, Z:81.63 [[-1.30722424e-01 9.91399688e-01 6.18919852e-03 3.20124983e+02] [-9.90234150e-01 -1.30868769e-01 4.80592719e-02 2.08221184e+02] [ 4.84559199e-02 1.53668802e-04 9.98825310e-01 8.16314401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.21, Z:81.63 [[-1.33283481e-01 9.91058479e-01 6.21326661e-03 3.20122710e+02] [-9.89892711e-01 -1.33427981e-01 4.80561601e-02 2.08210114e+02] [ 4.84554885e-02 2.54624966e-04 9.98825310e-01 8.16303227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.590385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.21, Z:81.63 [[-1.35242154e-01 9.90792956e-01 6.23514685e-03 3.20121399e+02] [-9.89627035e-01 -1.35385411e-01 4.80533210e-02 2.08214048e+02] [ 4.84550399e-02 3.28364769e-04 9.98825311e-01 8.16310080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.21, Z:81.63 [[-1.34588955e-01 9.90881760e-01 6.25702580e-03 3.20118711e+02] [-9.89716065e-01 -1.34734042e-01 4.80504720e-02 2.08208255e+02] [ 4.84553707e-02 2.74383884e-04 9.98825311e-01 8.16298884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.12, Y:208.20, Z:81.63 [[-1.34136773e-01 9.90942936e-01 6.27885770e-03 3.20116486e+02] [-9.89777440e-01 -1.34283450e-01 4.80476190e-02 2.08199924e+02] [ 4.84555953e-02 2.30280887e-04 9.98825311e-01 8.16292009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.84, Y:208.05, Z:82.61 [[-6.25694061e-02 9.97997150e-01 9.31434795e-03 3.20839627e+02] [-9.96878920e-01 -6.29440129e-02 4.76494533e-02 2.08047022e+02] [ 4.81403010e-02 -6.30387913e-03 9.98820691e-01 8.26147830e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 503.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.84, Y:208.05, Z:82.61 [[-6.11115395e-02 9.98126357e-01 3.02589764e-03 3.20840022e+02] [-9.96969292e-01 -6.11863533e-02 4.80464486e-02 2.08047620e+02] [ 4.81415703e-02 -8.05345893e-05 9.98840519e-01 8.26139277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.83, Y:208.04, Z:82.62 [[-6.44349470e-02 9.97917256e-01 3.04772025e-03 3.20830216e+02] [-9.96760013e-01 -6.45069580e-02 4.80450643e-02 2.08037122e+02] [ 4.81415979e-02 5.79354937e-05 9.98840519e-01 8.26246523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.83, Y:208.02, Z:82.62 [[-6.45724623e-02 9.97908303e-01 3.06847233e-03 3.20828297e+02] [-9.96751114e-01 -6.46453130e-02 4.80437389e-02 2.08024460e+02] [ 4.81416083e-02 4.37993026e-05 9.98840520e-01 8.26193428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.83, Y:208.01, Z:82.61 [[-6.33340892e-02 9.97987555e-01 3.10364589e-03 3.20827121e+02] [-9.96830568e-01 -6.34100690e-02 4.80414666e-02 2.08011596e+02] [ 4.81415882e-02 -5.11465624e-05 9.98840520e-01 8.26135155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.82, Y:208.03, Z:82.61 [[-6.47820567e-02 9.97894541e-01 3.12568870e-03 3.20824233e+02] [-9.96737513e-01 -6.48574189e-02 4.80400324e-02 2.08029757e+02] [ 4.81416102e-02 -3.35907901e-06 9.98840520e-01 8.26108310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.81, Y:207.82, Z:82.62 [[-6.62661540e-02 9.97797018e-01 3.14762240e-03 3.20805659e+02] [-9.96639947e-01 -6.63408513e-02 4.80385953e-02 2.07823159e+02] [ 4.81415831e-02 4.62867312e-05 9.98840521e-01 8.26193969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.60, Y:207.91, Z:83.60 [[ 1.27123046e-03 9.99978401e-01 6.44832977e-03 3.21597996e+02] [-9.98855470e-01 9.61432134e-04 4.78207763e-02 2.07907165e+02] [ 4.78135438e-02 -6.50174069e-03 9.98835118e-01 8.35993514e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.60, Y:207.85, Z:83.60 [[ 9.02519584e-04 9.99999593e-01 -2.16718380e-05 3.21598016e+02] [-9.98855617e-01 9.02523447e-04 4.78188449e-02 2.07849598e+02] [ 4.78188450e-02 -2.15104070e-05 9.98856024e-01 8.35985182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.60, Y:207.79, Z:83.60 [[-4.55268366e-05 9.99999999e-01 -2.57093441e-05 3.21597863e+02] [-9.98856024e-01 -4.42453626e-05 4.78188428e-02 2.07791237e+02] [ 4.78188416e-02 2.78569738e-05 9.98856024e-01 8.36025928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37038572299997 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:322.42, Y:207.81, Z:84.59 [[ 8.06936195e-02 9.96738952e-01 -3.89482558e-05 3.22419561e+02] [-9.95598558e-01 8.06031645e-02 4.78188320e-02 2.07814331e+02] [ 4.76660318e-02 -3.81989781e-03 9.98856025e-01 8.45869309e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.430385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:323.26, Y:207.91, Z:85.57 [[ 1.61909717e-01 9.86797759e-01 -3.92756433e-03 3.23257951e+02] [-9.85661390e-01 1.61912312e-01 4.74976477e-02 2.07905098e+02] [ 4.75064933e-02 -3.81908217e-03 9.98863628e-01 8.55725845e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.09, Y:208.07, Z:86.56 [[ 2.39529501e-01 9.70857853e-01 -7.78761012e-03 3.24087458e+02] [-9.69733429e-01 2.39627936e-01 4.68564714e-02 2.08065193e+02] [ 4.73571022e-02 -3.67160133e-03 9.98871275e-01 8.65571446e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:324.87, Y:208.28, Z:87.54 [[ 3.09337481e-01 9.50885046e-01 -1.13116265e-02 3.24873147e+02] [-9.49778615e-01 3.09524634e-01 4.59900317e-02 2.08279153e+02] [ 4.72324605e-02 -3.48289964e-03 9.98877852e-01 8.75389347e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.64, Y:208.55, Z:88.52 [[ 3.71227009e-01 9.28430176e-01 -1.44192640e-02 3.25639704e+02] [-9.27345241e-01 3.71492003e-01 4.49943976e-02 2.08545487e+02] [ 4.71307977e-02 -3.33149983e-03 9.98883171e-01 8.85185427e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.67, Y:208.49, Z:88.52 [[ 3.76926453e-01 9.26083775e-01 -1.71840188e-02 3.25667422e+02] [-9.25042303e-01 3.77317388e-01 4.39127108e-02 2.08488321e+02] [ 4.71506780e-02 -6.55917958e-04 9.98887573e-01 8.85207111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.69, Y:208.43, Z:88.53 [[ 3.77175762e-01 9.25982491e-01 -1.71718144e-02 3.25687168e+02] [-9.24940697e-01 3.77565838e-01 4.39174827e-02 2.08430518e+02] [ 4.71503105e-02 -6.81700088e-04 9.98887573e-01 8.85309805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.43, Y:208.74, Z:89.50 [[ 4.15517329e-01 9.09423201e-01 -1.71694847e-02 3.26427733e+02] [-9.08365989e-01 4.15863445e-01 4.39183935e-02 2.08735961e+02] [ 4.70805670e-02 -2.65267754e-03 9.98887573e-01 8.95036378e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 504.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:326.46, Y:208.68, Z:89.50 [[ 4.16831622e-01 9.08792188e-01 -1.86589957e-02 3.26457131e+02] [-9.07761874e-01 4.17247584e-01 4.32762431e-02 2.08679600e+02] [ 4.71145325e-02 -1.10098167e-03 9.98888887e-01 8.95048498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.48, Y:208.62, Z:89.51 [[ 4.15776007e-01 9.09275863e-01 -1.86471690e-02 3.26484887e+02] [-9.08245805e-01 4.16192603e-01 4.32813385e-02 2.08623264e+02] [ 4.71154902e-02 -1.05912910e-03 9.98888887e-01 8.95092240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:208.57, Z:89.51 [[ 4.12362813e-01 9.10829089e-01 -1.86354890e-02 3.26514064e+02] [-9.09800374e-01 4.12782715e-01 4.32863669e-02 2.08571856e+02] [ 4.71188898e-02 -8.95113140e-04 9.98888887e-01 8.95126034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:327.21, Y:208.89, Z:90.49 [[ 4.50558141e-01 8.92552504e-01 -1.86383677e-02 3.27212433e+02] [-8.91506983e-01 4.50934249e-01 4.32851273e-02 2.08891995e+02] [ 4.70389271e-02 -2.88623157e-03 9.98888887e-01 9.04919065e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 505.090385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:327.24, Y:208.84, Z:90.51 [[ 4.46012917e-01 8.94791387e-01 -2.05146413e-02 3.27240196e+02] [-8.93787526e-01 4.46484102e-01 4.23769385e-02 2.08837500e+02] [ 4.70779808e-02 -5.64931491e-04 9.98891057e-01 9.05064889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.150385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:327.28, Y:208.79, Z:90.50 [[ 4.46335518e-01 8.94630570e-01 -2.05121353e-02 3.27276182e+02] [-8.93626483e-01 4.46806223e-01 4.23781514e-02 2.08788379e+02] [ 4.70777395e-02 -5.84686795e-04 9.98891057e-01 9.05022735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.30, Y:208.73, Z:90.51 [[ 4.40298587e-01 8.97617160e-01 -2.05082483e-02 3.27300455e+02] [-8.96616179e-01 4.40775861e-01 4.23800324e-02 2.08733031e+02] [ 4.70805851e-02 -2.71841125e-04 9.98891057e-01 9.05143004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.270385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:327.95, Y:209.06, Z:91.47 [[ 4.99484048e-01 8.66080323e-01 -2.05075343e-02 3.27952833e+02] [-8.65049584e-01 4.99893109e-01 4.23803779e-02 2.09064320e+02] [ 4.69563865e-02 -3.42828868e-03 9.98891057e-01 9.14678105e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 505.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:327.99, Y:209.02, Z:91.46 [[ 5.02957841e-01 8.63997689e-01 -2.32680835e-02 3.27991916e+02] [-8.63033618e-01 5.03495578e-01 4.08065739e-02 2.09016548e+02] [ 4.69721627e-02 -4.42847954e-04 9.98896101e-01 9.14609587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:328.03, Y:208.96, Z:91.47 [[ 5.06421404e-01 8.61972153e-01 -2.32673324e-02 3.28025411e+02] [-8.61005912e-01 5.06955232e-01 4.08070022e-02 2.08964515e+02] [ 4.69699954e-02 -6.32228591e-04 9.98896101e-01 9.14667541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.06, Y:208.91, Z:91.47 [[ 5.10370675e-01 8.59639798e-01 -2.32635307e-02 3.28059057e+02] [-8.58671020e-01 5.10899884e-01 4.08091694e-02 2.08911417e+02] [ 4.69665212e-02 -8.52083727e-04 9.98896101e-01 9.14722651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:328.09, Y:208.86, Z:91.47 [[ 5.12799757e-01 8.58193330e-01 -2.32511973e-02 3.28094198e+02] [-8.57222741e-01 5.13325638e-01 4.08161951e-02 2.08858718e+02] [ 4.69636221e-02 -9.99079853e-04 9.98896101e-01 9.14719349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:328.13, Y:208.81, Z:91.47 [[ 5.10530307e-01 8.59545478e-01 -2.32460121e-02 3.28125007e+02] [-8.58576148e-01 5.11058505e-01 4.08191481e-02 2.08805260e+02] [ 4.69659863e-02 -8.80940690e-04 9.98896101e-01 9.14746284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.16, Y:208.76, Z:91.47 [[ 5.11483210e-01 8.58978867e-01 -2.32428879e-02 3.28161099e+02] [-8.58008871e-01 5.12010184e-01 4.08209269e-02 2.08758278e+02] [ 4.69649089e-02 -9.36614766e-04 9.98896101e-01 9.14749221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.690385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:328.20, Y:208.71, Z:91.47 [[ 5.12941632e-01 8.58108678e-01 -2.32460508e-02 3.28196255e+02] [-8.57137870e-01 5.13467108e-01 4.08191257e-02 2.08707120e+02] [ 4.69633285e-02 -1.01275851e-03 9.98896101e-01 9.14677025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:328.23, Y:208.65, Z:91.48 [[ 5.06560097e-01 8.61891483e-01 -2.32366051e-02 3.28225403e+02] [-8.60924354e-01 5.07092315e-01 4.08245020e-02 2.08652144e+02] [ 4.69693945e-02 -6.75104473e-04 9.98896101e-01 9.14790667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.26, Y:208.60, Z:91.48 [[ 5.07673563e-01 8.61236191e-01 -2.32331067e-02 3.28260841e+02] [-8.60268284e-01 5.08204365e-01 4.08264928e-02 2.08601106e+02] [ 4.69684194e-02 -7.39826201e-04 9.98896101e-01 9.14836197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.29, Y:208.55, Z:91.49 [[ 5.03588081e-01 8.63631731e-01 -2.32223433e-02 3.28287924e+02] [-8.62666068e-01 5.04122953e-01 4.08326142e-02 2.08545991e+02] [ 4.69712576e-02 -5.29690251e-04 9.98896101e-01 9.14866524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:328.32, Y:208.49, Z:91.49 [[ 5.03089715e-01 8.63922402e-01 -2.32125486e-02 3.28317380e+02] [-8.62956791e-01 5.03624681e-01 4.08381816e-02 2.08493049e+02] [ 4.69714323e-02 -5.13842689e-04 9.98896101e-01 9.14907975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.990385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:328.35, Y:208.44, Z:91.49 [[ 5.03250058e-01 8.63829260e-01 -2.32032040e-02 3.28347398e+02] [-8.62863306e-01 5.03784403e-01 4.08434903e-02 2.08437625e+02] [ 4.69712142e-02 -5.33295539e-04 9.98896101e-01 9.14942245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.38, Y:208.38, Z:91.50 [[ 5.03685548e-01 8.63575714e-01 -2.31917122e-02 3.28378301e+02] [-8.62609190e-01 5.04218863e-01 4.08500145e-02 2.08383505e+02] [ 4.69707792e-02 -5.70177863e-04 9.98896101e-01 9.14962446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.110385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:328.41, Y:208.33, Z:91.50 [[ 5.04539614e-01 8.63077276e-01 -2.31817580e-02 3.28406842e+02] [-8.62109966e-01 5.05071501e-01 4.08556626e-02 2.08329195e+02] [ 4.69700393e-02 -6.28075639e-04 9.98896101e-01 9.14988856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:208.27, Z:91.50 [[ 5.04998712e-01 8.62808976e-01 -2.31726622e-02 3.28436265e+02] [-8.61841147e-01 5.05529654e-01 4.08608209e-02 2.08273431e+02] [ 4.69695509e-02 -6.63508180e-04 9.98896101e-01 9.15014801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.47, Y:208.22, Z:91.51 [[ 5.06660380e-01 8.61834565e-01 -2.31612325e-02 3.28466574e+02] [-8.60865419e-01 5.07188914e-01 4.08672986e-02 2.08219782e+02] [ 4.69679709e-02 -7.67136958e-04 9.98896101e-01 9.15051109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.49, Y:208.16, Z:91.51 [[ 5.04731257e-01 8.62966042e-01 -2.31509976e-02 3.28492442e+02] [-8.61997815e-01 5.05261474e-01 4.08730958e-02 2.08163023e+02] [ 4.69694008e-02 -6.73819650e-04 9.98896101e-01 9.15056145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:328.52, Y:208.11, Z:91.51 [[ 5.07323897e-01 8.61444698e-01 -2.31408031e-02 3.28522845e+02] [-8.60474618e-01 5.07850716e-01 4.08788667e-02 2.08108375e+02] [ 4.69669564e-02 -8.26752260e-04 9.98896101e-01 9.15099955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.55, Y:208.05, Z:91.52 [[ 5.04374574e-01 8.63175156e-01 -2.31287407e-02 3.28547299e+02] [-8.62206572e-01 5.04904137e-01 4.08856903e-02 2.08051682e+02] [ 4.69693090e-02 -6.79950413e-04 9.98896102e-01 9.15175021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.470385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:328.57, Y:208.00, Z:91.51 [[ 5.04546918e-01 8.63074490e-01 -2.31264406e-02 3.28574101e+02] [-8.62105741e-01 5.05076178e-01 4.08869913e-02 2.07996770e+02] [ 4.69691334e-02 -6.91968278e-04 9.98896102e-01 9.15116635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.60, Y:207.94, Z:91.51 [[ 5.06389088e-01 8.61995072e-01 -2.31211421e-02 3.28601444e+02] [-8.61025058e-01 5.06916027e-01 4.08899873e-02 2.07940035e+02] [ 4.69674451e-02 -7.98360603e-04 9.98896102e-01 9.15147999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.590385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:328.63, Y:207.88, Z:91.52 [[ 5.09350562e-01 8.60248764e-01 -2.31099314e-02 3.28629152e+02] [-8.59276657e-01 5.09873629e-01 4.08963223e-02 2.07884364e+02] [ 4.69641553e-02 -9.72740155e-04 9.98896102e-01 9.15177731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:328.66, Y:207.83, Z:91.52 [[ 5.10695463e-01 8.59451299e-01 -2.30999813e-02 3.28656069e+02] [-8.58478121e-01 5.11216536e-01 4.09019418e-02 2.07827466e+02] [ 4.69623194e-02 -1.05760758e-03 9.98896102e-01 9.15199292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.28, Y:208.20, Z:92.50 [[ 5.40537922e-01 8.41002703e-01 -2.30913114e-02 3.29283259e+02] [-8.40011635e-01 5.41024107e-01 4.09068358e-02 2.08201442e+02] [ 4.68957156e-02 -2.71472580e-03 9.98896102e-01 9.25034316e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 506.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.32, Y:208.15, Z:92.51 [[ 5.38256249e-01 8.42422544e-01 -2.45859206e-02 3.29316000e+02] [-8.41473352e-01 5.38816814e-01 3.99879860e-02 2.08147215e+02] [ 4.69340884e-02 -8.35386325e-04 9.98897639e-01 9.25057825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.35, Y:208.09, Z:92.51 [[ 5.35061067e-01 8.44455866e-01 -2.45752833e-02 3.29346056e+02] [-8.43508505e-01 5.35624720e-01 3.99945224e-02 2.08092602e+02] [ 4.69367382e-02 -6.70051360e-04 9.98897639e-01 9.25103429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.38, Y:208.04, Z:92.51 [[ 5.34077810e-01 8.45078348e-01 -2.45658141e-02 3.29378851e+02] [-8.44131376e-01 5.34642117e-01 4.00003377e-02 2.08038762e+02] [ 4.69373382e-02 -6.26518309e-04 9.98897639e-01 9.25137319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.950385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:329.41, Y:207.98, Z:92.52 [[ 5.32530055e-01 8.46054845e-01 -2.45548419e-02 3.29407901e+02] [-8.45108597e-01 5.33095576e-01 4.00070721e-02 2.07984462e+02] [ 4.69382547e-02 -5.53460315e-04 9.98897639e-01 9.25190752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.44, Y:207.93, Z:92.52 [[ 5.30377067e-01 8.47406469e-01 -2.45447141e-02 3.29438669e+02] [-8.46461375e-01 5.30944514e-01 4.00132846e-02 2.07929183e+02] [ 4.69393975e-02 -4.45976142e-04 9.98897639e-01 9.25244865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.070385723 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:207.88, Z:92.52 [[ 5.30618986e-01 8.47255344e-01 -2.45330928e-02 3.29470816e+02] [-8.46309760e-01 5.31185615e-01 4.00204086e-02 2.07880145e+02] [ 4.69391311e-02 -4.72992761e-04 9.98897640e-01 9.25165194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.130385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:330.11, Y:208.30, Z:93.50 [[ 5.81745030e-01 8.13001037e-01 -2.45363648e-02 3.30114243e+02] [-8.12022462e-01 5.82252564e-01 4.00184025e-02 2.08295451e+02] [ 4.68213640e-02 -3.35642738e-03 9.98897640e-01 9.35015392e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 507.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:330.15, Y:208.24, Z:93.50 [[ 5.81394201e-01 8.13173249e-01 -2.70194352e-02 3.30149401e+02] [-8.12272482e-01 5.82021630e-01 3.82653540e-02 2.08243018e+02] [ 4.68422579e-02 -3.00111263e-04 9.98902254e-01 9.35028266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.18, Y:208.19, Z:93.51 [[ 5.82544986e-01 8.12349610e-01 -2.70083561e-02 3.30183477e+02] [-8.11447593e-01 5.83170616e-01 3.82731721e-02 2.08190571e+02] [ 4.68416761e-02 -3.79978934e-04 9.98902254e-01 9.35071942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31038572299997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:330.22, Y:208.14, Z:93.51 [[ 5.84895182e-01 8.10659469e-01 -2.69972498e-02 3.30216471e+02] [-8.09755284e-01 5.85517673e-01 3.82810048e-02 2.08137937e+02] [ 4.68402259e-02 -5.29209562e-04 9.98902254e-01 9.35113569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:330.25, Y:208.09, Z:93.51 [[ 5.87561802e-01 8.08729128e-01 -2.69875409e-02 3.30253612e+02] [-8.07822583e-01 5.88180852e-01 3.82878482e-02 2.08088378e+02] [ 4.68380529e-02 -6.95332033e-04 9.98902254e-01 9.35123226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.29, Y:208.04, Z:93.51 [[ 5.87621470e-01 8.08686107e-01 -2.69775494e-02 3.30288772e+02] [-8.07779195e-01 5.88239980e-01 3.82948869e-02 2.08037396e+02] [ 4.68378161e-02 -7.10994636e-04 9.98902254e-01 9.35128882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.32, Y:207.98, Z:93.52 [[ 5.84855063e-01 8.10689304e-01 -2.69704978e-02 3.30323043e+02] [-8.09784281e-01 5.85476336e-01 3.82998526e-02 2.07984662e+02] [ 4.68398690e-02 -5.59577516e-04 9.98902254e-01 9.35174528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.36, Y:207.93, Z:93.52 [[ 5.84181618e-01 8.11175076e-01 -2.69598577e-02 3.30359820e+02] [-8.10270224e-01 5.84803140e-01 3.83073408e-02 2.07933453e+02] [ 4.68401695e-02 -5.33674405e-04 9.98902254e-01 9.35198755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.39, Y:207.89, Z:93.52 [[ 5.83730119e-01 8.11500215e-01 -2.69545716e-02 3.30392712e+02] [-8.10595538e-01 5.84351894e-01 3.83110600e-02 2.07885629e+02] [ 4.68403884e-02 -5.14064133e-04 9.98902254e-01 9.35215119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.670385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:330.42, Y:207.84, Z:93.53 [[ 5.84699972e-01 8.10801574e-01 -2.69583285e-02 3.30424224e+02] [-8.09896275e-01 5.85320842e-01 3.83084162e-02 2.07837630e+02] [ 4.68397957e-02 -5.65480061e-04 9.98902254e-01 9.35269174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.06, Y:208.30, Z:94.50 [[ 6.26720513e-01 7.78777515e-01 -2.69625867e-02 3.31055741e+02] [-7.77840806e-01 6.27292895e-01 3.83054189e-02 2.08303995e+02] [ 4.67448380e-02 -3.03419160e-03 9.98902254e-01 9.44975738e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 507.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.09, Y:208.25, Z:94.50 [[ 6.27154259e-01 7.78360404e-01 -2.88550983e-02 3.31094125e+02] [-7.77489197e-01 6.27817368e-01 3.68225707e-02 2.08254894e+02] [ 4.67769629e-02 -6.58904814e-04 9.98905141e-01 9.45016650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.850385723 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:331.71, Y:208.76, Z:95.46 [[ 6.65598197e-01 7.45752633e-01 -2.88452777e-02 3.31705302e+02] [-7.44848774e-01 6.66216058e-01 3.68302622e-02 2.08756408e+02] [ 4.66834522e-02 -3.02878634e-03 9.98905142e-01 9.54640337e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 507.910385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:331.75, Y:208.71, Z:95.47 [[ 6.60483319e-01 7.50214662e-01 -3.06552766e-02 3.31746278e+02] [-7.49385819e-01 6.61194270e-01 3.52566665e-02 2.08713673e+02] [ 4.67191613e-02 -3.13810543e-04 9.98908015e-01 9.54669202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.970385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:208.67, Z:95.47 [[ 6.58579970e-01 7.51885961e-01 -3.06581754e-02 3.31786774e+02] [-7.51059040e-01 6.59293155e-01 3.52541456e-02 2.08667088e+02] [ 4.67198223e-02 -1.91574422e-04 9.98908015e-01 9.54674538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:331.83, Y:208.62, Z:95.47 [[ 6.54785847e-01 7.55192838e-01 -3.06475503e-02 3.31828419e+02] [-7.54369085e-01 6.55502690e-01 3.52633799e-02 2.08619843e+02] [ 4.67202036e-02 2.96024054e-05 9.98908015e-01 9.54702347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.87, Y:208.57, Z:95.48 [[ 6.53425108e-01 7.56371001e-01 -3.06355502e-02 3.31866290e+02] [-7.55548053e-01 6.54142874e-01 3.52738021e-02 2.08570965e+02] [ 4.67201078e-02 9.78423591e-05 9.98908015e-01 9.54752885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.90, Y:208.52, Z:95.48 [[ 6.53262324e-01 7.56511993e-01 -3.06258238e-02 3.31904407e+02] [-7.55688803e-01 6.53979813e-01 3.52822448e-02 2.08520931e+02] [ 4.67201119e-02 9.50308556e-05 9.98908015e-01 9.54791986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.94, Y:208.47, Z:95.48 [[ 6.53708114e-01 7.56127201e-01 -3.06162925e-02 3.31943898e+02] [-7.55303202e-01 6.54424673e-01 3.52905137e-02 2.08472415e+02] [ 4.67201746e-02 5.48886342e-05 9.98908015e-01 9.54807982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.98, Y:208.42, Z:95.48 [[ 6.58657311e-01 7.51820301e-01 -3.06068945e-02 3.31982937e+02] [-7.50991238e-01 6.59368004e-01 3.52986626e-02 2.08423224e+02] [ 4.67194581e-02 -2.64212604e-04 9.98908015e-01 9.54832157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.02, Y:208.37, Z:95.49 [[ 6.58511967e-01 7.51947777e-01 -3.06027945e-02 3.32022429e+02] [-7.51118686e-01 6.59222628e-01 3.53022168e-02 2.08374582e+02] [ 4.67194780e-02 -2.60601458e-04 9.98908015e-01 9.54884922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:332.06, Y:208.33, Z:95.49 [[ 6.60208955e-01 7.50458663e-01 -3.05929997e-02 3.32063199e+02] [-7.49627576e-01 6.60917281e-01 3.53107029e-02 2.08327913e+02] [ 4.67186651e-02 -3.79086046e-04 9.98908015e-01 9.54891237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:332.10, Y:208.28, Z:95.49 [[ 6.61124032e-01 7.49652983e-01 -3.05846139e-02 3.32103479e+02] [-7.48820697e-01 6.61830949e-01 3.53179649e-02 2.08281163e+02] [ 4.67180618e-02 -4.47163460e-04 9.98908015e-01 9.54904286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.15, Y:208.24, Z:95.50 [[ 6.63533803e-01 7.47521248e-01 -3.05757574e-02 3.32145619e+02] [-7.46686338e-01 6.64237618e-01 3.53256305e-02 2.08236293e+02] [ 4.67162277e-02 -6.09249588e-04 9.98908015e-01 9.54965173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.570385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:332.19, Y:208.19, Z:95.50 [[ 6.63303958e-01 7.47725572e-01 -3.05667646e-02 3.32185288e+02] [-7.46890521e-01 6.64007606e-01 3.53334102e-02 2.08189629e+02] [ 4.67162585e-02 -6.06764100e-04 9.98908015e-01 9.54972766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.23, Y:208.14, Z:95.50 [[ 6.63643158e-01 7.47424872e-01 -3.05584559e-02 3.32227870e+02] [-7.46589171e-01 6.64346033e-01 3.53405945e-02 2.08144003e+02] [ 4.67158284e-02 -6.38931469e-04 9.98908015e-01 9.55030106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:208.10, Z:95.50 [[ 6.65043724e-01 7.46179081e-01 -3.05552751e-02 3.32272608e+02] [-7.45341937e-01 6.65744880e-01 3.53433444e-02 2.08100854e+02] [ 4.67144822e-02 -7.30741440e-04 9.98908015e-01 9.55033633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.31, Y:208.05, Z:95.51 [[ 6.61026230e-01 7.49740815e-01 -3.05455804e-02 3.32311212e+02] [-7.48907063e-01 6.61731416e-01 3.53517211e-02 2.08053563e+02] [ 4.67175984e-02 -4.92614018e-04 9.98908015e-01 9.55053262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.35, Y:208.01, Z:95.51 [[ 6.58911948e-01 7.51599981e-01 -3.05370935e-02 3.32354361e+02] [-7.50767878e-01 6.59619080e-01 3.53590507e-02 2.08009107e+02] [ 4.67187113e-02 -3.72232006e-04 9.98908016e-01 9.55091440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.40, Y:207.96, Z:95.51 [[ 6.58730549e-01 7.51759310e-01 -3.05287377e-02 3.32397375e+02] [-7.50927044e-01 6.59437489e-01 3.53662636e-02 2.07963835e+02] [ 4.67187120e-02 -3.71983470e-04 9.98908016e-01 9.55110804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:332.44, Y:207.92, Z:95.52 [[ 6.58434529e-01 7.52018952e-01 -3.05199496e-02 3.32440445e+02] [-7.51186614e-01 6.59141383e-01 3.53738458e-02 2.07918225e+02] [ 4.67187642e-02 -3.65183899e-04 9.98908016e-01 9.55160232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:332.48, Y:207.87, Z:95.52 [[ 6.59471619e-01 7.51110062e-01 -3.05099791e-02 3.32483490e+02] [-7.50276352e-01 6.60176854e-01 3.53824433e-02 2.07872425e+02] [ 4.67180912e-02 -4.42801347e-04 9.98908016e-01 9.55176852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:332.52, Y:207.83, Z:95.52 [[ 6.59888911e-01 7.50743882e-01 -3.04999694e-02 3.32524675e+02] [-7.49909382e-01 6.60593212e-01 3.53910697e-02 2.07826411e+02] [ 4.67177017e-02 -4.81961248e-04 9.98908016e-01 9.55196183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.57, Y:207.78, Z:95.52 [[ 6.59399813e-01 7.51173882e-01 -3.04907334e-02 3.32568669e+02] [-7.50339473e-01 6.60104222e-01 3.53990250e-02 2.07780814e+02] [ 4.67178849e-02 -4.63709577e-04 9.98908016e-01 9.55236145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:332.61, Y:207.73, Z:95.53 [[ 6.59772242e-01 7.50847186e-01 -3.04809973e-02 3.32610782e+02] [-7.50012041e-01 6.60475778e-01 3.54074064e-02 2.07733916e+02] [ 4.67175119e-02 -4.99708914e-04 9.98908016e-01 9.55260820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.230385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:332.65, Y:207.69, Z:95.53 [[ 6.60896053e-01 7.49858590e-01 -3.04713396e-02 3.32651980e+02] [-7.49022010e-01 6.61597881e-01 3.54157159e-02 2.07687005e+02] [ 4.67165525e-02 -5.82402809e-04 9.98908016e-01 9.55280075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:332.69, Y:207.64, Z:95.53 [[ 6.61058565e-01 7.49715713e-01 -3.04618358e-02 3.32694375e+02] [-7.48878605e-01 6.61759763e-01 3.54238884e-02 2.07640808e+02] [ 4.67162630e-02 -6.05047785e-04 9.98908016e-01 9.55316668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.350385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:332.74, Y:207.60, Z:95.53 [[ 6.57977767e-01 7.52421387e-01 -3.04518547e-02 3.32737412e+02] [-7.51586765e-01 6.58681923e-01 3.54324665e-02 2.07595477e+02] [ 4.67182318e-02 -4.26564173e-04 9.98908016e-01 9.55340751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:332.78, Y:207.55, Z:95.54 [[ 6.56345394e-01 7.53846143e-01 -3.04420061e-02 3.32778830e+02] [-7.53012658e-01 6.57050895e-01 3.54409260e-02 2.07548871e+02] [ 4.67189527e-02 -3.38272647e-04 9.98908016e-01 9.55375081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:207.51, Z:95.53 [[ 6.59447353e-01 7.51134493e-01 -3.04329099e-02 3.32824970e+02] [-7.50297746e-01 6.60148982e-01 3.54487351e-02 2.07506991e+02] [ 4.67170222e-02 -5.42830793e-04 9.98908016e-01 9.55345117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.86, Y:207.46, Z:95.54 [[ 6.54496738e-01 7.55452451e-01 -3.04238941e-02 3.32861100e+02] [-7.54619975e-01 6.55203428e-01 3.54564712e-02 2.07457501e+02] [ 4.67195178e-02 -2.47666540e-04 9.98908016e-01 9.55434534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.590385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.90, Y:207.41, Z:95.54 [[ 6.55001737e-01 7.55014851e-01 -3.04187431e-02 3.32904465e+02] [-7.54181697e-01 6.55707628e-01 3.54608899e-02 2.07414434e+02] [ 4.67193003e-02 -2.85685185e-04 9.98908016e-01 9.55430183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.650385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:332.95, Y:207.37, Z:95.54 [[ 6.55213429e-01 7.54831495e-01 -3.04101435e-02 3.32948094e+02] [-7.53997801e-01 6.55918682e-01 3.54682631e-02 2.07368875e+02] [ 4.67191433e-02 -3.10100963e-04 9.98908017e-01 9.55435802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.98, Y:207.32, Z:95.55 [[ 6.51568181e-01 7.57980736e-01 -3.03991640e-02 3.32983500e+02] [-7.57150012e-01 6.52276930e-01 3.54776709e-02 2.07318837e+02] [ 4.67200645e-02 -9.93940576e-05 9.98908017e-01 9.55493385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.02, Y:207.27, Z:95.55 [[ 6.52692075e-01 7.57013509e-01 -3.03908197e-02 3.33023411e+02] [-7.56181402e-01 6.53399200e-01 3.54848174e-02 2.07269761e+02] [ 4.67198234e-02 -1.79686464e-04 9.98908017e-01 9.55523848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.06, Y:207.22, Z:95.56 [[ 6.53499393e-01 7.56317055e-01 -3.03818288e-02 3.33062349e+02] [-7.55483837e-01 6.54205208e-01 3.54925136e-02 2.07220833e+02] [ 4.67195440e-02 -2.41355531e-04 9.98908017e-01 9.55561039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.10, Y:207.17, Z:95.56 [[ 6.54230181e-01 7.55685397e-01 -3.03718868e-02 3.33101111e+02] [-7.54851102e-01 6.54934723e-01 3.55010192e-02 2.07172646e+02] [ 4.67192050e-02 -2.99586038e-04 9.98908017e-01 9.55575426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.14, Y:207.12, Z:95.56 [[ 6.54741837e-01 7.55242475e-01 -3.03633152e-02 3.33140076e+02] [-7.54407364e-01 6.55445411e-01 3.55083488e-02 2.07124748e+02] [ 4.67189088e-02 -3.42492956e-04 9.98908017e-01 9.55592593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:333.18, Y:207.08, Z:95.56 [[ 6.56921907e-01 7.53347326e-01 -3.03547979e-02 3.33182077e+02] [-7.52509849e-01 6.57622663e-01 3.55156285e-02 2.07078385e+02] [ 4.67176068e-02 -4.88710041e-04 9.98908017e-01 9.55618466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.22, Y:207.03, Z:95.57 [[ 6.54259236e-01 7.55661336e-01 -3.03446485e-02 3.33219023e+02] [-7.54825935e-01 6.54962466e-01 3.55242980e-02 2.07028990e+02] [ 4.67189443e-02 -3.37172439e-04 9.98908017e-01 9.55665465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.26, Y:206.98, Z:95.57 [[ 6.54178765e-01 7.55731375e-01 -3.03353364e-02 3.33259425e+02] [-7.54895681e-01 6.54881646e-01 3.55322482e-02 2.06980155e+02] [ 4.67188898e-02 -3.44427843e-04 9.98908017e-01 9.55681643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.30, Y:206.93, Z:95.57 [[ 6.54588145e-01 7.55377206e-01 -3.03255274e-02 3.33298736e+02] [-7.54540744e-01 6.55290112e-01 3.55406178e-02 2.06932682e+02] [ 4.67185908e-02 -3.82621084e-04 9.98908017e-01 9.55717544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:333.34, Y:206.88, Z:95.58 [[ 6.54832506e-01 7.55165506e-01 -3.03224100e-02 3.33337394e+02] [-7.54328694e-01 6.55534055e-01 3.55432773e-02 2.06884602e+02] [ 4.67184294e-02 -4.01829476e-04 9.98908017e-01 9.55758900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31038572299997 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:206.83, Z:95.58 [[ 6.52263764e-01 7.57385701e-01 -3.03130555e-02 3.33374798e+02] [-7.56550907e-01 6.52967713e-01 3.55512535e-02 2.06834723e+02] [ 4.67194576e-02 -2.55424854e-04 9.98908017e-01 9.55758398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37038572299997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.41, Y:206.79, Z:95.58 [[ 6.50976718e-01 7.58492550e-01 -3.03045297e-02 3.33412782e+02] [-7.57658614e-01 6.51681684e-01 3.55585196e-02 2.06785810e+02] [ 4.67197791e-02 -1.87280392e-04 9.98908017e-01 9.55789243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.45, Y:206.74, Z:95.58 [[ 6.50899010e-01 7.58559582e-01 -3.02958625e-02 3.33450747e+02] [-7.57725375e-01 6.51603655e-01 3.55659025e-02 2.06736898e+02] [ 4.67197509e-02 -1.93866968e-04 9.98908017e-01 9.55829984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.490385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:333.49, Y:206.69, Z:95.58 [[ 6.50574266e-01 7.58838244e-01 -3.02926495e-02 3.33487144e+02] [-7.58004211e-01 6.51279117e-01 3.55686389e-02 2.06687553e+02] [ 4.67198135e-02 -1.78085214e-04 9.98908017e-01 9.55846494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.53, Y:206.64, Z:95.59 [[ 6.50366680e-01 7.59016497e-01 -3.02843068e-02 3.33525482e+02] [-7.58182327e-01 6.51071368e-01 3.55757407e-02 2.06638279e+02] [ 4.67198192e-02 -1.76250160e-04 9.98908018e-01 9.55880573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:333.56, Y:206.59, Z:95.59 [[ 6.50920966e-01 7.58541551e-01 -3.02755871e-02 3.33561234e+02] [-7.57706521e-01 6.51624636e-01 3.55831598e-02 2.06587783e+02] [ 4.67196237e-02 -2.21814920e-04 9.98908018e-01 9.55941295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.60, Y:206.54, Z:95.59 [[ 6.49721996e-01 7.59569129e-01 -3.02665933e-02 3.33598955e+02] [-7.58734856e-01 6.50426562e-01 3.55908082e-02 2.06539908e+02] [ 4.67198754e-02 -1.59811667e-04 9.98908018e-01 9.55942435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.64, Y:206.49, Z:95.59 [[ 6.44747993e-01 7.63796084e-01 -3.02583493e-02 3.33637380e+02] [-7.62966101e-01 6.45457608e-01 3.55978157e-02 2.06490619e+02] [ 4.67199539e-02 1.34474559e-04 9.98908018e-01 9.55945930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.68, Y:206.44, Z:95.60 [[ 6.42373009e-01 7.65794931e-01 -3.02496474e-02 3.33676220e+02] [-7.64966808e-01 6.43084793e-01 3.56052086e-02 2.06442265e+02] [ 4.67193765e-02 2.68151286e-04 9.98908018e-01 9.55963120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.71, Y:206.39, Z:95.60 [[ 6.40586552e-01 7.67290264e-01 -3.02410412e-02 3.33713928e+02] [-7.66463457e-01 6.41299866e-01 3.56125167e-02 2.06392293e+02] [ 4.67187130e-02 3.65753721e-04 9.98908018e-01 9.55984860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.75, Y:206.34, Z:95.60 [[ 6.42438524e-01 7.65740652e-01 -3.02323972e-02 3.33750264e+02] [-7.64911779e-01 6.43149435e-01 3.56198533e-02 2.06340288e+02] [ 4.67195189e-02 2.41550771e-04 9.98908018e-01 9.56033558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.79, Y:206.29, Z:95.61 [[ 6.44732711e-01 7.63810407e-01 -3.02224111e-02 3.33787000e+02] [-7.62979009e-01 6.45440667e-01 3.56283243e-02 2.06290375e+02] [ 4.67200580e-02 8.83191864e-05 9.98908018e-01 9.56070406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.83, Y:206.24, Z:95.61 [[ 6.48483673e-01 7.60628746e-01 -3.02131889e-02 3.33826029e+02] [-7.59793511e-01 6.49187097e-01 3.56361431e-02 2.06241067e+02] [ 4.67198872e-02 -1.53672060e-04 9.98908018e-01 9.56102552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.090385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.86, Y:206.19, Z:95.61 [[ 6.51774498e-01 7.57811163e-01 -3.02033947e-02 3.33863420e+02] [-7.56972502e-01 6.52473835e-01 3.56444422e-02 2.06191805e+02] [ 4.67186810e-02 -3.68999201e-04 9.98908018e-01 9.56118926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:333.90, Y:206.14, Z:95.62 [[ 6.53460532e-01 7.56358117e-01 -3.01949187e-02 3.33901791e+02] [-7.55517569e-01 6.54157600e-01 3.56516210e-02 2.06141906e+02] [ 4.67176284e-02 -4.84135664e-04 9.98908018e-01 9.56150560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.210385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:333.94, Y:206.09, Z:95.62 [[ 6.53706287e-01 7.56146105e-01 -3.01853948e-02 3.33942343e+02] [-7.55304959e-01 6.54402632e-01 3.56596827e-02 2.06093731e+02] [ 4.67173321e-02 -5.11780358e-04 9.98908018e-01 9.56182330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.98, Y:206.05, Z:95.62 [[ 6.51074337e-01 7.58413884e-01 -3.01759656e-02 3.33984188e+02] [-7.57574794e-01 6.51773158e-01 3.56676602e-02 2.06046351e+02] [ 4.67187331e-02 -3.61747296e-04 9.98908018e-01 9.56220312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.03, Y:206.00, Z:95.63 [[ 6.50255824e-01 7.59116167e-01 -3.01663641e-02 3.34025323e+02] [-7.58277455e-01 6.50955099e-01 3.56757789e-02 2.05998961e+02] [ 4.67190091e-02 -3.23909247e-04 9.98908018e-01 9.56252927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.07, Y:205.95, Z:95.63 [[ 6.48531464e-01 7.60590249e-01 -3.01564764e-02 3.34066356e+02] [-7.59752738e-01 6.49232177e-01 3.56841349e-02 2.05953940e+02] [ 4.67195599e-02 -2.30818726e-04 9.98908019e-01 9.56256956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:334.11, Y:205.91, Z:95.63 [[ 6.47966223e-01 7.61072162e-01 -3.01485848e-02 3.34108103e+02] [-7.60234862e-01 6.48667188e-01 3.56908011e-02 2.05907539e+02] [ 4.67196729e-02 -2.06428424e-04 9.98908019e-01 9.56304787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:334.15, Y:205.86, Z:95.63 [[ 6.48397052e-01 7.60705541e-01 -3.01387368e-02 3.34149132e+02] [-7.59867458e-01 6.49097080e-01 3.56991152e-02 2.05861443e+02] [ 4.67194808e-02 -2.45755752e-04 9.98908019e-01 9.56346560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.19, Y:205.81, Z:95.64 [[ 6.50164552e-01 7.59195783e-01 -3.01300160e-02 3.34190892e+02] [-7.58355734e-01 6.50862220e-01 3.57064741e-02 2.05813958e+02] [ 4.67186936e-02 -3.65813325e-04 9.98908019e-01 9.56378261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.23, Y:205.77, Z:95.64 [[ 6.51068346e-01 7.58421248e-01 -3.01200853e-02 3.34233308e+02] [-7.57579981e-01 6.51764544e-01 3.57148491e-02 2.05767988e+02] [ 4.67181041e-02 -4.34434075e-04 9.98908019e-01 9.56402232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.28, Y:205.72, Z:95.64 [[ 6.50652673e-01 7.58778228e-01 -3.01114451e-02 3.34275107e+02] [-7.57937006e-01 6.51348926e-01 3.57221323e-02 2.05721556e+02] [ 4.67182337e-02 -4.20122326e-04 9.98908019e-01 9.56427031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:334.32, Y:205.68, Z:95.65 [[ 6.49758790e-01 7.59544207e-01 -3.01017015e-02 3.34318050e+02] [-7.58703426e-01 6.50455575e-01 3.57303409e-02 2.05676173e+02] [ 4.67185930e-02 -3.77839029e-04 9.98908019e-01 9.56461107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81038572299997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.36, Y:205.63, Z:95.65 [[ 6.50134447e-01 7.59223078e-01 -3.00918249e-02 3.34360647e+02] [-7.58381568e-01 6.50830351e-01 3.57386570e-02 2.05629706e+02] [ 4.67182862e-02 -4.13846700e-04 9.98908019e-01 9.56503008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87038572299997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:334.40, Y:205.58, Z:95.65 [[ 6.50236047e-01 7.59136453e-01 -3.00820396e-02 3.34403498e+02] [-7.58294468e-01 6.50931378e-01 3.57468917e-02 2.05584182e+02] [ 4.67181120e-02 -4.32873345e-04 9.98908019e-01 9.56542410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.45, Y:205.54, Z:95.66 [[ 6.50580074e-01 7.58842033e-01 -3.00721820e-02 3.34447502e+02] [-7.57999351e-01 6.51274558e-01 3.57551825e-02 2.05541317e+02] [ 4.67177824e-02 -4.66914820e-04 9.98908019e-01 9.56631359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.990385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:334.49, Y:205.50, Z:95.67 [[ 6.49653122e-01 7.59635807e-01 -3.00709461e-02 3.34490395e+02] [-7.58793926e-01 6.50348576e-01 3.57562219e-02 2.05495732e+02] [ 4.67183034e-02 -4.11489948e-04 9.98908019e-01 9.56652440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.050385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:334.53, Y:205.45, Z:95.67 [[ 6.49210264e-01 7.60014712e-01 -3.00611094e-02 3.34532285e+02] [-7.59172854e-01 6.49905747e-01 3.57644899e-02 2.05450544e+02] [ 4.67184262e-02 -3.97095715e-04 9.98908019e-01 9.56685298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.57, Y:205.41, Z:95.67 [[ 6.50922626e-01 7.58549013e-01 -3.00521090e-02 3.34574141e+02] [-7.57705240e-01 6.51615784e-01 3.57720512e-02 2.05405145e+02] [ 4.67172827e-02 -5.14197064e-04 9.98908019e-01 9.56724972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.170385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:334.61, Y:205.36, Z:95.67 [[ 6.52228952e-01 7.57426437e-01 -3.00430653e-02 3.34614676e+02] [-7.56581121e-01 6.52920228e-01 3.57796449e-02 2.05359069e+02] [ 4.67161740e-02 -6.06504275e-04 9.98908019e-01 9.56711450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.230385723 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:334.66, Y:205.31, Z:95.67 [[ 6.52971767e-01 7.56786484e-01 -3.00347983e-02 3.34657871e+02] [-7.55940172e-01 6.53661822e-01 3.57865831e-02 2.05313348e+02] [ 4.67154034e-02 -6.63117813e-04 9.98908019e-01 9.56745379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.70, Y:205.27, Z:95.68 [[ 6.54167559e-01 7.55753472e-01 -3.00248979e-02 3.34701608e+02] [-7.54905689e-01 6.54855806e-01 3.57948877e-02 2.05269219e+02] [ 4.67140893e-02 -7.49888063e-04 9.98908020e-01 9.56791279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.350385723 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:334.74, Y:205.22, Z:95.68 [[ 6.54764389e-01 7.55236797e-01 -3.00162572e-02 3.34744595e+02] [-7.54388139e-01 6.55451557e-01 3.58021319e-02 2.05223542e+02] [ 4.67132900e-02 -7.98052586e-04 9.98908020e-01 9.56808238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.410385723 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:334.79, Y:205.18, Z:95.68 [[ 6.55325255e-01 7.54750303e-01 -3.00131706e-02 3.34787388e+02] [-7.53901016e-01 6.56011646e-01 3.58047193e-02 2.05177911e+02] [ 4.67126122e-02 -8.36776970e-04 9.98908020e-01 9.56833892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.470385723 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:334.83, Y:205.13, Z:95.69 [[ 6.56188606e-01 7.54000155e-01 -3.00046730e-02 3.34830278e+02] [-7.53149758e-01 6.56873621e-01 3.58118390e-02 2.05133186e+02] [ 4.67114103e-02 -9.01308503e-04 9.98908020e-01 9.56882107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.530385723 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:334.87, Y:205.09, Z:95.69 [[ 6.57235525e-01 7.53088106e-01 -2.99961626e-02 3.34873066e+02] [-7.52236434e-01 6.57918954e-01 3.58189659e-02 2.05087102e+02] [ 4.67098811e-02 -9.77290422e-04 9.98908020e-01 9.56924800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5903857229999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:334.92, Y:205.04, Z:95.70 [[ 6.55449117e-01 7.54643812e-01 -2.99861850e-02 3.34917110e+02] [-7.53793380e-01 6.56134089e-01 3.58273168e-02 2.05042686e+02] [ 4.67118211e-02 -8.79595439e-04 9.98908020e-01 9.56953518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.96, Y:205.00, Z:95.70 [[ 6.53251979e-01 7.56546900e-01 -2.99773347e-02 3.34959654e+02] [-7.55698124e-01 6.53939002e-01 3.58347205e-02 2.04999342e+02] [ 4.67139950e-02 -7.55286488e-04 9.98908020e-01 9.56985612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.710385723 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:335.00, Y:204.95, Z:95.70 [[ 6.51980011e-01 7.57643608e-01 -2.99704622e-02 3.35002532e+02] [-7.56795724e-01 6.52668134e-01 3.58404673e-02 2.04953368e+02] [ 4.67150666e-02 -6.85750612e-04 9.98908020e-01 9.57016687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.770385723 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:335.04, Y:204.91, Z:95.70 [[ 6.51588890e-01 7.57980399e-01 -2.99605266e-02 3.35044781e+02] [-7.57132489e-01 6.52276981e-01 3.58487710e-02 2.04907104e+02] [ 4.67152276e-02 -6.74572867e-04 9.98908020e-01 9.57049943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.830385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:335.09, Y:204.86, Z:95.71 [[ 6.49126621e-01 7.60090517e-01 -2.99505539e-02 3.35090030e+02] [-7.59244460e-01 6.49816988e-01 3.58571010e-02 2.04864209e+02] [ 4.67170212e-02 -5.36006676e-04 9.98908020e-01 9.57080517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.890385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:335.13, Y:204.82, Z:95.71 [[ 6.47985855e-01 7.61063620e-01 -2.99415794e-02 3.35131912e+02] [-7.60218253e-01 6.48677068e-01 3.58645933e-02 2.04817414e+02] [ 4.67176532e-02 -4.77613982e-04 9.98908020e-01 9.57112443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.950385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.18, Y:204.77, Z:95.71 [[ 6.48112626e-01 7.60956065e-01 -2.99314570e-02 3.35175576e+02] [-7.60110193e-01 6.48803221e-01 3.58730392e-02 2.04771878e+02] [ 4.67174324e-02 -4.98564018e-04 9.98908020e-01 9.57135433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.010385723 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:335.22, Y:204.73, Z:95.72 [[ 6.49748905e-01 7.59559791e-01 -2.99213049e-02 3.35217201e+02] [-7.58712046e-01 6.50437199e-01 3.58815049e-02 2.04726877e+02] [ 4.67160781e-02 -6.12314060e-04 9.98908020e-01 9.57166636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.070385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:335.26, Y:204.68, Z:95.72 [[ 6.50297375e-01 7.59090591e-01 -2.99131997e-02 3.35259248e+02] [-7.58242038e-01 6.50984673e-01 3.58882608e-02 2.04681468e+02] [ 4.67154755e-02 -6.56596269e-04 9.98908020e-01 9.57207446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.130385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:335.30, Y:204.64, Z:95.72 [[ 6.49062424e-01 7.60147149e-01 -2.99045574e-02 3.35302157e+02] [-7.59299384e-01 6.49750692e-01 3.58954607e-02 2.04635644e+02] [ 4.67163389e-02 -5.91882733e-04 9.98908020e-01 9.57221692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.190385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:335.34, Y:204.59, Z:95.72 [[ 6.46391082e-01 7.62420414e-01 -2.98944976e-02 3.35344183e+02] [-7.61574683e-01 6.47081847e-01 3.59038367e-02 2.04589741e+02] [ 4.67180048e-02 -4.41027301e-04 9.98908021e-01 9.57238219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.39, Y:204.54, Z:95.73 [[ 6.45118034e-01 7.63498142e-01 -2.98882877e-02 3.35385297e+02] [-7.62653325e-01 6.45809917e-01 3.59090054e-02 2.04542315e+02] [ 4.67186115e-02 -3.71145015e-04 9.98908021e-01 9.57276876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.43, Y:204.49, Z:95.73 [[ 6.44308661e-01 7.64181675e-01 -2.98783700e-02 3.35426586e+02] [-7.63337209e-01 6.45000973e-01 3.59172557e-02 2.04494543e+02] [ 4.67188863e-02 -3.34527351e-04 9.98908021e-01 9.57297021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.370385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:335.47, Y:204.45, Z:95.73 [[ 6.44138319e-01 7.64325648e-01 -2.98685325e-02 3.35467537e+02] [-7.63480958e-01 6.44830358e-01 3.59254346e-02 2.04446261e+02] [ 4.67188675e-02 -3.36893261e-04 9.98908021e-01 9.57312332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.51, Y:204.40, Z:95.73 [[ 6.43316012e-01 7.65018283e-01 -2.98585971e-02 3.35508460e+02] [-7.64173955e-01 6.44008491e-01 3.59336902e-02 2.04397923e+02] [ 4.67191201e-02 -2.99556016e-04 9.98908021e-01 9.57344104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.55, Y:204.35, Z:95.74 [[ 6.43307566e-01 7.65025783e-01 -2.98483953e-02 3.35548997e+02] [-7.64181070e-01 6.43999576e-01 3.59421624e-02 2.04350350e+02] [ 4.67190348e-02 -3.12286329e-04 9.98908021e-01 9.57388821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.59, Y:204.30, Z:95.74 [[ 6.44502300e-01 7.64019669e-01 -2.98451150e-02 3.35588820e+02] [-7.63173749e-01 6.45192835e-01 3.59448861e-02 2.04301969e+02] [ 4.67184543e-02 -3.89553476e-04 9.98908021e-01 9.57394211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.63, Y:204.25, Z:95.74 [[ 6.45624024e-01 7.63072412e-01 -2.98347725e-02 3.35627275e+02] [-7.62225083e-01 6.46312828e-01 3.59534684e-02 2.04252038e+02] [ 4.67176961e-02 -4.71611036e-04 9.98908021e-01 9.57420117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.66, Y:204.20, Z:95.74 [[ 6.45515297e-01 7.63164788e-01 -2.98245951e-02 3.35664877e+02] [-7.62317168e-01 6.46203743e-01 3.59619089e-02 2.04201911e+02] [ 4.67176276e-02 -4.78161451e-04 9.98908021e-01 9.57431361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.70, Y:204.15, Z:95.75 [[ 6.46291241e-01 7.62508133e-01 -2.98157434e-02 3.35702910e+02] [-7.61659475e-01 6.46978406e-01 3.59692463e-02 2.04153217e+02] [ 4.67169850e-02 -5.37165370e-04 9.98908021e-01 9.57464168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:204.10, Z:95.75 [[ 6.46017480e-01 7.62740427e-01 -2.98069800e-02 3.35738607e+02] [-7.61891681e-01 6.46704537e-01 3.59765069e-02 2.04102532e+02] [ 4.67170454e-02 -5.31762255e-04 9.98908021e-01 9.57504791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.850385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:335.77, Y:204.05, Z:95.75 [[ 6.46522783e-01 7.62312526e-01 -2.97977144e-02 3.35774667e+02] [-7.61462971e-01 6.47208840e-01 3.59841796e-02 2.04050879e+02] [ 4.67165350e-02 -5.74735803e-04 9.98908021e-01 9.57526494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.81, Y:204.00, Z:95.76 [[ 6.45129019e-01 7.63492779e-01 -2.97880107e-02 3.35810540e+02] [-7.62644108e-01 6.45816170e-01 3.59922106e-02 2.03999291e+02] [ 4.67173718e-02 -5.01968640e-04 9.98908021e-01 9.57554390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.970385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:335.85, Y:203.95, Z:95.76 [[ 6.42922668e-01 7.65352003e-01 -2.97784326e-02 3.35845885e+02] [-7.64504953e-01 6.43611814e-01 3.60001334e-02 2.03947579e+02] [ 4.67185252e-02 -3.79542592e-04 9.98908021e-01 9.57571278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.88, Y:203.90, Z:95.76 [[ 6.41728142e-01 7.66354187e-01 -2.97699815e-02 3.35882127e+02] [-7.65507889e-01 6.42418212e-01 3.60071205e-02 2.03897292e+02] [ 4.67189859e-02 -3.17626825e-04 9.98908022e-01 9.57578849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0903857229999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:335.91, Y:203.85, Z:95.76 [[ 6.40373790e-01 7.67486608e-01 -2.97609699e-02 3.35914349e+02] [-7.66641184e-01 6.41064931e-01 3.60145674e-02 2.03848008e+02] [ 4.67194123e-02 -2.46799804e-04 9.98908022e-01 9.57626287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.150385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:335.95, Y:203.80, Z:95.77 [[ 6.40329173e-01 7.67523763e-01 -2.97627836e-02 3.35949601e+02] [-7.66678449e-01 6.41020448e-01 3.60130684e-02 2.03795801e+02] [ 4.67194387e-02 -2.41733538e-04 9.98908022e-01 9.57682532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.210385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:335.99, Y:203.74, Z:95.77 [[ 6.42028255e-01 7.66103474e-01 -2.97521113e-02 3.35987070e+02] [-7.65256222e-01 6.42717153e-01 3.60218832e-02 2.03744825e+02] [ 4.67186821e-02 -3.59078563e-04 9.98908022e-01 9.57690966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.02, Y:203.69, Z:95.77 [[ 6.38724064e-01 7.68860858e-01 -2.97414184e-02 3.36021456e+02] [-7.68016169e-01 6.39416102e-01 3.60307096e-02 2.03692960e+02] [ 4.67197441e-02 -1.71791035e-04 9.98908022e-01 9.57745902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.06, Y:203.64, Z:95.78 [[ 6.37484401e-01 7.69889391e-01 -2.97315461e-02 3.36058140e+02] [-7.69045439e-01 6.38177338e-01 3.60388542e-02 2.03643024e+02] [ 4.67199304e-02 -1.09297486e-04 9.98908022e-01 9.57752779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:336.09, Y:203.59, Z:95.78 [[ 6.37771205e-01 7.69651939e-01 -2.97284897e-02 3.36094822e+02] [-7.68807611e-01 6.38463684e-01 3.60413752e-02 2.03591945e+02] [ 4.67198753e-02 -1.30662088e-04 9.98908022e-01 9.57794429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.450385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:336.13, Y:203.54, Z:95.78 [[ 6.40847860e-01 7.67092466e-01 -2.97181568e-02 3.36129183e+02] [-7.66244978e-01 6.41536467e-01 3.60498932e-02 2.03538455e+02] [ 4.67188828e-02 -3.31108483e-04 9.98908022e-01 9.57824274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.17, Y:203.49, Z:95.79 [[ 6.43653144e-01 7.64740522e-01 -2.97079884e-02 3.36165309e+02] [-7.63890131e-01 6.44338163e-01 3.60582709e-02 2.03488711e+02] [ 4.67172116e-02 -5.15380293e-04 9.98908022e-01 9.57857484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.570385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:336.20, Y:203.44, Z:95.79 [[ 6.46305145e-01 7.62500801e-01 -2.97016598e-02 3.36200753e+02] [-7.61647797e-01 6.46986907e-01 3.60634830e-02 2.03436871e+02] [ 4.67150197e-02 -6.85810829e-04 9.98908022e-01 9.57886513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:336.24, Y:203.39, Z:95.79 [[ 6.46279034e-01 7.62523319e-01 -2.96917174e-02 3.36237031e+02] [-7.61669963e-01 6.46960356e-01 3.60716670e-02 2.03385216e+02] [ 4.67148513e-02 -6.97072795e-04 9.98908022e-01 9.57916411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.690385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:336.28, Y:203.34, Z:95.79 [[ 6.48529552e-01 7.60610548e-01 -2.96818739e-02 3.36278206e+02] [-7.59754813e-01 6.49207883e-01 3.60797650e-02 2.03338257e+02] [ 4.67123563e-02 -8.47847332e-04 9.98908022e-01 9.57897033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:336.31, Y:203.29, Z:95.80 [[ 6.41885240e-01 7.66226381e-01 -2.96727483e-02 3.36311111e+02] [-7.65376235e-01 6.42570562e-01 3.60872685e-02 2.03285956e+02] [ 4.67178517e-02 -4.53068658e-04 9.98908022e-01 9.57975764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.35, Y:203.24, Z:95.80 [[ 6.39097287e-01 7.68553655e-01 -2.96637285e-02 3.36349421e+02] [-7.67705661e-01 6.39785270e-01 3.60946813e-02 2.03236013e+02] [ 4.67191158e-02 -2.95000574e-04 9.98908022e-01 9.58001790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.39, Y:203.19, Z:95.80 [[ 6.38255161e-01 7.69253533e-01 -2.96538601e-02 3.36387781e+02] [-7.68405917e-01 6.38943609e-01 3.61027869e-02 2.03186488e+02] [ 4.67193408e-02 -2.56588538e-04 9.98908022e-01 9.58037233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.43, Y:203.14, Z:95.80 [[ 6.39239285e-01 7.68436315e-01 -2.96439976e-02 3.36426490e+02] [-7.67587443e-01 6.39926184e-01 3.61108832e-02 2.03137583e+02] [ 4.67188843e-02 -3.29134866e-04 9.98908023e-01 9.58037612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.46, Y:203.09, Z:95.81 [[ 6.37762902e-01 7.69662432e-01 -2.96348049e-02 3.36460159e+02] [-7.68814530e-01 6.38450999e-01 3.61184257e-02 2.03086684e+02] [ 4.67193661e-02 -2.51323394e-04 9.98908023e-01 9.58086844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.50, Y:203.04, Z:95.80 [[ 6.41419129e-01 7.66618442e-01 -2.96254238e-02 3.36499717e+02] [-7.65766920e-01 6.42102740e-01 3.61261187e-02 2.03038650e+02] [ 4.67175146e-02 -4.85814075e-04 9.98908023e-01 9.58046546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.53, Y:202.99, Z:95.81 [[ 6.39772522e-01 7.67993508e-01 -2.96157413e-02 3.36530872e+02] [-7.67143088e-01 6.40457503e-01 3.61340545e-02 2.02986194e+02] [ 4.67183431e-02 -3.98063949e-04 9.98908023e-01 9.58128684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.57, Y:202.93, Z:95.82 [[ 6.41313589e-01 7.66707431e-01 -2.96073620e-02 3.36567042e+02] [-7.65855320e-01 6.41996466e-01 3.61409191e-02 2.02934854e+02] [ 4.67173330e-02 -5.02706857e-04 9.98908023e-01 9.58158830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.60, Y:202.88, Z:95.82 [[ 6.42297989e-01 7.65883338e-01 -2.95974089e-02 3.36603553e+02] [-7.65029975e-01 6.42979301e-01 3.61490683e-02 2.02884208e+02] [ 4.67164904e-02 -5.75568916e-04 9.98908023e-01 9.58160540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.290385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:336.64, Y:202.84, Z:95.82 [[ 6.39288029e-01 7.68397684e-01 -2.95941934e-02 3.36641161e+02] [-7.67546879e-01 6.39972533e-01 3.61517006e-02 2.02835273e+02] [ 4.67183538e-02 -3.96418635e-04 9.98908023e-01 9.58206604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.350385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:336.68, Y:202.79, Z:95.82 [[ 6.35921855e-01 7.71186176e-01 -2.95850517e-02 3.36682315e+02] [-7.70338026e-01 6.36609645e-01 3.61591802e-02 2.02787778e+02] [ 4.67195892e-02 -2.03922674e-04 9.98908023e-01 9.58226505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.410385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:336.72, Y:202.74, Z:95.83 [[ 6.35340186e-01 7.71665840e-01 -2.95749719e-02 3.36721527e+02] [-7.70817825e-01 6.36028143e-01 3.61674226e-02 2.02740299e+02] [ 4.67196790e-02 -1.81701498e-04 9.98908023e-01 9.58252699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.76, Y:202.69, Z:95.83 [[ 6.35380436e-01 7.71633056e-01 -2.95656651e-02 3.36760821e+02] [-7.70784652e-01 6.36067911e-01 3.61750291e-02 2.02693214e+02] [ 4.67196191e-02 -1.96144824e-04 9.98908023e-01 9.58306598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.80, Y:202.65, Z:95.83 [[ 6.36080227e-01 7.71056649e-01 -2.95565377e-02 3.36803017e+02] [-7.70207275e-01 6.36766504e-01 3.61824850e-02 2.02645955e+02] [ 4.67193588e-02 -2.50302917e-04 9.98908023e-01 9.58337425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.84, Y:202.60, Z:95.84 [[ 6.37705672e-01 7.69713237e-01 -2.95467023e-02 3.36843263e+02] [-7.68862046e-01 6.38389694e-01 3.61905148e-02 2.02597992e+02] [ 4.67186286e-02 -3.61558581e-04 9.98908023e-01 9.58376809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.89, Y:202.55, Z:95.83 [[ 6.44136974e-01 7.64339681e-01 -2.95365809e-02 3.36888176e+02] [-7.63482406e-01 6.44813356e-01 3.61987735e-02 2.02553733e+02] [ 4.67137408e-02 -7.66308544e-04 9.98908023e-01 9.58339818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.92, Y:202.50, Z:95.84 [[ 6.44143579e-01 7.64334451e-01 -2.95279094e-02 3.36922901e+02] [-7.63476846e-01 6.44819543e-01 3.62058456e-02 2.02503489e+02] [ 4.67135481e-02 -7.77887795e-04 9.98908023e-01 9.58417080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.770385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:336.96, Y:202.45, Z:95.84 [[ 6.47735520e-01 7.61293159e-01 -2.95198590e-02 3.36963127e+02] [-7.60432082e-01 6.48407056e-01 3.62124082e-02 2.02454701e+02] [ 4.67091434e-02 -1.00821520e-03 9.98908024e-01 9.58443424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.00, Y:202.41, Z:95.85 [[ 6.50202478e-01 7.59187647e-01 -2.95102278e-02 3.37003427e+02] [-7.58324041e-01 6.50870757e-01 3.62202551e-02 2.02406359e+02] [ 4.67053146e-02 -1.17218444e-03 9.98908024e-01 9.58473262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.05, Y:202.36, Z:95.85 [[ 6.50055602e-01 7.59313783e-01 -2.95007486e-02 3.37045707e+02] [-7.58449956e-01 6.50723596e-01 3.62279741e-02 2.02359052e+02] [ 4.67052333e-02 -1.17535598e-03 9.98908024e-01 9.58492494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.09, Y:202.31, Z:95.85 [[ 6.51335922e-01 7.58216191e-01 -2.94910810e-02 3.37090986e+02] [-7.57350883e-01 6.52001996e-01 3.62358422e-02 2.02314687e+02] [ 4.67028460e-02 -1.26660945e-03 9.98908024e-01 9.58455175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.13, Y:202.27, Z:95.86 [[ 6.44373921e-01 7.64142097e-01 -2.94806144e-02 3.37127873e+02] [-7.63282528e-01 6.45047385e-01 3.62443556e-02 2.02265031e+02] [ 4.67122311e-02 -8.52879644e-04 9.98908024e-01 9.58553679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.17, Y:202.22, Z:95.86 [[ 6.41145175e-01 7.66853523e-01 -2.94709722e-02 3.37170150e+02] [-7.65996443e-01 6.41821803e-01 3.62521942e-02 2.02218473e+02] [ 4.67152354e-02 -6.68259507e-04 9.98908024e-01 9.58577752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:202.17, Z:95.86 [[ 6.38513749e-01 7.69046315e-01 -2.94611098e-02 3.37211477e+02] [-7.68191189e-01 6.39192846e-01 3.62602073e-02 2.02171808e+02] [ 4.67171094e-02 -5.20875916e-04 9.98908024e-01 9.58606826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.25, Y:202.13, Z:95.86 [[ 6.37871607e-01 7.69579361e-01 -2.94519940e-02 3.37254509e+02] [-7.68724462e-01 6.38550987e-01 3.62676101e-02 2.02125861e+02] [ 4.67174040e-02 -4.93610498e-04 9.98908024e-01 9.58616847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.250385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:337.29, Y:202.08, Z:95.87 [[ 6.34710929e-01 7.72188596e-01 -2.94416078e-02 3.37293598e+02] [-7.71336098e-01 6.35393321e-01 3.62760394e-02 2.02078386e+02] [ 4.67189449e-02 -3.15423764e-04 9.98908024e-01 9.58650382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.33, Y:202.03, Z:95.87 [[ 6.34519059e-01 7.72346631e-01 -2.94320478e-02 3.37333987e+02] [-7.71493944e-01 6.35201213e-01 3.62837942e-02 2.02030919e+02] [ 4.67189387e-02 -3.16112285e-04 9.98908024e-01 9.58701727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.37, Y:201.98, Z:95.87 [[ 6.39296514e-01 7.68397239e-01 -2.94219432e-02 3.37373639e+02] [-7.67539961e-01 6.39972890e-01 3.62919860e-02 2.01983285e+02] [ 4.67159078e-02 -6.18822968e-04 9.98908024e-01 9.58718629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.41, Y:201.94, Z:95.87 [[ 6.46559451e-01 7.62296382e-01 -2.94126166e-02 3.37413627e+02] [-7.61432381e-01 6.47227218e-01 3.62995431e-02 2.01936029e+02] [ 4.67076564e-02 -1.07409402e-03 9.98908024e-01 9.58725122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.45, Y:201.89, Z:95.88 [[ 6.50903220e-01 7.58590856e-01 -2.94093625e-02 3.37452971e+02] [-7.57722936e-01 6.51565886e-01 3.63021793e-02 2.01888969e+02] [ 4.67006386e-02 -1.34505687e-03 9.98908024e-01 9.58786712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.550385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:337.49, Y:201.84, Z:95.88 [[ 6.52037015e-01 7.57616868e-01 -2.94009097e-02 3.37494434e+02] [-7.56747650e-01 6.52697977e-01 3.63090239e-02 2.01841430e+02] [ 4.66982432e-02 -1.42575828e-03 9.98908024e-01 9.58810144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.54, Y:201.80, Z:95.88 [[ 6.51071880e-01 7.58446821e-01 -2.93909210e-02 3.37536000e+02] [-7.57578082e-01 6.51733471e-01 3.63171076e-02 2.01796699e+02] [ 4.66996418e-02 -1.37912999e-03 9.98908025e-01 9.58835939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:337.58, Y:201.75, Z:95.89 [[ 6.48302931e-01 7.60815200e-01 -2.93860879e-02 3.37580227e+02] [-7.59948701e-01 6.48967453e-01 3.63210180e-02 2.01751294e+02] [ 4.67041971e-02 -1.21510308e-03 9.98908025e-01 9.58876353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.62, Y:201.71, Z:95.89 [[ 6.46830828e-01 7.62067553e-01 -2.93755677e-02 3.37623379e+02] [-7.61201956e-01 6.47496524e-01 3.63295244e-02 2.01706100e+02] [ 4.67061298e-02 -1.13831682e-03 9.98908025e-01 9.58881427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.66, Y:201.66, Z:95.89 [[ 6.43230759e-01 7.65109037e-01 -2.93658416e-02 3.37664753e+02] [-7.64246229e-01 6.43900067e-01 3.63373845e-02 2.01659757e+02] [ 4.67107286e-02 -9.30589691e-04 9.98908025e-01 9.58940854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.850385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:337.71, Y:201.61, Z:95.90 [[ 6.42084725e-01 7.66071407e-01 -2.93565289e-02 3.37707687e+02] [-7.65209259e-01 6.42754882e-01 3.63449066e-02 2.01614221e+02] [ 4.67118460e-02 -8.72621649e-04 9.98908025e-01 9.58961849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.75, Y:201.57, Z:95.90 [[ 6.42734425e-01 7.65526768e-01 -2.93466643e-02 3.37748754e+02] [-7.64663688e-01 6.43403383e-01 3.63528700e-02 2.01567114e+02] [ 4.67108381e-02 -9.24912393e-04 9.98908025e-01 9.59013951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.970385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:337.79, Y:201.52, Z:95.90 [[ 6.45223199e-01 7.63430685e-01 -2.93361928e-02 3.37791364e+02] [-7.62565049e-01 6.45888845e-01 3.63613184e-02 2.01520076e+02] [ 4.67072659e-02 -1.09041088e-03 9.98908025e-01 9.59009577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.83, Y:201.47, Z:95.90 [[ 6.46667577e-01 7.62208012e-01 -2.93256171e-02 3.37832903e+02] [-7.61340731e-01 6.47331078e-01 3.63698458e-02 2.01473718e+02] [ 4.67047712e-02 -1.19241326e-03 9.98908025e-01 9.59046499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:337.87, Y:201.43, Z:95.90 [[ 6.48648872e-01 7.60522995e-01 -2.93158000e-02 3.37874554e+02] [-7.59653634e-01 6.49309645e-01 3.63777571e-02 2.01426757e+02] [ 4.67011524e-02 -1.32653704e-03 9.98908025e-01 9.59046831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.92, Y:201.38, Z:95.91 [[ 6.51385033e-01 7.58181203e-01 -2.93053160e-02 3.37916902e+02] [-7.57309089e-01 6.52042168e-01 3.63862008e-02 2.01381333e+02] [ 4.66956353e-02 -1.50824446e-03 9.98908025e-01 9.59068169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.96, Y:201.33, Z:95.91 [[ 6.48235696e-01 7.60875852e-01 -2.92988079e-02 3.37956046e+02] [-7.60006234e-01 6.48896130e-01 3.63914405e-02 2.01333476e+02] [ 4.67012514e-02 -1.32295409e-03 9.98908025e-01 9.59131738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.270385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:338.00, Y:201.29, Z:95.91 [[ 6.46005826e-01 7.62770349e-01 -2.92893759e-02 3.37997623e+02] [-7.61902325e-01 6.46668353e-01 3.63990303e-02 2.01286435e+02] [ 4.67046135e-02 -1.19834202e-03 9.98908025e-01 9.59127199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.330385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:201.24, Z:95.91 [[ 6.46686286e-01 7.62193915e-01 -2.92794065e-02 3.38042824e+02] [-7.61324937e-01 6.47347563e-01 3.64070479e-02 2.01241406e+02] [ 4.67031828e-02 -1.25279624e-03 9.98908025e-01 9.59123675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.08, Y:201.19, Z:95.92 [[ 6.42354655e-01 7.65848434e-01 -2.92689662e-02 3.38080920e+02] [-7.64982838e-01 6.43020352e-01 3.64154393e-02 2.01193133e+02] [ 4.67092481e-02 -1.00137005e-03 9.98908026e-01 9.59201009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.450385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:338.13, Y:201.15, Z:95.92 [[ 6.43246285e-01 7.65100067e-01 -2.92592592e-02 3.38126095e+02] [-7.64233342e-01 6.43910511e-01 3.64232371e-02 2.01148371e+02] [ 4.67077657e-02 -1.06821051e-03 9.98908026e-01 9.59157324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.16, Y:201.10, Z:95.93 [[ 6.40367899e-01 7.67511198e-01 -2.92491827e-02 3.38163862e+02] [-7.66646606e-01 6.41034898e-01 3.64313271e-02 2.01098604e+02] [ 4.67111983e-02 -9.05665713e-04 9.98908026e-01 9.59258242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.21, Y:201.05, Z:95.93 [[ 6.41560619e-01 7.66514865e-01 -2.92392587e-02 3.38205362e+02] [-7.65648874e-01 6.42225802e-01 3.64392902e-02 2.01052509e+02] [ 4.67094639e-02 -9.91008044e-04 9.98908026e-01 9.59271566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.25, Y:201.01, Z:95.93 [[ 6.44566614e-01 7.63989191e-01 -2.92300688e-02 3.38246815e+02] [-7.63120260e-01 6.45227952e-01 3.64466605e-02 2.01005773e+02] [ 4.67049120e-02 -1.18624283e-03 9.98908026e-01 9.59317404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.29, Y:200.96, Z:95.93 [[ 6.46913797e-01 7.62003137e-01 -2.92191445e-02 3.38286482e+02] [-7.61131782e-01 6.47571936e-01 3.64554163e-02 2.00958038e+02] [ 4.67006396e-02 -1.34389230e-03 9.98908026e-01 9.59335733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.33, Y:200.91, Z:95.94 [[ 6.48533029e-01 7.60625886e-01 -2.92090973e-02 3.38327580e+02] [-7.59752772e-01 6.49188833e-01 3.64634646e-02 2.00910552e+02] [ 4.66972749e-02 -1.45606846e-03 9.98908026e-01 9.59353416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.37, Y:200.86, Z:95.94 [[ 6.47466956e-01 7.61533939e-01 -2.91993296e-02 3.38370125e+02] [-7.60661393e-01 6.48123515e-01 3.64712848e-02 2.00863807e+02] [ 4.66988933e-02 -1.40314901e-03 9.98908026e-01 9.59380540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.870385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:338.41, Y:200.82, Z:95.94 [[ 6.46252883e-01 7.62564866e-01 -2.91896542e-02 3.38410897e+02] [-7.61693018e-01 6.46910370e-01 3.64790268e-02 2.00818038e+02] [ 4.67007142e-02 -1.34112051e-03 9.98908026e-01 9.59389019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.45, Y:200.77, Z:95.94 [[ 6.45329638e-01 7.63346627e-01 -2.91819278e-02 3.38453238e+02] [-7.62475297e-01 6.45987810e-01 3.64852066e-02 2.00771299e+02] [ 4.67020290e-02 -1.29448608e-03 9.98908026e-01 9.59423534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.50, Y:200.73, Z:95.94 [[ 6.44948065e-01 7.63669437e-01 -2.91716442e-02 3.38495863e+02] [-7.62798065e-01 6.45606181e-01 3.64934270e-02 2.00726439e+02] [ 4.67023087e-02 -1.28429129e-03 9.98908026e-01 9.59440202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.54, Y:200.68, Z:95.95 [[ 6.45757689e-01 7.62985305e-01 -2.91621460e-02 3.38537958e+02] [-7.62112894e-01 6.46414428e-01 3.65010155e-02 2.00679508e+02] [ 4.67005704e-02 -1.34596392e-03 9.98908026e-01 9.59469759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.58, Y:200.63, Z:95.96 [[ 6.47032905e-01 7.61904573e-01 -2.91520347e-02 3.38579631e+02] [-7.61030702e-01 6.47687700e-01 3.65090892e-02 2.00633045e+02] [ 4.66978563e-02 -1.43698866e-03 9.98908026e-01 9.59554875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.62, Y:200.59, Z:95.95 [[ 6.46183595e-01 7.62625218e-01 -2.91468416e-02 3.38621478e+02] [-7.61751891e-01 6.46839114e-01 3.65132346e-02 2.00588388e+02] [ 4.66992308e-02 -1.39159149e-03 9.98908026e-01 9.59529948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.66, Y:200.54, Z:95.96 [[ 6.44169098e-01 7.64327767e-01 -2.91416943e-02 3.38662664e+02] [-7.63455987e-01 6.44826674e-01 3.65173423e-02 2.00542234e+02] [ 4.67025605e-02 -1.27494247e-03 9.98908026e-01 9.59604953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.290385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:338.71, Y:200.50, Z:95.96 [[ 6.40281754e-01 7.67587499e-01 -2.91325878e-02 3.38705272e+02] [-7.66718738e-01 6.40943313e-01 3.65246058e-02 2.00497492e+02] [ 4.67081681e-02 -1.04953772e-03 9.98908027e-01 9.59563153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.75, Y:200.45, Z:95.96 [[ 6.36472275e-01 7.70749520e-01 -2.91242428e-02 3.38746796e+02] [-7.69883742e-01 6.37137733e-01 3.65312588e-02 2.00450408e+02] [ 4.67126042e-02 -8.28852295e-04 9.98908027e-01 9.59600335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.79, Y:200.40, Z:95.97 [[ 6.35003188e-01 7.71960706e-01 -2.91139185e-02 3.38785204e+02] [-7.71095821e-01 6.35669805e-01 3.65394850e-02 2.00402329e+02] [ 4.67138855e-02 -7.53068533e-04 9.98908027e-01 9.59672749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.82, Y:200.36, Z:95.97 [[ 6.34492438e-01 7.72380911e-01 -2.91045344e-02 3.38824248e+02] [-7.71516125e-01 6.35159184e-01 3.65469581e-02 2.00355307e+02] [ 4.67141851e-02 -7.34150990e-04 9.98908027e-01 9.59661104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.86, Y:200.31, Z:95.97 [[ 6.32879387e-01 7.73703361e-01 -2.90996724e-02 3.38863254e+02] [-7.72839790e-01 6.33547706e-01 3.65508289e-02 2.00306628e+02] [ 4.67155299e-02 -6.42881488e-04 9.98908027e-01 9.59687879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.90, Y:200.26, Z:95.97 [[ 6.31480265e-01 7.74846074e-01 -2.90901615e-02 3.38901328e+02] [-7.73983364e-01 6.32149695e-01 3.65583970e-02 2.00257058e+02] [ 4.67164671e-02 -5.70605194e-04 9.98908027e-01 9.59728061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.94, Y:200.21, Z:95.98 [[ 6.28225158e-01 7.77487942e-01 -2.90800802e-02 3.38938130e+02] [-7.76627676e-01 6.28897726e-01 3.65664143e-02 2.00211340e+02] [ 4.67183425e-02 -3.87546271e-04 9.98908027e-01 9.59751197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.97, Y:200.16, Z:95.98 [[ 6.24800808e-01 7.80242369e-01 -2.90825625e-02 3.38972840e+02] [-7.79385161e-01 6.25477268e-01 3.65644399e-02 2.00163930e+02] [ 4.67196070e-02 -1.78973961e-04 9.98908027e-01 9.59772954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.01, Y:200.12, Z:95.98 [[ 6.25657820e-01 7.79555229e-01 -2.90850127e-02 3.39007180e+02] [-7.78697368e-01 6.26333452e-01 3.65624908e-02 2.00117162e+02] [ 4.67193973e-02 -2.27185466e-04 9.98908027e-01 9.59808419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.05, Y:200.07, Z:95.98 [[ 6.29692877e-01 7.76299406e-01 -2.90880294e-02 3.39045269e+02] [-7.75438163e-01 6.30364193e-01 3.65600906e-02 2.00067186e+02] [ 4.67176288e-02 -4.65660538e-04 9.98908027e-01 9.59843088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.08, Y:200.02, Z:95.99 [[ 6.35566148e-01 7.71498644e-01 -2.90777248e-02 3.39081612e+02] [-7.70631957e-01 6.36230421e-01 3.65682845e-02 2.00017113e+02] [ 4.67125150e-02 -8.33339816e-04 9.98908027e-01 9.59863661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.12, Y:199.97, Z:95.99 [[ 6.37443545e-01 7.69948548e-01 -2.90682093e-02 3.39119878e+02] [-7.69079901e-01 6.38105252e-01 3.65758469e-02 1.99967820e+02] [ 4.67100972e-02 -9.59261961e-04 9.98908027e-01 9.59906822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.16, Y:199.92, Z:95.99 [[ 6.43008591e-01 7.65307509e-01 -2.90580074e-02 3.39159358e+02] [-7.64433723e-01 6.43663498e-01 3.65839501e-02 1.99919609e+02] [ 4.67015503e-02 -1.31087346e-03 9.98908027e-01 9.59930619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.20, Y:199.87, Z:96.00 [[ 6.46072157e-01 7.62723375e-01 -2.90486057e-02 3.39198566e+02] [-7.61846635e-01 6.46723104e-01 3.65914137e-02 1.99870809e+02] [ 4.66955310e-02 -1.51011104e-03 9.98908027e-01 9.59961133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.24, Y:199.82, Z:96.00 [[ 6.44589124e-01 7.63977501e-01 -2.90385658e-02 3.39237799e+02] [-7.63101670e-01 6.45241293e-01 3.65993796e-02 1.99823364e+02] [ 4.66979843e-02 -1.43218399e-03 9.98908027e-01 9.59984027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.28, Y:199.78, Z:96.00 [[ 6.40439772e-01 7.67459527e-01 -2.90305447e-02 3.39280537e+02] [-7.66586956e-01 6.41096295e-01 3.66057408e-02 1.99776621e+02] [ 4.67047991e-02 -1.18933539e-03 9.98908027e-01 9.60000463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.32, Y:199.73, Z:96.00 [[ 6.38375324e-01 7.69177976e-01 -2.90204612e-02 3.39321216e+02] [-7.68306809e-01 6.39033709e-01 3.66137330e-02 1.99729340e+02] [ 4.67075301e-02 -1.07668572e-03 9.98908027e-01 9.60041134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.36, Y:199.68, Z:96.01 [[ 6.37694484e-01 7.69742882e-01 -2.90110461e-02 3.39361771e+02] [-7.68871959e-01 6.38353193e-01 3.66211917e-02 1.99681596e+02] [ 4.67081955e-02 -1.04735208e-03 9.98908028e-01 9.60085187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.40, Y:199.64, Z:96.01 [[ 6.37173571e-01 7.70174524e-01 -2.90007418e-02 3.39403596e+02] [-7.69303677e-01 6.37832379e-01 3.66293500e-02 1.99635931e+02] [ 4.67086043e-02 -1.02887646e-03 9.98908028e-01 9.60116146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.44, Y:199.59, Z:96.02 [[ 6.38161801e-01 7.69356241e-01 -2.89912186e-02 3.39443978e+02] [-7.68484206e-01 6.38819038e-01 3.66368858e-02 1.99587759e+02] [ 4.67069591e-02 -1.10096742e-03 9.98908028e-01 9.60154969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:199.54, Z:96.02 [[ 6.38447573e-01 7.69119501e-01 -2.89808567e-02 3.39485906e+02] [-7.68246851e-01 6.39103993e-01 3.66450805e-02 1.99540979e+02] [ 4.67062272e-02 -1.13151075e-03 9.98908028e-01 9.60180603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.53, Y:199.49, Z:96.02 [[ 6.37299594e-01 7.70071384e-01 -2.89705230e-02 3.39526804e+02] [-7.69199345e-01 6.37956823e-01 3.66532482e-02 1.99492651e+02] [ 4.67075604e-02 -1.07499283e-03 9.98908028e-01 9.60205113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.57, Y:199.44, Z:96.02 [[ 6.37840498e-01 7.69623809e-01 -2.89601705e-02 3.39566720e+02] [-7.68750938e-01 6.38496621e-01 3.66614260e-02 1.99443717e+02] [ 4.67064774e-02 -1.12098393e-03 9.98908028e-01 9.60228777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.61, Y:199.40, Z:96.02 [[ 6.38604987e-01 7.68989972e-01 -2.89498487e-02 3.39605865e+02] [-7.68116080e-01 6.39259752e-01 3.66695749e-02 1.99395046e+02] [ 4.67050084e-02 -1.18052915e-03 9.98908028e-01 9.60235785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.64, Y:199.35, Z:96.03 [[ 6.39932283e-01 7.67886127e-01 -2.89407944e-02 3.39644800e+02] [-7.67010784e-01 6.40585104e-01 3.66767194e-02 1.99345228e+02] [ 4.67025858e-02 -1.27271531e-03 9.98908028e-01 9.60272739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.68, Y:199.30, Z:96.03 [[ 6.42572537e-01 7.65678497e-01 -2.89305122e-02 3.39683338e+02] [-7.64800547e-01 6.43221849e-01 3.66848282e-02 1.99296050e+02] [ 4.66975217e-02 -1.44659157e-03 9.98908028e-01 9.60315644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.72, Y:199.25, Z:96.03 [[ 6.44224582e-01 7.64289412e-01 -2.89202799e-02 3.39719946e+02] [-7.63409701e-01 6.44871506e-01 3.66928930e-02 1.99250165e+02] [ 4.66938541e-02 -1.56044138e-03 9.98908028e-01 9.60335101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.76, Y:199.20, Z:96.04 [[ 6.44313001e-01 7.64214803e-01 -2.89221626e-02 3.39757270e+02] [-7.63335083e-01 6.44959914e-01 3.66914089e-02 1.99204972e+02] [ 4.66937534e-02 -1.56345040e-03 9.98908028e-01 9.60364468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.970385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:339.80, Y:199.16, Z:96.04 [[ 6.40503609e-01 7.67410251e-01 -2.89246225e-02 3.39798385e+02] [-7.66533848e-01 6.41155007e-01 3.66894696e-02 1.99157455e+02] [ 4.67010417e-02 -1.32803549e-03 9.98908028e-01 9.60400547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.83, Y:199.11, Z:96.05 [[ 6.29450437e-01 7.76502489e-01 -2.89142255e-02 3.39831411e+02] [-7.75635126e-01 6.30113825e-01 3.66976615e-02 1.99107373e+02] [ 4.67150787e-02 -6.72470116e-04 9.98908028e-01 9.60519725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.87, Y:199.06, Z:96.05 [[ 6.29221697e-01 7.76687738e-01 -2.89173581e-02 3.39874490e+02] [-7.75820684e-01 6.29885489e-01 3.66951929e-02 1.99064819e+02] [ 4.67153306e-02 -6.54727014e-04 9.98908028e-01 9.60494675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.91, Y:199.02, Z:96.05 [[ 6.29310929e-01 7.76615415e-01 -2.89180362e-02 3.39910100e+02] [-7.75748309e-01 6.29974653e-01 3.66946585e-02 1.99018439e+02] [ 4.67152672e-02 -6.59231874e-04 9.98908028e-01 9.60524816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.95, Y:198.97, Z:96.06 [[ 6.29645879e-01 7.76343781e-01 -2.89205924e-02 3.39948681e+02] [-7.75476482e-01 6.30309350e-01 3.66926437e-02 1.98968283e+02] [ 4.67150256e-02 -6.76132628e-04 9.98908028e-01 9.60552763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.98, Y:198.92, Z:96.06 [[ 6.28442760e-01 7.77318401e-01 -2.89102288e-02 3.39984546e+02] [-7.76451755e-01 6.29107084e-01 3.67008074e-02 1.98918349e+02] [ 4.67158427e-02 -6.16958765e-04 9.98908029e-01 9.60592195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.02, Y:198.87, Z:96.06 [[ 6.23517115e-01 7.81275035e-01 -2.89089420e-02 3.40019607e+02] [-7.80412558e-01 6.24186843e-01 3.67018210e-02 1.98871701e+02] [ 4.67187977e-02 -3.23312236e-04 9.98908029e-01 9.60619728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.05, Y:198.82, Z:96.06 [[ 6.17707056e-01 7.85876656e-01 -2.89115029e-02 3.40052823e+02] [-7.85019263e-01 6.18383280e-01 3.66998036e-02 1.98824418e+02] [ 4.67199089e-02 2.63590175e-05 9.98908029e-01 9.60626158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.08, Y:198.77, Z:96.07 [[ 6.16127170e-01 7.87115782e-01 -2.89146552e-02 3.40084718e+02] [-7.86259865e-01 6.16805262e-01 3.66973198e-02 1.98774869e+02] [ 4.67197510e-02 1.24217166e-04 9.98908029e-01 9.60656604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.12, Y:198.72, Z:96.07 [[ 6.17093472e-01 7.86358344e-01 -2.89171486e-02 3.40119565e+02] [-7.85501688e-01 6.17770628e-01 3.66953549e-02 1.98721906e+02] [ 4.67198636e-02 7.00051401e-05 9.98908029e-01 9.60689999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.15, Y:198.67, Z:96.07 [[ 6.16468413e-01 7.86848834e-01 -2.89068674e-02 3.40152120e+02] [-7.85992337e-01 6.17145771e-01 3.67034522e-02 1.98671627e+02] [ 4.67198195e-02 9.40572992e-05 9.98908029e-01 9.60698617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.18, Y:198.62, Z:96.08 [[ 6.11952576e-01 7.90365992e-01 -2.89074988e-02 3.40181522e+02] [-7.89513411e-01 6.12634857e-01 3.67029549e-02 1.98619939e+02] [ 4.67185087e-02 3.62390130e-04 9.98908029e-01 9.60762295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.22, Y:198.57, Z:96.08 [[ 6.09853787e-01 7.91986485e-01 -2.89096325e-02 3.40215733e+02] [-7.91135796e-01 6.10538425e-01 3.67012742e-02 1.98573227e+02] [ 4.67173546e-02 4.89034088e-04 9.98908029e-01 9.60773388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.25, Y:198.52, Z:96.08 [[ 6.07194260e-01 7.94027177e-01 -2.89131909e-02 3.40248352e+02] [-7.93178923e-01 6.07881912e-01 3.66984707e-02 1.98520133e+02] [ 4.67153888e-02 6.50232872e-04 9.98908029e-01 9.60799442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.28, Y:198.47, Z:96.08 [[ 6.05237984e-01 7.95519462e-01 -2.89096563e-02 3.40281595e+02] [-7.94672770e-01 6.05927559e-01 3.67012549e-02 1.98467249e+02] [ 4.67137200e-02 7.60723162e-04 9.98908029e-01 9.60818720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.31, Y:198.42, Z:96.08 [[ 6.05256881e-01 7.95505470e-01 -2.88990480e-02 3.40313565e+02] [-7.94658363e-01 6.05945947e-01 3.67096061e-02 1.98418090e+02] [ 4.67139534e-02 7.46128523e-04 9.98908029e-01 9.60823210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.34, Y:198.37, Z:96.09 [[ 6.07747007e-01 7.93604323e-01 -2.89094073e-02 3.40343544e+02] [-7.92755449e-01 6.08433893e-01 3.67014461e-02 1.98368440e+02] [ 4.67158896e-02 6.12896146e-04 9.98908029e-01 9.60851081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.990385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:340.38, Y:198.31, Z:96.09 [[ 6.10968869e-01 7.91126468e-01 -2.89128535e-02 3.40375430e+02] [-7.90274935e-01 6.11652458e-01 3.66987311e-02 1.98314759e+02] [ 4.67179554e-02 4.27321252e-04 9.98908029e-01 9.60919993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.050385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:340.41, Y:198.27, Z:96.08 [[ 6.19407164e-01 7.84537658e-01 -2.89037963e-02 3.40414227e+02] [-7.83678520e-01 6.20081169e-01 3.67058632e-02 1.98266252e+02] [ 4.67198317e-02 -8.45903280e-05 9.98908029e-01 9.60845933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.110385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:340.45, Y:198.21, Z:96.09 [[ 6.21429231e-01 7.82937303e-01 -2.88944760e-02 3.40446512e+02] [-7.82076088e-01 6.22100581e-01 3.67131986e-02 1.98211319e+02] [ 4.67194029e-02 -2.16976027e-04 9.98908029e-01 9.60902173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.48, Y:198.16, Z:96.09 [[ 6.23611502e-01 7.81200631e-01 -2.88837151e-02 3.40478591e+02] [-7.80337155e-01 6.24279940e-01 3.67216626e-02 1.98157265e+02] [ 4.67185099e-02 -3.61015055e-04 9.98908029e-01 9.60920141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.230385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:340.51, Y:198.10, Z:96.10 [[ 6.20854966e-01 7.83393525e-01 -2.88738031e-02 3.40507106e+02] [-7.82532048e-01 6.21525978e-01 3.67294546e-02 1.98101072e+02] [ 4.67194356e-02 -2.08987992e-04 9.98908029e-01 9.61036506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.54, Y:198.05, Z:96.11 [[ 6.20226220e-01 7.83891737e-01 -2.88648586e-02 3.40541270e+02] [-7.83030472e-01 6.20897504e-01 3.67364826e-02 1.98047924e+02] [ 4.67195438e-02 -1.82865869e-04 9.98908029e-01 9.61068679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:340.57, Y:198.00, Z:96.11 [[ 6.20123165e-01 7.83973639e-01 -2.88546891e-02 3.40574442e+02] [-7.83112091e-01 6.20794086e-01 3.67444685e-02 1.97995943e+02] [ 4.67195150e-02 -1.89640167e-04 9.98908029e-01 9.61095519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.61, Y:197.94, Z:96.11 [[ 6.19710235e-01 7.84300268e-01 -2.88498606e-02 3.40607805e+02] [-7.83438896e-01 6.20381383e-01 3.67482591e-02 1.97942935e+02] [ 4.67195859e-02 -1.71169339e-04 9.98908029e-01 9.61144210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.64, Y:197.89, Z:96.12 [[ 6.22104214e-01 7.82403101e-01 -2.88398088e-02 3.40643068e+02] [-7.81539317e-01 6.22772255e-01 3.67561461e-02 1.97892244e+02] [ 4.67187554e-02 -3.26708881e-04 9.98908029e-01 9.61160781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.530385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:340.67, Y:197.84, Z:96.12 [[ 6.19432624e-01 7.84520260e-01 -2.88303114e-02 3.40674037e+02] [-7.83658413e-01 6.20103161e-01 3.67635940e-02 1.97839310e+02] [ 4.67195516e-02 -1.79453437e-04 9.98908029e-01 9.61199861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.71, Y:197.79, Z:96.12 [[ 6.19125325e-01 7.84763113e-01 -2.88216445e-02 3.40708632e+02] [-7.83901213e-01 6.19795794e-01 3.67703874e-02 1.97787297e+02] [ 4.67195777e-02 -1.72155945e-04 9.98908030e-01 9.61213767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.74, Y:197.73, Z:96.12 [[ 6.21610614e-01 7.82796316e-01 -2.88127216e-02 3.40743584e+02] [-7.81931970e-01 6.22277927e-01 3.67773779e-02 1.97734865e+02] [ 4.67187166e-02 -3.31620339e-04 9.98908030e-01 9.61232992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:340.78, Y:197.68, Z:96.13 [[ 6.26870376e-01 7.78590997e-01 -2.88026306e-02 3.40776574e+02] [-7.77721813e-01 6.27531374e-01 3.67852791e-02 1.97682611e+02] [ 4.67152415e-02 -6.59167636e-04 9.98908030e-01 9.61266915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.770385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:340.81, Y:197.63, Z:96.13 [[ 6.32075619e-01 7.74371589e-01 -2.87933155e-02 3.40813001e+02] [-7.73497662e-01 6.32730333e-01 3.67925690e-02 1.97630712e+02] [ 4.67095242e-02 -9.84123589e-04 9.98908030e-01 9.61266417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.85, Y:197.58, Z:96.13 [[ 6.33990209e-01 7.72805244e-01 -2.87831430e-02 3.40848444e+02] [-7.71929339e-01 6.34642275e-01 3.68005253e-02 1.97579045e+02] [ 4.67066383e-02 -1.11262023e-03 9.98908030e-01 9.61312679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.88, Y:197.53, Z:96.13 [[ 6.31651674e-01 7.74718190e-01 -2.87730661e-02 3.40884626e+02] [-7.73843902e-01 6.32305905e-01 3.68084024e-02 1.97528714e+02] [ 4.67095185e-02 -9.84227251e-04 9.98908030e-01 9.61345361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.92, Y:197.48, Z:96.14 [[ 6.26497197e-01 7.78892744e-01 -2.87637712e-02 3.40922830e+02] [-7.78022484e-01 6.27156776e-01 3.68156644e-02 1.97478264e+02] [ 4.67148479e-02 -6.86049902e-04 9.98908030e-01 9.61378136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.96, Y:197.43, Z:96.14 [[ 6.26138833e-01 7.79181230e-01 -2.87536397e-02 3.40963823e+02] [-7.78310910e-01 6.26798334e-01 3.68235756e-02 1.97432026e+02] [ 4.67149724e-02 -6.77399223e-04 9.98908030e-01 9.61410141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.00, Y:197.38, Z:96.15 [[ 6.22202864e-01 7.82328158e-01 -2.87445434e-02 3.40998005e+02] [-7.81460846e-01 6.22866316e-01 3.68306748e-02 1.97380330e+02] [ 4.67176818e-02 -4.53416141e-04 9.98908030e-01 9.61461974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.03, Y:197.33, Z:96.15 [[ 6.25597071e-01 7.79616962e-01 -2.87349701e-02 3.41034987e+02] [-7.78746432e-01 6.26256294e-01 3.68381423e-02 1.97330277e+02] [ 4.67150965e-02 -6.68578465e-04 9.98908030e-01 9.61499150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.07, Y:197.28, Z:96.15 [[ 6.28577157e-01 7.77216552e-01 -2.87260934e-02 3.41073305e+02] [-7.76343189e-01 6.29232623e-01 3.68450630e-02 1.97282050e+02] [ 4.67119879e-02 -8.58658005e-04 9.98908030e-01 9.61528377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.11, Y:197.23, Z:96.16 [[ 6.30120807e-01 7.75965927e-01 -2.87167127e-02 3.41112181e+02] [-7.75090930e-01 6.30774090e-01 3.68523728e-02 1.97232339e+02] [ 4.67099439e-02 -9.63383324e-04 9.98908030e-01 9.61565913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.310385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:341.15, Y:197.19, Z:96.15 [[ 6.33275719e-01 7.73393684e-01 -2.87066823e-02 3.41154093e+02] [-7.72515681e-01 6.33924956e-01 3.68601844e-02 1.97186345e+02] [ 4.67053162e-02 -1.16629751e-03 9.98908030e-01 9.61536971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.370385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:341.19, Y:197.14, Z:96.16 [[ 6.32255555e-01 7.74228239e-01 -2.86975257e-02 3.41190566e+02] [-7.73350770e-01 6.32905513e-01 3.68673120e-02 1.97137739e+02] [ 4.67065362e-02 -1.11630921e-03 9.98908030e-01 9.61589192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.430385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:341.23, Y:197.09, Z:96.17 [[ 6.34143160e-01 7.72683286e-01 -2.86878450e-02 3.41228936e+02] [-7.71803893e-01 6.34790513e-01 3.68748433e-02 1.97090760e+02] [ 4.67033470e-02 -1.24253917e-03 9.98908031e-01 9.61666262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.490385723 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:341.27, Y:197.04, Z:96.17 [[ 6.36580423e-01 7.70676897e-01 -2.86789907e-02 3.41269325e+02] [-7.69795156e-01 6.37224573e-01 3.68817284e-02 1.97043166e+02] [ 4.66988536e-02 -1.40123813e-03 9.98908031e-01 9.61704908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.550385723 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:341.31, Y:197.00, Z:96.17 [[ 6.37997738e-01 7.69504363e-01 -2.86691793e-02 3.41312514e+02] [-7.68621096e-01 6.38639794e-01 3.68893535e-02 1.96996626e+02] [ 4.66957972e-02 -1.49958800e-03 9.98908031e-01 9.61725023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.610385723 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:341.35, Y:196.95, Z:96.17 [[ 6.38155536e-01 7.69373869e-01 -2.86594245e-02 3.41353562e+02] [-7.68490131e-01 6.38796944e-01 3.68969305e-02 1.96951311e+02] [ 4.66950869e-02 -1.52149552e-03 9.98908031e-01 9.61747318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.670385723 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:341.40, Y:196.91, Z:96.18 [[ 6.37998304e-01 7.69504548e-01 -2.86515917e-02 3.41397550e+02] [-7.68620670e-01 6.38639518e-01 3.69030118e-02 1.96905950e+02] [ 4.66950742e-02 -1.52185335e-03 9.98908031e-01 9.61791290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.730385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:196.86, Z:96.18 [[ 6.36848478e-01 7.70456797e-01 -2.86415913e-02 3.41438993e+02] [-7.69573529e-01 6.37490533e-01 3.69107719e-02 1.96858933e+02] [ 4.66968983e-02 -1.46475837e-03 9.98908031e-01 9.61795760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.790385723 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:341.48, Y:196.81, Z:96.19 [[ 6.37181832e-01 7.70181258e-01 -2.86381280e-02 3.41479901e+02] [-7.69297592e-01 6.37823339e-01 3.69134588e-02 1.96813119e+02] [ 4.66961205e-02 -1.48934245e-03 9.98908031e-01 9.61882987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.850385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:341.52, Y:196.77, Z:96.19 [[ 6.35610776e-01 7.71478706e-01 -2.86277441e-02 3.41524754e+02] [-7.70595988e-01 6.36253586e-01 3.69215101e-02 1.96769888e+02] [ 4.66986637e-02 -1.40728500e-03 9.98908031e-01 9.61919189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.910385723 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:341.57, Y:196.72, Z:96.19 [[ 6.35959498e-01 7.71191609e-01 -2.86185134e-02 3.41567525e+02] [-7.70308279e-01 6.36601468e-01 3.69286636e-02 1.96723709e+02] [ 4.66976631e-02 -1.44005657e-03 9.98908031e-01 9.61891540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.970385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:341.61, Y:196.68, Z:96.20 [[ 6.37745555e-01 7.69715535e-01 -2.86112504e-02 3.41611689e+02] [-7.68830468e-01 6.38385127e-01 3.69342899e-02 1.96680940e+02] [ 4.66938934e-02 -1.55747812e-03 9.98908031e-01 9.61964416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.030385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.66, Y:196.63, Z:96.20 [[ 6.38611638e-01 7.68997316e-01 -2.86060278e-02 3.41655129e+02] [-7.68111349e-01 6.39249963e-01 3.69383344e-02 1.96634784e+02] [ 4.66918822e-02 -1.61663560e-03 9.98908031e-01 9.61965273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0903857229999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:341.70, Y:196.59, Z:96.20 [[ 6.38147050e-01 7.69383266e-01 -2.85960284e-02 3.41700561e+02] [-7.68497340e-01 6.38785431e-01 3.69460739e-02 1.96590439e+02] [ 4.66924173e-02 -1.60105631e-03 9.98908031e-01 9.61989593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.75, Y:196.55, Z:96.20 [[ 6.38511117e-01 7.69081563e-01 -2.85850175e-02 3.41745833e+02] [-7.68194955e-01 6.39148551e-01 3.69545911e-02 1.96548672e+02] [ 4.66911671e-02 -1.63705103e-03 9.98908031e-01 9.62024578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.79, Y:196.50, Z:96.21 [[ 6.34816052e-01 7.72134690e-01 -2.85762165e-02 3.41788327e+02] [-7.71250844e-01 6.35457309e-01 3.69613954e-02 1.96502638e+02] [ 4.66981412e-02 -1.42425599e-03 9.98908031e-01 9.62060912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.83, Y:196.46, Z:96.21 [[ 6.29738160e-01 7.76281807e-01 -2.85728118e-02 3.41832953e+02] [-7.75402066e-01 6.30385038e-01 3.69640272e-02 1.96460383e+02] [ 4.67063749e-02 -1.12224115e-03 9.98908031e-01 9.62096164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.88, Y:196.41, Z:96.21 [[ 6.20332582e-01 7.83818594e-01 -2.85639716e-02 3.41875752e+02] [-7.82946402e-01 6.20989603e-01 3.69708573e-02 1.96414392e+02] [ 4.67163747e-02 -5.70168559e-04 9.98908031e-01 9.62123870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.390385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:341.92, Y:196.37, Z:96.21 [[ 6.14139615e-01 7.88680685e-01 -2.85536295e-02 3.41916238e+02] [-7.87813325e-01 6.14803002e-01 3.69788430e-02 1.96366689e+02] [ 4.67193564e-02 -2.15242631e-04 9.98908032e-01 9.62143610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.450385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:341.95, Y:196.32, Z:96.22 [[ 6.12640903e-01 7.89845556e-01 -2.85503312e-02 3.41951762e+02] [-7.88979339e-01 6.13305780e-01 3.69813893e-02 1.96321514e+02] [ 4.67196692e-02 -1.30690268e-04 9.98908032e-01 9.62167144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.44, Y:196.71, Z:97.18 [[ 6.69343047e-01 7.42404294e-01 -2.85613244e-02 3.42437530e+02] [-7.41491661e-01 6.69942626e-01 3.69728972e-02 1.96711033e+02] [ 4.65832863e-02 -3.56956784e-03 9.98908032e-01 9.71830780e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 523.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.48, Y:196.66, Z:97.19 [[ 6.70407961e-01 7.41338463e-01 -3.11520192e-02 3.42480160e+02] [-7.40528565e-01 6.71131327e-01 3.46436940e-02 1.96664695e+02] [ 4.65897989e-02 -1.56448115e-04 9.98914093e-01 9.71855073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.52, Y:196.62, Z:97.19 [[ 6.70984709e-01 7.40816887e-01 -3.11425876e-02 3.42520135e+02] [-7.40006033e-01 6.71707003e-01 3.46521704e-02 1.96615951e+02] [ 4.65896072e-02 -2.05373812e-04 9.98914094e-01 9.71893593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.56, Y:196.57, Z:97.19 [[ 6.71964337e-01 7.39928825e-01 -3.11329859e-02 3.42559801e+02] [-7.39116618e-01 6.72685108e-01 3.46607948e-02 1.96569037e+02] [ 4.65892172e-02 -2.79910824e-04 9.98914094e-01 9.71886353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.60, Y:196.52, Z:97.19 [[ 6.71419161e-01 7.40423882e-01 -3.11253205e-02 3.42599845e+02] [-7.39611886e-01 6.72140171e-01 3.46676770e-02 1.96521284e+02] [ 4.65893542e-02 -2.55885616e-04 9.98914094e-01 9.71938145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.810385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:342.64, Y:196.47, Z:97.20 [[ 6.70358451e-01 7.41384698e-01 -3.11171455e-02 3.42638783e+02] [-7.40573396e-01 6.71080241e-01 3.46750132e-02 1.96471725e+02] [ 4.65896257e-02 -2.00157996e-04 9.98914094e-01 9.71968605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.870385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:196.42, Z:97.20 [[ 6.67701552e-01 7.43778843e-01 -3.11073909e-02 3.42677508e+02] [-7.42969721e-01 6.68425785e-01 3.46837619e-02 1.96421586e+02] [ 4.65900305e-02 -4.65520730e-05 9.98914094e-01 9.71986364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.930385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:342.72, Y:196.37, Z:97.20 [[ 6.65625933e-01 7.45637343e-01 -3.10977574e-02 3.42715015e+02] [-7.44829840e-01 6.66351970e-01 3.46923973e-02 1.96371563e+02] [ 4.65899988e-02 7.03783309e-05 9.98914094e-01 9.72029072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.75, Y:196.32, Z:97.20 [[ 6.64760741e-01 7.46409145e-01 -3.10893087e-02 3.42753555e+02] [-7.45602131e-01 6.65487322e-01 3.46999668e-02 1.96322084e+02] [ 4.65899134e-02 1.13079161e-04 9.98914094e-01 9.72034937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.050385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:342.79, Y:196.27, Z:97.21 [[ 6.65307711e-01 7.45921774e-01 -3.10862853e-02 3.42791489e+02] [-7.45114101e-01 6.66033559e-01 3.47026752e-02 1.96272718e+02] [ 4.65899903e-02 7.48721073e-05 9.98914094e-01 9.72083205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.83, Y:196.22, Z:97.21 [[ 6.67147373e-01 7.44277202e-01 -3.10777947e-02 3.42829990e+02] [-7.43467385e-01 6.67870829e-01 3.47102773e-02 1.96222499e+02] [ 4.65900205e-02 -5.15435834e-05 9.98914094e-01 9.72106683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.87, Y:196.17, Z:97.21 [[ 6.67818655e-01 7.43675341e-01 -3.10681595e-02 3.42867617e+02] [-7.42864471e-01 6.68540930e-01 3.47188993e-02 1.96171397e+02] [ 4.65899255e-02 -1.06496783e-04 9.98914094e-01 9.72140451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.90, Y:196.12, Z:97.22 [[ 6.66350601e-01 7.44991453e-01 -3.10582081e-02 3.42902571e+02] [-7.44181595e-01 6.67074010e-01 3.47277992e-02 1.96119005e+02] [ 4.65900370e-02 -2.79430192e-05 9.98914094e-01 9.72164842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.94, Y:196.07, Z:97.22 [[ 6.66988379e-01 7.44420766e-01 -3.10519795e-02 3.42940089e+02] [-7.43610030e-01 6.67710803e-01 3.47333675e-02 1.96067570e+02] [ 4.65899823e-02 -7.61890842e-05 9.98914094e-01 9.72181910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:342.98, Y:196.02, Z:97.22 [[ 6.68712146e-01 7.42873105e-01 -3.10421667e-02 3.42977274e+02] [-7.42060289e-01 6.69432231e-01 3.47421354e-02 1.96018075e+02] [ 4.65896248e-02 -1.97328747e-04 9.98914094e-01 9.72197411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.02, Y:195.97, Z:97.22 [[ 6.71578412e-01 7.40283313e-01 -3.10331121e-02 3.43015484e+02] [-7.39467347e-01 6.72294924e-01 3.47502214e-02 1.95967626e+02] [ 4.65884128e-02 -3.89525455e-04 9.98914094e-01 9.72217441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:195.92, Z:97.22 [[ 6.75722163e-01 7.36503293e-01 -3.10234913e-02 3.43054518e+02] [-7.35682926e-01 6.76433632e-01 3.47588083e-02 1.95918326e+02] [ 4.65853097e-02 -6.63844323e-04 9.98914095e-01 9.72211958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.09, Y:195.87, Z:97.22 [[ 6.74601036e-01 7.37530750e-01 -3.10134712e-02 3.43093725e+02] [-7.36711055e-01 6.75313280e-01 3.47677465e-02 1.95869760e+02] [ 4.65860910e-02 -6.06390742e-04 9.98914095e-01 9.72222912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5903857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:343.13, Y:195.82, Z:97.23 [[ 6.70957307e-01 7.40847539e-01 -3.10034871e-02 3.43131265e+02] [-7.40030954e-01 6.71673114e-01 3.47766473e-02 1.95818779e+02] [ 4.65884023e-02 -3.90105464e-04 9.98914095e-01 9.72283367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.17, Y:195.77, Z:97.23 [[ 6.67889775e-01 7.43614605e-01 -3.09930360e-02 3.43169946e+02] [-7.42800554e-01 6.68608461e-01 3.47859588e-02 1.95770008e+02] [ 4.65895532e-02 -2.11541908e-04 9.98914095e-01 9.72288155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.21, Y:195.72, Z:97.23 [[ 6.66776518e-01 7.44613380e-01 -3.09836976e-02 3.43210228e+02] [-7.43800019e-01 6.67495985e-01 3.47942745e-02 1.95722332e+02] [ 4.65897761e-02 -1.54330338e-04 9.98914095e-01 9.72315522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:343.25, Y:195.67, Z:97.23 [[ 6.64481885e-01 7.46662190e-01 -3.09741552e-02 3.43248116e+02] [-7.45850651e-01 6.65203407e-01 3.48027673e-02 1.95671876e+02] [ 4.65900240e-02 -2.37145973e-05 9.98914095e-01 9.72323597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.28, Y:195.62, Z:97.24 [[ 6.67740418e-01 7.43749909e-01 -3.09646228e-02 3.43284559e+02] [-7.42934830e-01 6.68457939e-01 3.48112463e-02 1.95620455e+02] [ 4.65894092e-02 -2.40179333e-04 9.98914095e-01 9.72350326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.32, Y:195.57, Z:97.24 [[ 6.69063562e-01 7.42560280e-01 -3.09545015e-02 3.43320084e+02] [-7.41743509e-01 6.69779156e-01 3.48202439e-02 1.95569287e+02] [ 4.65888100e-02 -3.36655807e-04 9.98914095e-01 9.72393149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.36, Y:195.52, Z:97.24 [[ 6.72784405e-01 7.39191143e-01 -3.09450767e-02 3.43358076e+02] [-7.38370404e-01 6.73495445e-01 3.48286178e-02 1.95519017e+02] [ 4.65863740e-02 -5.83222144e-04 9.98914095e-01 9.72424907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.40, Y:195.47, Z:97.24 [[ 6.76234503e-01 7.36036599e-01 -3.09357543e-02 3.43396488e+02] [-7.35212165e-01 6.76941255e-01 3.48368963e-02 1.95470725e+02] [ 4.65829190e-02 -8.13568359e-04 9.98914095e-01 9.72443085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.44, Y:195.42, Z:97.25 [[ 6.75676391e-01 7.36549338e-01 -3.09271432e-02 3.43437757e+02] [-7.35725091e-01 6.76383360e-01 3.48445393e-02 1.95423756e+02] [ 4.65833274e-02 -7.89757330e-04 9.98914095e-01 9.72478260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.48, Y:195.38, Z:97.25 [[ 6.70827951e-01 7.40968267e-01 -3.09174216e-02 3.43481503e+02] [-7.40148281e-01 6.71539857e-01 3.48531631e-02 1.95380229e+02] [ 4.65873688e-02 -4.96999520e-04 9.98914095e-01 9.72489799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.52, Y:195.33, Z:97.25 [[ 6.66416022e-01 7.44939037e-01 -3.09114250e-02 3.43524695e+02] [-7.44123046e-01 6.67132505e-01 3.48584807e-02 1.95334595e+02] [ 4.65894594e-02 -2.28346271e-04 9.98914095e-01 9.72512746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.57, Y:195.29, Z:97.25 [[ 6.64355780e-01 7.46777385e-01 -3.09020204e-02 3.43567519e+02] [-7.45962988e-01 6.65074075e-01 3.48668159e-02 1.95288277e+02] [ 4.65898822e-02 -1.12207202e-04 9.98914096e-01 9.72535828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.61, Y:195.24, Z:97.26 [[ 6.64154365e-01 7.46956915e-01 -3.08924909e-02 3.43610518e+02] [-7.46142320e-01 6.64872435e-01 3.48752571e-02 1.95241740e+02] [ 4.65898801e-02 -1.12359441e-04 9.98914096e-01 9.72552279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:195.19, Z:97.26 [[ 6.67625025e-01 7.43856892e-01 -3.08828378e-02 3.43650382e+02] [-7.43038568e-01 6.68338841e-01 3.48838030e-02 1.95194498e+02] [ 4.65887574e-02 -3.42160286e-04 9.98914096e-01 9.72576502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.69, Y:195.15, Z:97.26 [[ 6.73104188e-01 7.38902938e-01 -3.08739257e-02 3.43690708e+02] [-7.38079000e-01 6.73811517e-01 3.48916890e-02 1.95146401e+02] [ 4.65847782e-02 -6.98345804e-04 9.98914096e-01 9.72612314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.73, Y:195.10, Z:97.26 [[ 6.76652732e-01 7.35655130e-01 -3.08643713e-02 3.43732329e+02] [-7.34827412e-01 6.77355634e-01 3.49001385e-02 1.95099426e+02] [ 4.65806217e-02 -9.35287978e-04 9.98914096e-01 9.72646610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.78, Y:195.05, Z:97.27 [[ 6.76566765e-01 7.35734604e-01 -3.08545738e-02 3.43775233e+02] [-7.34906574e-01 6.77269299e-01 3.49087981e-02 1.95053109e+02] [ 4.65804664e-02 -9.42903499e-04 9.98914096e-01 9.72674904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:343.82, Y:195.01, Z:97.27 [[ 6.74081785e-01 7.38012429e-01 -3.08448190e-02 3.43817761e+02] [-7.37186379e-01 6.74786646e-01 3.49174152e-02 1.95007905e+02] [ 4.65831583e-02 -7.98813170e-04 9.98914096e-01 9.72699050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.86, Y:194.96, Z:97.27 [[ 6.71678224e-01 7.40200994e-01 -3.08358982e-02 3.43861081e+02] [-7.39376879e-01 6.72385347e-01 3.49252914e-02 1.94962547e+02] [ 4.65853416e-02 -6.59207512e-04 9.98914096e-01 9.72721067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.90, Y:194.92, Z:97.27 [[ 6.68871306e-01 7.42738789e-01 -3.08264045e-02 3.43903921e+02] [-7.41916972e-01 6.69581097e-01 3.49336690e-02 1.94917183e+02] [ 4.65873687e-02 -4.95496110e-04 9.98914096e-01 9.72742861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.95, Y:194.87, Z:97.28 [[ 6.66111168e-01 7.45215529e-01 -3.08176333e-02 3.43946617e+02] [-7.44395993e-01 6.66823592e-01 3.49414050e-02 1.94870908e+02] [ 4.65888026e-02 -3.34337406e-04 9.98914096e-01 9.72784941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:343.99, Y:194.82, Z:97.28 [[ 6.65788296e-01 7.45504387e-01 -3.08083582e-02 3.43989052e+02] [-7.44684781e-01 6.66500640e-01 3.49495811e-02 1.94824261e+02] [ 4.65888565e-02 -3.26506489e-04 9.98914096e-01 9.72820594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.03, Y:194.78, Z:97.29 [[ 6.66202905e-01 7.45134306e-01 -3.07986285e-02 3.44030647e+02] [-7.44313909e-01 6.66914337e-01 3.49581531e-02 1.94778264e+02] [ 4.65885660e-02 -3.65375520e-04 9.98914096e-01 9.72855253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.07, Y:194.73, Z:97.29 [[ 6.65629144e-01 7.45647263e-01 -3.07896466e-02 3.44072495e+02] [-7.44827048e-01 6.66340786e-01 3.49660622e-02 1.94731591e+02] [ 4.65887459e-02 -3.41468429e-04 9.98914096e-01 9.72889292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.11, Y:194.69, Z:97.29 [[ 6.63702555e-01 7.47363034e-01 -3.07800968e-02 3.44113682e+02] [-7.46544269e-01 6.64415865e-01 3.49744667e-02 1.94685768e+02] [ 4.65894082e-02 -2.33938016e-04 9.98914097e-01 9.72923296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.15, Y:194.64, Z:97.30 [[ 6.61820469e-01 7.49030571e-01 -3.07712816e-02 3.44154180e+02] [-7.48213243e-01 6.62535424e-01 3.49822208e-02 1.94638446e+02] [ 4.65898169e-02 -1.28469438e-04 9.98914097e-01 9.72958791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.19, Y:194.59, Z:97.30 [[ 6.61645983e-01 7.49185058e-01 -3.07626689e-02 3.44194578e+02] [-7.48367545e-01 6.62360727e-01 3.49897930e-02 1.94589767e+02] [ 4.65898138e-02 -1.29072957e-04 9.98914097e-01 9.72985655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.23, Y:194.54, Z:97.30 [[ 6.62640143e-01 7.48306292e-01 -3.07527969e-02 3.44233792e+02] [-7.47487428e-01 6.63353339e-01 3.49984674e-02 1.94542315e+02] [ 4.65895439e-02 -2.04060348e-04 9.98914097e-01 9.72986292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.27, Y:194.49, Z:97.30 [[ 6.63943929e-01 7.47150059e-01 -3.07449152e-02 3.44273953e+02] [-7.46329632e-01 6.64655326e-01 3.50053898e-02 1.94494245e+02] [ 4.65890507e-02 -2.95774758e-04 9.98914097e-01 9.73022031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.31, Y:194.45, Z:97.31 [[ 6.67665225e-01 7.43826922e-01 -3.07352874e-02 3.44312376e+02] [-7.43002566e-01 6.68372065e-01 3.50138412e-02 1.94446259e+02] [ 4.65868452e-02 -5.41126723e-04 9.98914097e-01 9.73070762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:344.35, Y:194.40, Z:97.31 [[ 6.70377099e-01 7.41384011e-01 -3.07293643e-02 3.44353899e+02] [-7.40556842e-01 6.71080644e-01 3.50190387e-02 1.94398743e+02] [ 4.65844370e-02 -7.19120622e-04 9.98914097e-01 9.73097449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.40, Y:194.35, Z:97.31 [[ 6.70472073e-01 7.41298519e-01 -3.07197830e-02 3.44395164e+02] [-7.40470875e-01 6.71175061e-01 3.50274417e-02 1.94352166e+02] [ 4.65841429e-02 -7.37816906e-04 9.98914097e-01 9.73118516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.510385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:344.44, Y:194.31, Z:97.31 [[ 6.69317174e-01 7.42341793e-01 -3.07112866e-02 3.44437971e+02] [-7.41514903e-01 6.70021048e-01 3.50348896e-02 1.94307761e+02] [ 4.65850712e-02 -6.76576560e-04 9.98914097e-01 9.73138553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.48, Y:194.26, Z:97.32 [[ 6.68975049e-01 7.42650367e-01 -3.07053215e-02 3.44480638e+02] [-7.41823562e-01 6.69679022e-01 3.50401168e-02 1.94260930e+02] [ 4.65852653e-02 -6.63032903e-04 9.98914097e-01 9.73167103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.52, Y:194.22, Z:97.32 [[ 6.67353512e-01 7.44108214e-01 -3.06961874e-02 3.44524251e+02] [-7.43282579e-01 6.68058858e-01 3.50481167e-02 1.94215541e+02] [ 4.65864514e-02 -5.73542494e-04 9.98914097e-01 9.73213311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.57, Y:194.17, Z:97.32 [[ 6.66291836e-01 7.45059409e-01 -3.06865799e-02 3.44568600e+02] [-7.44234394e-01 6.66997906e-01 3.50565266e-02 1.94170441e+02] [ 4.65870795e-02 -5.19869247e-04 9.98914097e-01 9.73249296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.750385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:344.61, Y:194.13, Z:97.33 [[ 6.66896617e-01 7.44518521e-01 -3.06769127e-02 3.44612956e+02] [-7.43692545e-01 6.67601562e-01 3.50649841e-02 1.94125764e+02] [ 4.65864849e-02 -5.70528008e-04 9.98914097e-01 9.73287012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.66, Y:194.08, Z:97.33 [[ 6.68786576e-01 7.42821676e-01 -3.06671580e-02 3.44656327e+02] [-7.41993520e-01 6.69488959e-01 3.50735133e-02 1.94082301e+02] [ 4.65846895e-02 -7.01862337e-04 9.98914097e-01 9.73337991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:344.70, Y:194.04, Z:97.34 [[ 6.70971332e-01 7.40849157e-01 -3.06594029e-02 3.44701427e+02] [-7.40018627e-01 6.71670906e-01 3.50802910e-02 1.94038636e+02] [ 4.65822329e-02 -8.49340337e-04 9.98914098e-01 9.73382280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.930385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:344.74, Y:193.99, Z:97.35 [[ 6.66656178e-01 7.44734937e-01 -3.06498491e-02 3.44742561e+02] [-7.43908102e-01 6.67360115e-01 3.50886362e-02 1.93991944e+02] [ 4.65862201e-02 -5.91385049e-04 9.98914098e-01 9.73474374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.990385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:344.79, Y:193.95, Z:97.35 [[ 6.64116993e-01 7.47000263e-01 -3.06468105e-02 3.44789165e+02] [-7.46175707e-01 6.64823598e-01 3.50912900e-02 1.93950504e+02] [ 4.65879257e-02 -4.36816568e-04 9.98914098e-01 9.73469141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.050385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:344.84, Y:193.91, Z:97.35 [[ 6.63143333e-01 7.47865102e-01 -3.06383767e-02 3.44835869e+02] [-7.47041127e-01 6.63850616e-01 3.50986521e-02 1.93908335e+02] [ 4.65883622e-02 -3.87309679e-04 9.98914098e-01 9.73453970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:193.86, Z:97.35 [[ 6.61596271e-01 7.49234395e-01 -3.06299796e-02 3.44880525e+02] [-7.48411545e-01 6.62304862e-01 3.51059785e-02 1.93863393e+02] [ 4.65889910e-02 -3.02154128e-04 9.98914098e-01 9.73484078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.170385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:344.92, Y:193.82, Z:97.35 [[ 6.60478518e-01 7.50220337e-01 -3.06198201e-02 3.44923211e+02] [-7.49398134e-01 6.61187859e-01 3.51148375e-02 1.93818892e+02] [ 4.65893185e-02 -2.46159775e-04 9.98914098e-01 9.73491675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.230385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:344.97, Y:193.77, Z:97.35 [[ 6.61348402e-01 7.49453996e-01 -3.06104342e-02 3.44965982e+02] [-7.48630593e-01 6.62056349e-01 3.51230176e-02 1.93772432e+02] [ 4.65889182e-02 -3.12644062e-04 9.98914098e-01 9.73517250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.01, Y:193.72, Z:97.35 [[ 6.58420541e-01 7.52027933e-01 -3.06003091e-02 3.45005601e+02] [-7.51206887e-01 6.59131222e-01 3.51318366e-02 1.93723535e+02] [ 4.65897416e-02 -1.44359947e-04 9.98914098e-01 9.73522839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.350385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:193.68, Z:97.36 [[ 6.55824891e-01 7.54292804e-01 -3.05954089e-02 3.45047473e+02] [-7.53474013e-01 6.56538168e-01 3.51361036e-02 1.93677028e+02] [ 4.65899638e-02 9.71424847e-06 9.98914098e-01 9.73553790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.410385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:345.09, Y:193.63, Z:97.36 [[ 6.50585239e-01 7.58817147e-01 -3.05840697e-02 3.45085102e+02] [-7.58002852e-01 6.51303645e-01 3.51459710e-02 1.93629414e+02] [ 4.65888815e-02 3.17362103e-04 9.98914098e-01 9.73625965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.12, Y:193.58, Z:97.37 [[ 6.48389203e-01 7.60694813e-01 -3.05752035e-02 3.45122840e+02] [-7.59882235e-01 6.49109550e-01 3.51536824e-02 1.93584006e+02] [ 4.65878805e-02 4.40285848e-04 9.98914098e-01 9.73700607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:345.16, Y:193.53, Z:97.37 [[ 6.48734713e-01 7.60400151e-01 -3.05758504e-02 3.45160309e+02] [-7.59587272e-01 6.49454721e-01 3.51531197e-02 1.93533907e+02] [ 4.65880680e-02 4.19977751e-04 9.98914098e-01 9.73682886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5903857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:345.20, Y:193.48, Z:97.38 [[ 6.49666174e-01 7.59604630e-01 -3.05723548e-02 3.45195771e+02] [-7.58790726e-01 6.50385023e-01 3.51561596e-02 1.93484310e+02] [ 4.65885833e-02 3.58251602e-04 9.98914098e-01 9.73771520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:345.23, Y:193.43, Z:97.38 [[ 6.50894538e-01 7.58552692e-01 -3.05632751e-02 3.45233142e+02] [-7.57737257e-01 6.51611648e-01 3.51640514e-02 1.93434255e+02] [ 4.65891719e-02 2.70843255e-04 9.98914098e-01 9.73783874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.27, Y:193.38, Z:97.38 [[ 6.52057639e-01 7.57553483e-01 -3.05541568e-02 3.45268843e+02] [-7.56736577e-01 6.52773074e-01 3.51719724e-02 1.93382907e+02] [ 4.65895811e-02 1.87294747e-04 9.98914098e-01 9.73772729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:345.31, Y:193.33, Z:97.38 [[ 6.52818852e-01 7.56897802e-01 -3.05493843e-02 3.45305538e+02] [-7.56079983e-01 6.53533243e-01 3.51761173e-02 1.93332457e+02] [ 4.65897640e-02 1.34145465e-04 9.98914098e-01 9.73821226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:193.28, Z:97.38 [[ 6.53867913e-01 7.55992084e-01 -3.05405035e-02 3.45342117e+02] [-7.55172915e-01 6.54580756e-01 3.51838260e-02 1.93281885e+02] [ 4.65899198e-02 5.77861636e-05 9.98914098e-01 9.73828029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.38, Y:193.23, Z:97.39 [[ 6.55547124e-01 7.54536579e-01 -3.05371956e-02 3.45377311e+02] [-7.53715694e-01 6.56257990e-01 3.51866968e-02 1.93232014e+02] [ 4.65899284e-02 -5.01743385e-05 9.98914098e-01 9.73880981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.42, Y:193.18, Z:97.39 [[ 6.57445116e-01 7.52883739e-01 -3.05286030e-02 3.45415950e+02] [-7.52060721e-01 6.58153511e-01 3.51941503e-02 1.93182268e+02] [ 4.65896107e-02 -1.78859006e-04 9.98914099e-01 9.73905020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:345.45, Y:193.13, Z:97.39 [[ 6.58429945e-01 7.52023012e-01 -3.05187970e-02 3.45453115e+02] [-7.51198674e-01 6.59136803e-01 3.52026516e-02 1.93132826e+02] [ 4.65892664e-02 -2.52800065e-04 9.98914099e-01 9.73926462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.49, Y:193.08, Z:97.39 [[ 6.56732250e-01 7.53506408e-01 -3.05097523e-02 3.45492073e+02] [-7.52683303e-01 6.57440543e-01 3.52104888e-02 1.93082848e+02] [ 4.65896771e-02 -1.59682373e-04 9.98914099e-01 9.73946600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.53, Y:193.03, Z:97.39 [[ 6.55013645e-01 7.55001232e-01 -3.05002372e-02 3.45533181e+02] [-7.54179359e-01 6.55723368e-01 3.52187291e-02 1.93034843e+02] [ 4.65899021e-02 -6.60987187e-05 9.98914099e-01 9.73931452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.57, Y:192.99, Z:97.40 [[ 6.52434418e-01 7.57231381e-01 -3.04953330e-02 3.45571016e+02] [-7.56411736e-01 6.53146713e-01 3.52229751e-02 1.92986495e+02] [ 4.65898686e-02 8.63465466e-05 9.98914099e-01 9.73988411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.250385723 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:346.20, Y:193.56, Z:98.39 [[ 7.11558861e-01 7.01964858e-01 -3.04848564e-02 3.46202518e+02] [-7.01089889e-01 7.12201987e-01 3.52320400e-02 1.93556344e+02] [ 4.64430293e-02 -3.69704564e-03 9.98914099e-01 9.83850889e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 528.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.25, Y:193.51, Z:98.39 [[ 7.13454973e-01 6.99918033e-01 -3.31171923e-02 3.46247448e+02] [-6.99160533e-01 7.14223173e-01 3.25546876e-02 1.93514546e+02] [ 4.64386791e-02 -7.20699992e-05 9.98921140e-01 9.83876350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.29, Y:193.47, Z:98.39 [[ 7.17776417e-01 6.95486091e-01 -3.31075986e-02 3.46293846e+02] [-6.94723398e-01 7.18539462e-01 3.25644413e-02 1.93471621e+02] [ 4.64372321e-02 -3.73364573e-04 9.98921140e-01 9.83877442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.430385723 meters Centerline goodness : 0.995864 with order 1 Centerline is valid? [True, True] Translation: X:346.88, Y:194.09, Z:99.38 [[ 7.55084458e-01 6.54791521e-01 -3.30987045e-02 3.46881406e+02] [-6.53987465e-01 7.55803786e-01 3.25734788e-02 1.94094554e+02] [ 4.63449640e-02 -2.94958978e-03 9.98921140e-01 9.93814639e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 528.490385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:346.93, Y:194.06, Z:99.39 [[ 7.56059943e-01 6.53586570e-01 -3.46115354e-02 3.46929024e+02] [-6.52857198e-01 7.56851395e-01 3.08779024e-02 1.94055067e+02] [ 4.63771711e-02 -7.49155133e-04 9.98923719e-01 9.93866570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:346.98, Y:194.02, Z:99.39 [[ 7.57578262e-01 6.51826578e-01 -3.46018819e-02 3.46980539e+02] [-6.51094873e-01 7.58367558e-01 3.08887163e-02 1.94017770e+02] [ 4.63750309e-02 -8.71512107e-04 9.98923719e-01 9.93891306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.03, Y:193.98, Z:99.39 [[ 7.57054613e-01 6.52435135e-01 -3.45934562e-02 3.47029919e+02] [-6.51703635e-01 7.57844098e-01 3.08981497e-02 1.93979008e+02] [ 4.63754851e-02 -8.46905613e-04 9.98923719e-01 9.93936015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.08, Y:193.94, Z:99.39 [[ 7.57438484e-01 6.51989919e-01 -3.45845060e-02 3.47080944e+02] [-6.51257498e-01 7.58227114e-01 3.09081644e-02 1.93940837e+02] [ 4.63747219e-02 -8.87614341e-04 9.98923719e-01 9.93928737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.13, Y:193.90, Z:99.39 [[ 7.57942725e-01 6.51404133e-01 -3.45757304e-02 3.47130976e+02] [-6.50670654e-01 7.58730372e-01 3.09179783e-02 1.93902771e+02] [ 4.63737556e-02 -9.36643547e-04 9.98923720e-01 9.93928071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.18, Y:193.86, Z:99.39 [[ 7.57333631e-01 6.52112665e-01 -3.45665104e-02 3.47179490e+02] [-6.51379453e-01 7.58121527e-01 3.09282829e-02 1.93863570e+02] [ 4.63743406e-02 -9.07114132e-04 9.98923720e-01 9.93935045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.850385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:347.22, Y:193.82, Z:99.40 [[ 7.54987646e-01 6.54827764e-01 -3.45579937e-02 3.47224443e+02] [-6.54096950e-01 7.55777766e-01 3.09377961e-02 1.93821874e+02] [ 4.63770912e-02 -7.53375542e-04 9.98923720e-01 9.94021598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.27, Y:193.78, Z:99.41 [[ 7.54414118e-01 6.55488891e-01 -3.45492666e-02 3.47272128e+02] [-6.54758324e-01 7.55204467e-01 3.09475389e-02 1.93782878e+02] [ 4.63775285e-02 -7.25840368e-04 9.98923720e-01 9.94070365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.32, Y:193.74, Z:99.41 [[ 7.52084179e-01 6.58161302e-01 -3.45411231e-02 3.47320201e+02] [-6.57433126e-01 7.52876731e-01 3.09566253e-02 1.93742440e+02] [ 4.63796607e-02 -5.73509574e-04 9.98923720e-01 9.94103744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.37, Y:193.71, Z:99.41 [[ 7.51421675e-01 6.58918030e-01 -3.45325522e-02 3.47370498e+02] [-6.58190213e-01 7.52214557e-01 3.09661834e-02 1.93705692e+02] [ 4.63800650e-02 -5.39673533e-04 9.98923720e-01 9.94073269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.41, Y:193.66, Z:99.41 [[ 7.47685460e-01 6.63154965e-01 -3.45245615e-02 3.47414763e+02] [-6.62431231e-01 7.48482070e-01 3.09750897e-02 1.93662410e+02] [ 4.63822998e-02 -2.89476440e-04 9.98923720e-01 9.94136449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.46, Y:193.62, Z:99.41 [[ 7.48694869e-01 6.62015559e-01 -3.45165555e-02 3.47461956e+02] [-6.61290201e-01 7.49490001e-01 3.09840086e-02 1.93622247e+02] [ 4.63817090e-02 -3.72108391e-04 9.98923720e-01 9.94137997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.50, Y:193.58, Z:99.42 [[ 7.47222900e-01 6.63676977e-01 -3.45080751e-02 3.47504791e+02] [-6.62952951e-01 7.48019245e-01 3.09934506e-02 1.93578163e+02] [ 4.63823439e-02 -2.81785810e-04 9.98923720e-01 9.94191842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.55, Y:193.54, Z:99.42 [[ 7.49994006e-01 6.60544143e-01 -3.45025540e-02 3.47550615e+02] [-6.59816509e-01 7.50787054e-01 3.09995957e-02 1.93537095e+02] [ 4.63806722e-02 -4.84156232e-04 9.98923720e-01 9.94220063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.60, Y:193.50, Z:99.43 [[ 7.54786686e-01 6.55062725e-01 -3.44947052e-02 3.47598351e+02] [-6.54328933e-01 7.55574040e-01 3.10083269e-02 1.93495997e+02] [ 4.63757029e-02 -8.33788646e-04 9.98923720e-01 9.94253404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.65, Y:193.45, Z:99.43 [[ 7.56416973e-01 6.53179963e-01 -3.44862076e-02 3.47645085e+02] [-6.52443781e-01 7.57202093e-01 3.10177747e-02 1.93453290e+02] [ 4.63732175e-02 -9.62059507e-04 9.98923720e-01 9.94296087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.69, Y:193.41, Z:99.43 [[ 7.56427727e-01 6.53167724e-01 -3.44821467e-02 3.47692644e+02] [-6.52431323e-01 7.57212642e-01 3.10222885e-02 1.93411623e+02] [ 4.63730750e-02 -9.68886558e-04 9.98923720e-01 9.94318616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.74, Y:193.37, Z:99.43 [[ 7.54046051e-01 6.55916293e-01 -3.44727263e-02 3.47737198e+02] [-6.55182276e-01 7.54833196e-01 3.10327531e-02 1.93369702e+02] [ 4.63760466e-02 -8.14205656e-04 9.98923721e-01 9.94309504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.570385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:347.78, Y:193.33, Z:99.43 [[ 7.54340982e-01 6.55577461e-01 -3.44655685e-02 3.47782997e+02] [-6.54842727e-01 7.55127458e-01 3.10407007e-02 1.93329352e+02] [ 4.63754809e-02 -8.45745736e-04 9.98923721e-01 9.94309908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.83, Y:193.29, Z:99.43 [[ 7.55422483e-01 6.54331167e-01 -3.44614990e-02 3.47829628e+02] [-6.53594930e-01 7.56207552e-01 3.10452180e-02 1.93288129e+02] [ 4.63738996e-02 -9.28394668e-04 9.98923721e-01 9.94346709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.88, Y:193.25, Z:99.43 [[ 7.57339602e-01 6.52111688e-01 -3.44539218e-02 3.47879452e+02] [-6.51372769e-01 7.58122146e-01 3.10536250e-02 1.93250497e+02] [ 4.63707129e-02 -1.07579361e-03 9.98923721e-01 9.94340502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.750385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:347.93, Y:193.21, Z:99.44 [[ 7.53335051e-01 6.56734165e-01 -3.44461438e-02 3.47925065e+02] [-6.55999654e-01 7.54121734e-01 3.10622503e-02 1.93208776e+02] [ 4.63762267e-02 -8.03623469e-04 9.98923721e-01 9.94403771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:347.98, Y:193.17, Z:99.44 [[ 7.52661072e-01 6.57506912e-01 -3.44379391e-02 3.47975008e+02] [-6.56772793e-01 7.53448120e-01 3.10713439e-02 1.93170687e+02] [ 4.63768239e-02 -7.68289570e-04 9.98923721e-01 9.94398572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.02, Y:193.13, Z:99.45 [[ 7.47857067e-01 6.62966405e-01 -3.44289614e-02 3.48020973e+02] [-6.62237574e-01 7.48649016e-01 3.10812887e-02 1.93129149e+02] [ 4.63810582e-02 -4.44209533e-04 9.98923721e-01 9.94469293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:348.07, Y:193.09, Z:99.44 [[ 7.45375530e-01 6.65755613e-01 -3.44206849e-02 3.48070855e+02] [-6.65029322e-01 7.46169809e-01 3.10904516e-02 1.93090228e+02] [ 4.63823186e-02 -2.83297108e-04 9.98923721e-01 9.94436667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.12, Y:193.05, Z:99.44 [[ 7.42154012e-01 6.69345151e-01 -3.44164600e-02 3.48119085e+02] [-6.68622485e-01 7.42951590e-01 3.10951278e-02 1.93049190e+02] [ 4.63831367e-02 -6.57547872e-05 9.98923721e-01 9.94443703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:348.16, Y:193.01, Z:99.45 [[ 7.39021767e-01 6.72802369e-01 -3.44064031e-02 3.48162408e+02] [-6.72082917e-01 7.39822245e-01 3.11062517e-02 1.93005842e+02] [ 4.63829822e-02 1.35758617e-04 9.98923721e-01 9.94522051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.110385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:348.21, Y:192.96, Z:99.45 [[ 7.40175312e-01 6.71533481e-01 -3.43989977e-02 3.48206603e+02] [-6.70812276e-01 7.40974211e-01 3.11144388e-02 1.92963129e+02] [ 4.63831576e-02 4.51304774e-05 9.98923721e-01 9.94526616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.25, Y:192.92, Z:99.46 [[ 7.43204181e-01 6.68180019e-01 -3.43948659e-02 3.48250652e+02] [-6.67454998e-01 7.43999619e-01 3.11190056e-02 1.92918834e+02] [ 4.63828649e-02 -1.70749950e-04 9.98923721e-01 9.94557784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:348.30, Y:192.88, Z:99.46 [[ 7.47333717e-01 6.63558492e-01 -3.43866777e-02 3.48296960e+02] [-6.62828136e-01 7.48124259e-01 3.11280510e-02 1.92876029e+02] [ 4.63807903e-02 -4.70584642e-04 9.98923721e-01 9.94563115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:348.34, Y:192.83, Z:99.46 [[ 7.48676117e-01 6.62043729e-01 -3.43827394e-02 3.48339815e+02] [-6.61311574e-01 7.49464993e-01 3.11324005e-02 1.92832168e+02] [ 4.63796700e-02 -5.70381221e-04 9.98923721e-01 9.94602991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.350385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:348.39, Y:192.79, Z:99.46 [[ 7.50320635e-01 6.60179727e-01 -3.43754570e-02 3.48385889e+02] [-6.59445244e-01 7.51107344e-01 3.11404394e-02 1.92788960e+02] [ 4.63779450e-02 -6.96582705e-04 9.98923721e-01 9.94619192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.43, Y:192.75, Z:99.46 [[ 7.50464395e-01 6.60016746e-01 -3.43669384e-02 3.48432474e+02] [-6.59281662e-01 7.51250542e-01 3.11498377e-02 1.92746418e+02] [ 4.63775957e-02 -7.19351842e-04 9.98923721e-01 9.94649659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.470385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:348.48, Y:192.70, Z:99.47 [[ 7.50075635e-01 6.60458967e-01 -3.43583233e-02 3.48478918e+02] [-6.59723911e-01 7.50861809e-01 3.11593374e-02 1.92703946e+02] [ 4.63778166e-02 -7.04852328e-04 9.98923721e-01 9.94683843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.530385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:348.53, Y:192.66, Z:99.47 [[ 7.49464507e-01 6.61152816e-01 -3.43497753e-02 3.48526291e+02] [-6.60418057e-01 7.50250957e-01 3.11687578e-02 1.92662958e+02] [ 4.63782638e-02 -6.74665853e-04 9.98923722e-01 9.94706235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.57, Y:192.62, Z:99.48 [[ 7.46429599e-01 6.64577708e-01 -3.43412843e-02 3.48571835e+02] [-6.63846127e-01 7.47219007e-01 3.11781102e-02 1.92621520e+02] [ 4.63807374e-02 -4.74935750e-04 9.98923722e-01 9.94768464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:348.62, Y:192.58, Z:99.48 [[ 7.47292376e-01 6.63607784e-01 -3.43338700e-02 3.48619871e+02] [-6.62874804e-01 7.48080484e-01 3.11862729e-02 1.92581259e+02] [ 4.63799515e-02 -5.46206617e-04 9.98923722e-01 9.94787565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:348.66, Y:192.54, Z:99.48 [[ 7.46791022e-01 6.64172396e-01 -3.43248894e-02 3.48664552e+02] [-6.63439558e-01 7.47579262e-01 3.11961542e-02 1.92539173e+02] [ 4.63801999e-02 -5.24518436e-04 9.98923722e-01 9.94834685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:348.71, Y:192.50, Z:99.49 [[ 7.48290383e-01 6.62483116e-01 -3.43165217e-02 3.48710318e+02] [-6.61748077e-01 7.49076571e-01 3.12053561e-02 1.92496865e+02] [ 4.63787239e-02 -6.41775626e-04 9.98923722e-01 9.94871386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.76, Y:192.46, Z:99.49 [[ 7.49100730e-01 6.61567099e-01 -3.43084527e-02 3.48758048e+02] [-6.60830692e-01 7.49885637e-01 3.12142249e-02 1.92455587e+02] [ 4.63777202e-02 -7.10520159e-04 9.98923722e-01 9.94901450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.890385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:348.80, Y:192.41, Z:99.49 [[ 7.48624200e-01 6.62106745e-01 -3.42996424e-02 3.48803882e+02] [-6.61370461e-01 7.49409222e-01 3.12239032e-02 1.92413869e+02] [ 4.63780252e-02 -6.90199263e-04 9.98923722e-01 9.94934433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:348.85, Y:192.37, Z:99.49 [[ 7.47374872e-01 6.63517063e-01 -3.42915133e-02 3.48851377e+02] [-6.62781850e-01 7.48160898e-01 3.12328284e-02 1.92373716e+02] [ 4.63790839e-02 -6.14838535e-04 9.98923722e-01 9.94941235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:348.90, Y:192.33, Z:99.50 [[ 7.45312352e-01 6.65833415e-01 -3.42835524e-02 3.48898608e+02] [-6.65100244e-01 7.46100282e-01 3.12415644e-02 1.92332241e+02] [ 4.63806456e-02 -4.82724813e-04 9.98923722e-01 9.94965778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.070385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:348.95, Y:192.29, Z:99.50 [[ 7.42696164e-01 6.68750800e-01 -3.42749992e-02 3.48945239e+02] [-6.68020291e-01 7.43486563e-01 3.12509453e-02 1.92291492e+02] [ 4.63820960e-02 -3.13562297e-04 9.98923722e-01 9.94985205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.130385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:348.99, Y:192.25, Z:99.50 [[ 7.40621802e-01 6.71047772e-01 -3.42670868e-02 3.48992883e+02] [-6.70319313e-01 7.41414091e-01 3.12596190e-02 1.92250069e+02] [ 4.63827987e-02 -1.81665267e-04 9.98923722e-01 9.95019808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.190385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:349.04, Y:192.21, Z:99.51 [[ 7.38449923e-01 6.73437506e-01 -3.42583766e-02 3.49039127e+02] [-6.72711169e-01 7.39244157e-01 3.12691618e-02 1.92207940e+02] [ 4.63831311e-02 -4.47176103e-05 9.98923722e-01 9.95059089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.250385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:349.09, Y:192.17, Z:99.51 [[ 7.37526124e-01 6.74449535e-01 -3.42496847e-02 3.49085356e+02] [-6.73723845e-01 7.38320950e-01 3.12786793e-02 1.92166142e+02] [ 4.63831504e-02 5.98613500e-06 9.98923722e-01 9.95093578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.310385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:349.13, Y:192.12, Z:99.51 [[ 7.39095616e-01 6.72729676e-01 -3.42411172e-02 3.49131377e+02] [-6.72001702e-01 7.39888350e-01 3.12880554e-02 1.92123710e+02] [ 4.63830071e-02 -1.14775568e-04 9.98923723e-01 9.95136958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:349.18, Y:192.08, Z:99.52 [[ 7.43631507e-01 6.67712745e-01 -3.42326208e-02 3.49177460e+02] [-6.66978995e-01 7.44418898e-01 3.12973487e-02 1.92082021e+02] [ 4.63810485e-02 -4.41255598e-04 9.98923723e-01 9.95172200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.22, Y:192.04, Z:99.52 [[ 7.48314663e-01 6.62460437e-01 -3.42247740e-02 3.49223517e+02] [-6.61720770e-01 7.49096497e-01 3.13059271e-02 1.92040828e+02] [ 4.63765965e-02 -7.79440523e-04 9.98923723e-01 9.95199953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:349.27, Y:192.00, Z:99.52 [[ 7.50074294e-01 6.60467795e-01 -3.42176109e-02 3.49270684e+02] [-6.59725694e-01 7.50853819e-01 3.13137544e-02 1.92000705e+02] [ 4.63741502e-02 -9.13405102e-04 9.98923723e-01 9.95221989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.32, Y:191.96, Z:99.52 [[ 7.50388536e-01 6.60111141e-01 -3.42100351e-02 3.49318077e+02] [-6.59368293e-01 7.51167348e-01 3.13220288e-02 1.91960961e+02] [ 4.63734815e-02 -9.46678884e-04 9.98923723e-01 9.95236203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.36, Y:191.92, Z:99.53 [[ 7.50430108e-01 6.60064269e-01 -3.42025510e-02 3.49364871e+02] [-6.59321000e-01 7.51208518e-01 3.13301990e-02 1.91920425e+02] [ 4.63731926e-02 -9.60664515e-04 9.98923723e-01 9.95273541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.670385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:349.41, Y:191.88, Z:99.53 [[ 7.48399102e-01 6.62366598e-01 -3.41946395e-02 3.49413222e+02] [-6.61625329e-01 7.49179419e-01 3.13388315e-02 1.91881819e+02] [ 4.63757153e-02 -8.29913782e-04 9.98923723e-01 9.95309094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.730385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:349.46, Y:191.84, Z:99.53 [[ 7.46678785e-01 6.64305674e-01 -3.41871886e-02 3.49461115e+02] [-6.63566060e-01 7.47460670e-01 3.13469575e-02 1.91842081e+02] [ 4.63775406e-02 -7.20650160e-04 9.98923723e-01 9.95334038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.51, Y:191.80, Z:99.54 [[ 7.46038721e-01 6.65024812e-01 -3.41793092e-02 3.49508670e+02] [-6.64285559e-01 7.46820947e-01 3.13555464e-02 1.91802861e+02] [ 4.63780405e-02 -6.87630244e-04 9.98923723e-01 9.95379292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.56, Y:191.76, Z:99.55 [[ 7.44895325e-01 6.66305670e-01 -3.41717399e-02 3.49555202e+02] [-6.65567384e-01 7.45678463e-01 3.13637935e-02 1.91763500e+02] [ 4.63790039e-02 -6.19147618e-04 9.98923723e-01 9.95488899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.60, Y:191.72, Z:99.54 [[ 7.45375091e-01 6.65768988e-01 -3.41705744e-02 3.49601663e+02] [-6.65030079e-01 7.46157642e-01 3.13650632e-02 1.91724168e+02] [ 4.63785216e-02 -6.54276985e-04 9.98923723e-01 9.95440570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.65, Y:191.68, Z:99.54 [[ 7.44326887e-01 6.66940897e-01 -3.41661426e-02 3.49648271e+02] [-6.66202999e-01 7.45110391e-01 3.13698900e-02 1.91682827e+02] [ 4.63794105e-02 -5.87865931e-04 9.98923723e-01 9.95433294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.70, Y:191.64, Z:99.55 [[ 7.44871653e-01 6.66332570e-01 -3.41632337e-02 3.49697694e+02] [-6.65593886e-01 7.45654417e-01 3.13730576e-02 1.91644129e+02] [ 4.63788562e-02 -6.30061821e-04 9.98923723e-01 9.95466022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.74, Y:191.60, Z:99.55 [[ 7.44267511e-01 6.67007829e-01 -3.41530081e-02 3.49743079e+02] [-6.66269345e-01 7.45050463e-01 3.13841855e-02 1.91601975e+02] [ 4.63792119e-02 -6.03127266e-04 9.98923723e-01 9.95489836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.79, Y:191.56, Z:99.55 [[ 7.44402685e-01 6.66857258e-01 -3.41473246e-02 3.49788735e+02] [-6.66118332e-01 7.45185220e-01 3.13903681e-02 1.91558272e+02] [ 4.63789764e-02 -6.20915373e-04 9.98923723e-01 9.95519015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:349.83, Y:191.52, Z:99.55 [[ 7.48475263e-01 6.62283434e-01 -3.41384602e-02 3.49834950e+02] [-6.61539288e-01 7.49252835e-01 3.14000056e-02 1.91518803e+02] [ 4.63740416e-02 -9.18194800e-04 9.98923723e-01 9.95510944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.270385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:349.88, Y:191.48, Z:99.56 [[ 7.49632846e-01 6.60973088e-01 -3.41346351e-02 3.49881008e+02] [-6.60227394e-01 7.50408933e-01 3.14041633e-02 1.91476247e+02] [ 4.63722419e-02 -1.00497114e-03 9.98923723e-01 9.95560690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.330385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:349.92, Y:191.43, Z:99.57 [[ 7.47870692e-01 6.62966725e-01 -3.41255063e-02 3.49923642e+02] [-6.62222647e-01 7.48648329e-01 3.14140800e-02 1.91432764e+02] [ 4.63744930e-02 -8.94986666e-04 9.98923724e-01 9.95661746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.97, Y:191.39, Z:99.57 [[ 7.48010257e-01 6.62809627e-01 -3.41182196e-02 3.49970364e+02] [-6.62065026e-01 7.48787393e-01 3.14219920e-02 1.91391343e+02] [ 4.63740915e-02 -9.15492387e-04 9.98923724e-01 9.95691554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.02, Y:191.35, Z:99.57 [[ 7.46383170e-01 6.64641795e-01 -3.41093440e-02 3.50016401e+02] [-6.63898662e-01 7.47161709e-01 3.14316237e-02 1.91351115e+02] [ 4.63759666e-02 -8.14887074e-04 9.98923724e-01 9.95671501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:350.06, Y:191.31, Z:99.57 [[ 7.43345002e-01 6.68038415e-01 -3.41011000e-02 3.50063353e+02] [-6.67298429e-01 7.44126533e-01 3.14405653e-02 1.91309944e+02] [ 4.63790387e-02 -6.15576612e-04 9.98923724e-01 9.95702199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:350.11, Y:191.27, Z:99.57 [[ 7.40560204e-01 6.71124634e-01 -3.40926626e-02 3.50109797e+02] [-6.70387484e-01 7.41344411e-01 3.14497117e-02 1.91267696e+02] [ 4.63810812e-02 -4.35110630e-04 9.98923724e-01 9.95727338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.16, Y:191.22, Z:99.58 [[ 7.39465454e-01 6.72331129e-01 -3.40836557e-02 3.50155691e+02] [-6.71594809e-01 7.40250440e-01 3.14594700e-02 1.91224276e+02] [ 4.63816221e-02 -3.72785038e-04 9.98923724e-01 9.95751418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.690385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:350.20, Y:191.18, Z:99.58 [[ 7.40206254e-01 6.71515907e-01 -3.40747521e-02 3.50199769e+02] [-6.70778279e-01 7.40990011e-01 3.14691108e-02 1.91178963e+02] [ 4.63810594e-02 -4.37029017e-04 9.98923724e-01 9.95810180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.24, Y:191.13, Z:99.59 [[ 7.41935551e-01 6.69605242e-01 -3.40654936e-02 3.50240730e+02] [-6.68865136e-01 7.42716968e-01 3.14791300e-02 1.91134244e+02] [ 4.63796106e-02 -5.70264627e-04 9.98923724e-01 9.95880366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:350.29, Y:191.09, Z:99.59 [[ 7.45177579e-01 6.65995664e-01 -3.40609847e-02 3.50285309e+02] [-6.65251550e-01 7.45955181e-01 3.14840080e-02 1.91090141e+02] [ 4.63761808e-02 -8.02053961e-04 9.98923724e-01 9.95873746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.33, Y:191.05, Z:99.59 [[ 7.46297268e-01 6.64741179e-01 -3.40522099e-02 3.50327266e+02] [-6.63995326e-01 7.47073201e-01 3.14934957e-02 1.91045418e+02] [ 4.63745169e-02 -8.93001626e-04 9.98923724e-01 9.95905367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.930385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:350.37, Y:191.00, Z:99.59 [[ 7.45903580e-01 6.65183262e-01 -3.40452175e-02 3.50370968e+02] [-6.64437524e-01 7.46679624e-01 3.15010528e-02 1.91001121e+02] [ 4.63748433e-02 -8.75828098e-04 9.98923724e-01 9.95882684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.41, Y:190.95, Z:99.59 [[ 7.43634368e-01 6.67719289e-01 -3.40423103e-02 3.50413391e+02] [-6.66976053e-01 7.44412809e-01 3.15041942e-02 1.90954851e+02] [ 4.63774900e-02 -7.22195704e-04 9.98923724e-01 9.95943002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.050385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:350.46, Y:190.91, Z:99.60 [[ 7.40796798e-01 6.70866508e-01 -3.40328125e-02 3.50455077e+02] [-6.70126109e-01 7.41577938e-01 3.15144510e-02 1.90909459e+02] [ 4.63799726e-02 -5.39528184e-04 9.98923724e-01 9.95964490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.110385723 meters Centerline goodness : 0.997972 with order 1 Centerline is valid? [True, True] Translation: X:350.50, Y:190.86, Z:99.59 [[ 7.36648734e-01 6.75419097e-01 -3.40248007e-02 3.50496817e+02] [-6.74683126e-01 7.37434047e-01 3.15230987e-02 1.90861093e+02] [ 4.63823493e-02 -2.65491811e-04 9.98923724e-01 9.95947730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.170385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:350.54, Y:190.82, Z:99.60 [[ 7.35621912e-01 6.76537516e-01 -3.40204546e-02 3.50538720e+02] [-6.75802523e-01 7.36408140e-01 3.15277884e-02 1.90816037e+02] [ 4.63826713e-02 -2.01422914e-04 9.98923724e-01 9.96038282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.230385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:350.58, Y:190.77, Z:99.61 [[ 7.34464305e-01 6.77794505e-01 -3.40116726e-02 3.50580593e+02] [-6.77060419e-01 7.35251379e-01 3.15372593e-02 1.90768375e+02] [ 4.63829103e-02 -1.35033921e-04 9.98923725e-01 9.96074728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.62, Y:190.72, Z:99.61 [[ 7.36378052e-01 6.75715350e-01 -3.40019148e-02 3.50623983e+02] [-6.74978556e-01 7.37162592e-01 3.15477762e-02 1.90724001e+02] [ 4.63822563e-02 -2.80526636e-04 9.98923725e-01 9.96071476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.66, Y:190.68, Z:99.62 [[ 7.34893417e-01 6.77330145e-01 -3.39932371e-02 3.50663333e+02] [-6.76594642e-01 7.35679168e-01 3.15571239e-02 1.90675929e+02] [ 4.63827077e-02 -1.91480520e-04 9.98923725e-01 9.96157900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.71, Y:190.63, Z:99.62 [[ 7.36319391e-01 6.75780109e-01 -3.39852696e-02 3.50706830e+02] [-6.75042556e-01 7.37103218e-01 3.15657020e-02 1.90630156e+02] [ 4.63821252e-02 -3.00935207e-04 9.98923725e-01 9.96175152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.75, Y:190.59, Z:99.62 [[ 7.37923215e-01 6.74028878e-01 -3.39764677e-02 3.50750203e+02] [-6.73289029e-01 7.38704875e-01 3.15751733e-02 1.90586059e+02] [ 4.63811610e-02 -4.24070450e-04 9.98923725e-01 9.96191981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.79, Y:190.54, Z:99.62 [[ 7.39018263e-01 6.72828340e-01 -3.39710493e-02 3.50794753e+02] [-6.72086953e-01 7.39798464e-01 3.15810019e-02 1.90540972e+02] [ 4.63803231e-02 -5.07438183e-04 9.98923725e-01 9.96221626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.84, Y:190.50, Z:99.63 [[ 7.37952899e-01 6.73997087e-01 -3.39624236e-02 3.50839364e+02] [-6.73256509e-01 7.38733868e-01 3.15902753e-02 1.90497674e+02] [ 4.63809461e-02 -4.46712434e-04 9.98923725e-01 9.96256203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.89, Y:190.46, Z:99.63 [[ 7.36599950e-01 6.75475679e-01 -3.39576256e-02 3.50888125e+02] [-6.74736431e-01 7.37382178e-01 3.15954320e-02 1.90459127e+02] [ 4.63816938e-02 -3.60746565e-04 9.98923725e-01 9.96312944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:350.94, Y:190.42, Z:99.63 [[ 7.35810773e-01 6.76335580e-01 -3.39512814e-02 3.50936730e+02] [-6.75596932e-01 7.36593567e-01 3.16022478e-02 1.90419235e+02] [ 4.63820201e-02 -3.15892840e-04 9.98923725e-01 9.96347372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.98, Y:190.38, Z:99.64 [[ 7.38395459e-01 6.73513213e-01 -3.39425642e-02 3.50984055e+02] [-6.72771143e-01 7.39175010e-01 3.16116078e-02 1.90379461e+02] [ 4.63803307e-02 -5.06289961e-04 9.98923725e-01 9.96368583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.03, Y:190.34, Z:99.64 [[ 7.41822877e-01 6.69736716e-01 -3.39345068e-02 3.51031826e+02] [-6.68990282e-01 7.42598251e-01 3.16202549e-02 1.90339089e+02] [ 4.63769510e-02 -7.54773132e-04 9.98923725e-01 9.96385505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:190.30, Z:99.64 [[ 7.43219253e-01 6.68187224e-01 -3.39260271e-02 3.51078910e+02] [-6.67438759e-01 7.43992666e-01 3.16293503e-02 1.90297535e+02] [ 4.63750431e-02 -8.63996618e-04 9.98923725e-01 9.96409505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.13, Y:190.26, Z:99.64 [[ 7.41481677e-01 6.70115310e-01 -3.39174512e-02 3.51127262e+02] [-6.69368436e-01 7.42256626e-01 3.16385439e-02 1.90256929e+02] [ 4.63769256e-02 -7.56129304e-04 9.98923725e-01 9.96426031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:351.17, Y:190.21, Z:99.65 [[ 7.36002853e-01 6.76128676e-01 -3.39089040e-02 3.51171837e+02] [-6.75387712e-01 7.36783456e-01 3.16477019e-02 1.90214704e+02] [ 4.63814382e-02 -3.91141791e-04 9.98923725e-01 9.96514165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:351.22, Y:190.18, Z:99.65 [[ 7.32844320e-01 6.79551282e-01 -3.39007107e-02 3.51219345e+02] [-6.78813558e-01 7.33627985e-01 3.16564760e-02 1.90175803e+02] [ 4.63827089e-02 -1.87006589e-04 9.98923725e-01 9.96504630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.27, Y:190.13, Z:99.65 [[ 7.30951784e-01 6.81586926e-01 -3.38932354e-02 3.51266108e+02] [-6.80851014e-01 7.31737151e-01 3.16644774e-02 1.90133416e+02] [ 4.63830333e-02 -6.89625394e-05 9.98923726e-01 9.96546966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:351.31, Y:190.09, Z:99.66 [[ 7.31620879e-01 6.80869091e-01 -3.38846611e-02 3.51312146e+02] [-6.80131984e-01 7.32405123e-01 3.16736503e-02 1.90092230e+02] [ 4.63829089e-02 -1.27062084e-04 9.98923726e-01 9.96569983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.36, Y:190.05, Z:99.66 [[ 7.34696821e-01 6.77549221e-01 -3.38767385e-02 3.51356548e+02] [-6.76808180e-01 7.35477349e-01 3.16821217e-02 1.90049648e+02] [ 4.63817707e-02 -3.48700464e-04 9.98923726e-01 9.96608656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.40, Y:190.01, Z:99.66 [[ 7.37761511e-01 6.74211288e-01 -3.38687395e-02 3.51401856e+02] [-6.73466323e-01 7.38538295e-01 3.16906705e-02 1.90006977e+02] [ 4.63795689e-02 -5.70701566e-04 9.98923726e-01 9.96619521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.45, Y:189.97, Z:99.66 [[ 7.40492534e-01 6.71211035e-01 -3.38607948e-02 3.51448440e+02] [-6.70462535e-01 7.41265912e-01 3.16991570e-02 1.89966817e+02] [ 4.63766769e-02 -7.70594740e-04 9.98923726e-01 9.96619436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:351.49, Y:189.92, Z:99.66 [[ 7.42230349e-01 6.69289060e-01 -3.38565115e-02 3.51494913e+02] [-6.68538349e-01 7.43001581e-01 3.17037311e-02 1.89924883e+02] [ 4.63744019e-02 -8.97095102e-04 9.98923726e-01 9.96648098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.54, Y:189.88, Z:99.67 [[ 7.42762680e-01 6.68698689e-01 -3.38476798e-02 3.51542072e+02] [-6.67946935e-01 7.43532896e-01 3.17131573e-02 1.89883733e+02] [ 4.63734100e-02 -9.46895709e-04 9.98923726e-01 9.96668536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.550385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:351.59, Y:189.84, Z:99.67 [[ 7.42352561e-01 6.69154396e-01 -3.38388783e-02 3.51590367e+02] [-6.68402688e-01 7.43122821e-01 3.17225459e-02 1.89842912e+02] [ 4.63737238e-02 -9.31315932e-04 9.98923726e-01 9.96695941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.64, Y:189.80, Z:99.67 [[ 7.41098256e-01 6.70543738e-01 -3.38300231e-02 3.51637389e+02] [-6.69793043e-01 7.41869504e-01 3.17319866e-02 1.89801583e+02] [ 4.63751474e-02 -8.57405754e-04 9.98923726e-01 9.96742461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:351.68, Y:189.76, Z:99.68 [[ 7.39396982e-01 6.72419677e-01 -3.38212973e-02 3.51684081e+02] [-6.71670514e-01 7.40169718e-01 3.17412842e-02 1.89759232e+02] [ 4.63769642e-02 -7.52641531e-04 9.98923726e-01 9.96769124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:351.73, Y:189.72, Z:99.68 [[ 7.38899409e-01 6.72966838e-01 -3.38126911e-02 3.51730878e+02] [-6.72217828e-01 7.39672293e-01 3.17504494e-02 1.89717533e+02] [ 4.63773103e-02 -7.30894540e-04 9.98923726e-01 9.96812366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.78, Y:189.68, Z:99.68 [[ 7.37739053e-01 6.74239113e-01 -3.38039717e-02 3.51780319e+02] [-6.73491011e-01 7.38512815e-01 3.17597301e-02 1.89677814e+02] [ 4.63783185e-02 -6.63722126e-04 9.98923726e-01 9.96845276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.83, Y:189.64, Z:99.69 [[ 7.36595928e-01 6.75488210e-01 -3.37952195e-02 3.51828419e+02] [-6.74740993e-01 7.37370545e-01 3.17690404e-02 1.89636843e+02] [ 4.63792117e-02 -5.97925864e-04 9.98923726e-01 9.96870566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.910385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:351.88, Y:189.60, Z:99.68 [[ 7.38038751e-01 6.73911919e-01 -3.37865085e-02 3.51877032e+02] [-6.73162624e-01 7.38811357e-01 3.17783019e-02 1.89597375e+02] [ 4.63776326e-02 -7.09803566e-04 9.98923727e-01 9.96842767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.970385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:351.92, Y:189.56, Z:99.69 [[ 7.36629975e-01 6.75451663e-01 -3.37835771e-02 3.51921877e+02] [-6.74703840e-01 7.37404007e-01 3.17814181e-02 1.89556574e+02] [ 4.63789568e-02 -6.17236031e-04 9.98923727e-01 9.96887386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.030385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:351.97, Y:189.52, Z:99.69 [[ 7.36447946e-01 6.75650507e-01 -3.37759652e-02 3.51968786e+02] [-6.74902522e-01 7.37221821e-01 3.17895056e-02 1.89515436e+02] [ 4.63789741e-02 -6.15832017e-04 9.98923727e-01 9.96904039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.01, Y:189.47, Z:99.70 [[ 7.35380410e-01 6.76812405e-01 -3.37730682e-02 3.52012676e+02] [-6.76065502e-01 7.36155329e-01 3.17925831e-02 1.89472906e+02] [ 4.63798387e-02 -5.46836500e-04 9.98923727e-01 9.96954689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.150385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:352.06, Y:189.43, Z:99.70 [[ 7.38955706e-01 6.72907388e-01 -3.37655471e-02 3.52060690e+02] [-6.72156025e-01 7.39726302e-01 3.18005688e-02 1.89431997e+02] [ 4.63761010e-02 -8.03495828e-04 9.98923727e-01 9.96973856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:352.11, Y:189.39, Z:99.70 [[ 7.41048418e-01 6.70602497e-01 -3.37569692e-02 3.52106748e+02] [-6.69848323e-01 7.41816263e-01 3.18096719e-02 1.89389698e+02] [ 4.63731142e-02 -9.60457783e-04 9.98923727e-01 9.97007901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.270385723 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:352.15, Y:189.35, Z:99.70 [[ 7.41528018e-01 6.70072570e-01 -3.37483150e-02 3.52154528e+02] [-6.69317431e-01 7.42294913e-01 3.18188509e-02 1.89349316e+02] [ 4.63721417e-02 -1.00623399e-03 9.98923727e-01 9.97026393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.20, Y:189.31, Z:99.71 [[ 7.39913985e-01 6.71854632e-01 -3.37438496e-02 3.52202140e+02] [-6.71101124e-01 7.40682483e-01 3.18235857e-02 1.89307926e+02] [ 4.63743018e-02 -9.01180695e-04 9.98923727e-01 9.97071568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:352.25, Y:189.27, Z:99.71 [[ 7.36647683e-01 6.75434851e-01 -3.37335731e-02 3.52248070e+02] [-6.74684579e-01 7.37419341e-01 3.18344753e-02 1.89267141e+02] [ 4.63779033e-02 -6.91270883e-04 9.98923727e-01 9.97099367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.30, Y:189.23, Z:99.71 [[ 7.32915861e-01 6.79482848e-01 -3.37253594e-02 3.52295864e+02] [-6.78736439e-01 7.33691256e-01 3.18431745e-02 1.89226357e+02] [ 4.63808922e-02 -4.47737338e-04 9.98923727e-01 9.97120160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.34, Y:189.18, Z:99.71 [[ 7.32222246e-01 6.80230670e-01 -3.37167317e-02 3.52343142e+02] [-6.79484632e-01 7.32997998e-01 3.18523072e-02 1.89184973e+02] [ 4.63812131e-02 -4.12966949e-04 9.98923727e-01 9.97114786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.39, Y:189.14, Z:99.71 [[ 7.34626243e-01 6.77634180e-01 -3.37075788e-02 3.52389083e+02] [-6.76884957e-01 7.35398918e-01 3.18619902e-02 1.89141952e+02] [ 4.63792907e-02 -5.90501141e-04 9.98923727e-01 9.97140476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.630385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:352.43, Y:189.10, Z:99.72 [[ 7.35913571e-01 6.76236375e-01 -3.36983934e-02 3.52429624e+02] [-6.75485239e-01 7.36684387e-01 3.18717021e-02 1.89096182e+02] [ 4.63778846e-02 -6.92050758e-04 9.98923727e-01 9.97210650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.48, Y:189.05, Z:99.72 [[ 7.37830388e-01 6.74144818e-01 -3.36909820e-02 3.52475133e+02] [-6.73391140e-01 7.38598719e-01 3.18795347e-02 1.89052407e+02] [ 4.63755393e-02 -8.34480658e-04 9.98923727e-01 9.97249224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:352.52, Y:189.01, Z:99.72 [[ 7.36519591e-01 6.75577108e-01 -3.36818088e-02 3.52518953e+02] [-6.74824481e-01 7.37288951e-01 3.18892235e-02 1.89010165e+02] [ 4.63768549e-02 -7.57728725e-04 9.98923727e-01 9.97239413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.57, Y:188.97, Z:99.72 [[ 7.35469319e-01 6.76720566e-01 -3.36772315e-02 3.52565290e+02] [-6.75968914e-01 7.36239632e-01 3.18940568e-02 1.88969596e+02] [ 4.63778767e-02 -6.92338636e-04 9.98923727e-01 9.97236912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.61, Y:188.92, Z:99.73 [[ 7.33124075e-01 6.79260926e-01 -3.36702323e-02 3.52608179e+02] [-6.78511605e-01 7.33896655e-01 3.19014440e-02 1.88924988e+02] [ 4.63798753e-02 -5.42073319e-04 9.98923727e-01 9.97307207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.65, Y:188.88, Z:99.73 [[ 7.31895093e-01 6.80585338e-01 -3.36626082e-02 3.52653476e+02] [-6.79837044e-01 7.32668669e-01 3.19094870e-02 1.88882048e+02] [ 4.63806673e-02 -4.69308949e-04 9.98923728e-01 9.97310439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:352.70, Y:188.84, Z:99.74 [[ 7.31557497e-01 6.80948348e-01 -3.36596921e-02 3.52697883e+02] [-6.80200297e-01 7.32331308e-01 3.19125627e-02 1.88838232e+02] [ 4.63808532e-02 -4.50541962e-04 9.98923728e-01 9.97385680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.74, Y:188.80, Z:99.74 [[ 7.31601318e-01 6.80901420e-01 -3.36566171e-02 3.52741665e+02] [-6.80153170e-01 7.32374936e-01 3.19158055e-02 1.88795528e+02] [ 4.63807800e-02 -4.57990586e-04 9.98923728e-01 9.97376933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.110385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:352.79, Y:188.75, Z:99.74 [[ 7.32595735e-01 6.79831753e-01 -3.36493104e-02 3.52786110e+02] [-6.79082020e-01 7.33367915e-01 3.19235071e-02 1.88750595e+02] [ 4.63799385e-02 -5.36383452e-04 9.98923728e-01 9.97407256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.83, Y:188.71, Z:99.74 [[ 7.33106707e-01 6.79281145e-01 -3.36404836e-02 3.52830412e+02] [-6.78530405e-01 7.33877909e-01 3.19328060e-02 1.88706974e+02] [ 4.63793608e-02 -5.84063297e-04 9.98923728e-01 9.97423163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.87, Y:188.66, Z:99.75 [[ 7.32177434e-01 6.80282814e-01 -3.36377557e-02 3.52874174e+02] [-6.79532998e-01 7.32949533e-01 3.19356794e-02 1.88662663e+02] [ 4.63800711e-02 -5.24618814e-04 9.98923728e-01 9.97498447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.92, Y:188.62, Z:99.75 [[ 7.29693234e-01 6.82947156e-01 -3.36298379e-02 3.52919413e+02] [-6.82199775e-01 7.30467691e-01 3.19440149e-02 1.88618893e+02] [ 4.63815842e-02 -3.67063673e-04 9.98923728e-01 9.97524674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.96, Y:188.58, Z:99.75 [[ 7.28663170e-01 6.84046501e-01 -3.36209564e-02 3.52963993e+02] [-6.83299857e-01 7.29438337e-01 3.19533600e-02 1.88575221e+02] [ 4.63819986e-02 -3.10041839e-04 9.98923728e-01 9.97549704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.01, Y:188.53, Z:99.76 [[ 7.28188679e-01 6.84552024e-01 -3.36121097e-02 3.53005673e+02] [-6.83805489e-01 7.28963951e-01 3.19626633e-02 1.88530606e+02] [ 4.63821221e-02 -2.90704478e-04 9.98923728e-01 9.97566796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.05, Y:188.49, Z:99.76 [[ 7.27941852e-01 6.84814838e-01 -3.36050345e-02 3.53050113e+02] [-6.84068239e-01 7.28717063e-01 3.19701003e-02 1.88486395e+02] [ 4.63821610e-02 -2.84237289e-04 9.98923728e-01 9.97590533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.10, Y:188.45, Z:99.76 [[ 7.30468051e-01 6.82120010e-01 -3.35964038e-02 3.53099348e+02] [-6.81370135e-01 7.31240092e-01 3.19791674e-02 1.88447295e+02] [ 4.63806674e-02 -4.68173927e-04 9.98923728e-01 9.97551833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.14, Y:188.40, Z:99.76 [[ 7.23750714e-01 6.89243591e-01 -3.35883428e-02 3.53136001e+02] [-6.88500922e-01 7.24529690e-01 3.19876319e-02 1.88398107e+02] [ 4.63830218e-02 -2.54664512e-05 9.98923728e-01 9.97647661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.18, Y:188.35, Z:99.77 [[ 7.23857002e-01 6.89132324e-01 -3.35809502e-02 3.53177459e+02] [-6.88389176e-01 7.24635521e-01 3.19953908e-02 1.88351355e+02] [ 4.63830073e-02 -4.33250692e-05 9.98923728e-01 9.97699419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.22, Y:188.31, Z:99.77 [[ 7.24982737e-01 6.87948309e-01 -3.35731321e-02 3.53221015e+02] [-6.87203510e-01 7.25759675e-01 3.20035923e-02 1.88306148e+02] [ 4.63828427e-02 -1.30477671e-04 9.98923728e-01 9.97736982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.26, Y:188.26, Z:99.78 [[ 7.27556015e-01 6.85226744e-01 -3.35641790e-02 3.53264482e+02] [-6.84478605e-01 7.28329739e-01 3.20129792e-02 1.88260238e+02] [ 4.63819392e-02 -3.17273096e-04 9.98923728e-01 9.97764588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.830385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:353.31, Y:188.21, Z:99.78 [[ 7.29817722e-01 6.82817796e-01 -3.35551873e-02 3.53307640e+02] [-6.82066670e-01 7.30588546e-01 3.20224013e-02 1.88214382e+02] [ 4.63805010e-02 -4.83641096e-04 9.98923728e-01 9.97796706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.35, Y:188.17, Z:99.78 [[ 7.31059186e-01 6.81488898e-01 -3.35462312e-02 3.53351415e+02] [-6.80735940e-01 7.31828221e-01 3.20317809e-02 1.88169092e+02] [ 4.63793817e-02 -5.81002448e-04 9.98923729e-01 9.97824112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.39, Y:188.12, Z:99.78 [[ 7.31487386e-01 6.81029694e-01 -3.35374439e-02 3.53393579e+02] [-6.80275832e-01 7.32255535e-01 3.20409786e-02 1.88124201e+02] [ 4.63788368e-02 -6.22859072e-04 9.98923729e-01 9.97836415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.44, Y:188.08, Z:99.79 [[ 7.30395088e-01 6.82201304e-01 -3.35320306e-02 3.53438093e+02] [-6.81448414e-01 7.31164189e-01 3.20466428e-02 1.88080412e+02] [ 4.63796815e-02 -5.56361383e-04 9.98923729e-01 9.97858227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.48, Y:188.04, Z:99.79 [[ 7.28210973e-01 6.84532665e-01 -3.35232571e-02 3.53481731e+02] [-6.83781816e-01 7.28982067e-01 3.20558180e-02 1.88035011e+02] [ 4.63811077e-02 -4.20804803e-04 9.98923729e-01 9.97877857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.52, Y:187.99, Z:99.79 [[ 7.25435555e-01 6.87473662e-01 -3.35144810e-02 3.53524064e+02] [-6.86725514e-01 7.26209270e-01 3.20649907e-02 1.87988079e+02] [ 4.63823634e-02 -2.45835095e-04 9.98923729e-01 9.97913508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:187.94, Z:99.79 [[ 7.21792757e-01 6.91297755e-01 -3.35056637e-02 3.53568118e+02] [-6.90553280e-01 7.22570006e-01 3.20742015e-02 1.87943109e+02] [ 4.63830112e-02 -1.34803647e-05 9.98923729e-01 9.97933676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.250385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:353.61, Y:187.90, Z:99.80 [[ 7.18812171e-01 6.94396884e-01 -3.34967342e-02 3.53611545e+02] [-6.93655325e-01 7.19592203e-01 3.20835244e-02 1.87898204e+02] [ 4.63826881e-02 1.73160209e-04 9.98923729e-01 9.97952847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.65, Y:187.85, Z:99.80 [[ 7.17887401e-01 6.95353328e-01 -3.34877227e-02 3.53654748e+02] [-6.94612370e-01 7.18668004e-01 3.20929276e-02 1.87852040e+02] [ 4.63824788e-02 2.21878044e-04 9.98923729e-01 9.97974119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.70, Y:187.81, Z:99.80 [[ 7.19094960e-01 6.94104896e-01 -3.34788181e-02 3.53698757e+02] [-6.93362150e-01 7.19873862e-01 3.21022140e-02 1.87807003e+02] [ 4.63828300e-02 1.28404962e-04 9.98923729e-01 9.97996654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.430385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:353.74, Y:187.76, Z:99.80 [[ 7.20111557e-01 6.93050577e-01 -3.34700230e-02 3.53743268e+02] [-6.92306265e-01 7.20888961e-01 3.21113812e-02 1.87762435e+02] [ 4.63829814e-02 4.77299237e-05 9.98923729e-01 9.98020527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:353.79, Y:187.72, Z:99.80 [[ 7.19541411e-01 6.93642918e-01 -3.34613298e-02 3.53789627e+02] [-6.92898824e-01 7.20319025e-01 3.21204373e-02 1.87719798e+02] [ 4.63829463e-02 7.33312674e-05 9.98923729e-01 9.98041337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:353.84, Y:187.68, Z:99.81 [[ 7.19756187e-01 6.93420484e-01 -3.34524111e-02 3.53837257e+02] [-6.92675719e-01 7.20533157e-01 3.21297232e-02 1.87678549e+02] [ 4.63829796e-02 4.61058349e-05 9.98923729e-01 9.98055100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.88, Y:187.64, Z:99.81 [[ 7.21045293e-01 6.92080352e-01 -3.34435665e-02 3.53882439e+02] [-6.91333715e-01 7.21820465e-01 3.21389268e-02 1.87636164e+02] [ 4.63829705e-02 -5.29568298e-05 9.98923729e-01 9.98083004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.93, Y:187.59, Z:99.81 [[ 7.25819126e-01 6.87072536e-01 -3.34353979e-02 3.53927896e+02] [-6.86320160e-01 7.26588729e-01 3.21474228e-02 1.87593750e+02] [ 4.63813945e-02 -3.85826700e-04 9.98923730e-01 9.98113979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.98, Y:187.55, Z:99.81 [[ 7.29667033e-01 6.82985091e-01 -3.34273398e-02 3.53976033e+02] [-6.82228021e-01 7.30432018e-01 3.21557994e-02 1.87553851e+02] [ 4.63783309e-02 -6.57958850e-04 9.98923730e-01 9.98128632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:354.02, Y:187.51, Z:99.82 [[ 7.30699327e-01 6.81880955e-01 -3.34194247e-02 3.54020733e+02] [-6.81122352e-01 7.31462793e-01 3.21640235e-02 1.87509147e+02] [ 4.63771008e-02 -7.39513186e-04 9.98923730e-01 9.98154097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.07, Y:187.47, Z:99.82 [[ 7.31488397e-01 6.81034855e-01 -3.34103374e-02 3.54068514e+02] [-6.80274939e-01 7.32250555e-01 3.21734602e-02 1.87467856e+02] [ 4.63759859e-02 -8.06297557e-04 9.98923730e-01 9.98217465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.910385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:354.11, Y:187.43, Z:99.82 [[ 7.29405535e-01 6.83265651e-01 -3.34008512e-02 3.54113058e+02] [-6.82507615e-01 7.30169563e-01 3.21833053e-02 1.87425632e+02] [ 4.63780319e-02 -6.78345713e-04 9.98923730e-01 9.98229642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.970385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:354.16, Y:187.38, Z:99.83 [[ 7.26213254e-01 6.86657992e-01 -3.33932935e-02 3.54159488e+02] [-6.85903165e-01 7.26980453e-01 3.21911452e-02 1.87384383e+02] [ 4.63805787e-02 -4.73070598e-04 9.98923730e-01 9.98302129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.20, Y:187.34, Z:99.83 [[ 7.23541732e-01 6.89472833e-01 -3.33852290e-02 3.54204896e+02] [-6.88720606e-01 7.24311479e-01 3.21995067e-02 1.87342281e+02] [ 4.63819897e-02 -3.04591745e-04 9.98923730e-01 9.98327006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:354.25, Y:187.30, Z:99.83 [[ 7.21155695e-01 6.91968511e-01 -3.33772888e-02 3.54252960e+02] [-6.91218566e-01 7.21927666e-01 3.22077352e-02 1.87303212e+02] [ 4.63827268e-02 -1.55789942e-04 9.98923730e-01 9.98319107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:354.30, Y:187.26, Z:99.84 [[ 7.20806064e-01 6.92333070e-01 -3.33697238e-02 3.54300564e+02] [-6.91583153e-01 7.21578062e-01 3.22155712e-02 1.87262034e+02] [ 4.63827660e-02 -1.43240312e-04 9.98923730e-01 9.98353517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.35, Y:187.22, Z:99.84 [[ 7.22668340e-01 6.90389436e-01 -3.33600997e-02 3.54345204e+02] [-6.89636983e-01 7.23437866e-01 3.22255342e-02 1.87220385e+02] [ 4.63821277e-02 -2.82014751e-04 9.98923730e-01 9.98361609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.39, Y:187.18, Z:99.84 [[ 7.26067929e-01 6.86813495e-01 -3.33554440e-02 3.54389193e+02] [-6.86057031e-01 7.26833512e-01 3.22303524e-02 1.87177217e+02] [ 4.63800955e-02 -5.17688303e-04 9.98923730e-01 9.98382399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.44, Y:187.14, Z:99.84 [[ 7.31120230e-01 6.81433189e-01 -3.33469384e-02 3.54436905e+02] [-6.80670690e-01 7.31879805e-01 3.22391503e-02 1.87136667e+02] [ 4.63747777e-02 -8.72411398e-04 9.98923730e-01 9.98407216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.48, Y:187.10, Z:99.84 [[ 7.33465709e-01 6.78908417e-01 -3.33379030e-02 3.54482976e+02] [-6.78142880e-01 7.34222220e-01 3.22484909e-02 1.87095974e+02] [ 4.63712011e-02 -1.04530071e-03 9.98923730e-01 9.98445559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:354.53, Y:187.06, Z:99.85 [[ 7.32432024e-01 6.80023874e-01 -3.33295754e-02 3.54531633e+02] [-6.79259099e-01 7.33189305e-01 3.22570954e-02 1.87055586e+02] [ 4.63724832e-02 -9.86712372e-04 9.98923730e-01 9.98499029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.58, Y:187.02, Z:99.85 [[ 7.28749818e-01 6.83968884e-01 -3.33206911e-02 3.54582188e+02] [-6.83207789e-01 7.29510798e-01 3.22662700e-02 1.87017327e+02] [ 4.63769287e-02 -7.49082756e-04 9.98923731e-01 9.98525213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.63, Y:186.98, Z:99.86 [[ 7.24295281e-01 6.88684733e-01 -3.33119261e-02 3.54631307e+02] [-6.87928178e-01 7.25060774e-01 3.22753165e-02 1.86977441e+02] [ 4.63806887e-02 -4.60646792e-04 9.98923731e-01 9.98550849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.68, Y:186.94, Z:99.86 [[ 7.20438023e-01 6.92719244e-01 -3.33032111e-02 3.54680063e+02] [-6.91966560e-01 7.21207323e-01 3.22843066e-02 1.86938172e+02] [ 4.63824802e-02 -2.14133656e-04 9.98923731e-01 9.98562516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.73, Y:186.90, Z:99.86 [[ 7.18630045e-01 6.94595055e-01 -3.32951496e-02 3.54729282e+02] [-6.93843994e-01 7.19400930e-01 3.22926184e-02 1.86898712e+02] [ 4.63828546e-02 -1.04806228e-04 9.98923731e-01 9.98581320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.78, Y:186.86, Z:99.86 [[ 7.18584750e-01 6.94642339e-01 -3.32862972e-02 3.54779157e+02] [-6.93890906e-01 7.19355272e-01 3.23017406e-02 1.86859412e+02] [ 4.63828300e-02 -1.14479267e-04 9.98923731e-01 9.98613150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.83, Y:186.82, Z:99.86 [[ 7.21132604e-01 6.91997391e-01 -3.32772946e-02 3.54827755e+02] [-6.91242704e-01 7.21899939e-01 3.23110124e-02 1.86819428e+02] [ 4.63820132e-02 -2.97837438e-04 9.98923731e-01 9.98644915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.87, Y:186.78, Z:99.87 [[ 7.25138453e-01 6.87798988e-01 -3.32682435e-02 3.54874944e+02] [-6.87039432e-01 7.25900968e-01 3.23203290e-02 1.86778531e+02] [ 4.63793397e-02 -5.80118297e-04 9.98923731e-01 9.98693758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.92, Y:186.74, Z:99.87 [[ 7.27367168e-01 6.85442067e-01 -3.32592040e-02 3.54923302e+02] [-6.84679615e-01 7.28126788e-01 3.23296284e-02 1.86738462e+02] [ 4.63770047e-02 -7.43611237e-04 9.98923731e-01 9.98725941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.97, Y:186.70, Z:99.87 [[ 7.26615713e-01 6.86239042e-01 -3.32503023e-02 3.54970643e+02] [-6.85477005e-01 7.27375748e-01 3.23387810e-02 1.86698664e+02] [ 4.63775976e-02 -7.05548776e-04 9.98923731e-01 9.98746379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.02, Y:186.66, Z:99.88 [[ 7.24502581e-01 6.88470024e-01 -3.32420829e-02 3.55017960e+02] [-6.87709939e-01 7.25264570e-01 3.23472278e-02 1.86657754e+02] [ 4.63794017e-02 -5.74739258e-04 9.98923731e-01 9.98763466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.06, Y:186.62, Z:99.88 [[ 7.23631707e-01 6.89385693e-01 -3.32343016e-02 3.55064022e+02] [-6.88626205e-01 7.24394291e-01 3.23552206e-02 1.86616039e+02] [ 4.63799645e-02 -5.27252503e-04 9.98923731e-01 9.98780731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.11, Y:186.57, Z:99.88 [[ 7.24532473e-01 6.88439319e-01 -3.32264842e-02 3.55109679e+02] [-6.87678468e-01 7.25293696e-01 3.23632464e-02 1.86573351e+02] [ 4.63790909e-02 -5.99085251e-04 9.98923731e-01 9.98809802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.15, Y:186.53, Z:99.89 [[ 7.26223483e-01 6.86655642e-01 -3.32186957e-02 3.55154868e+02] [-6.85892556e-01 7.26982465e-01 3.23712389e-02 1.86529571e+02] [ 4.63773031e-02 -7.24297782e-04 9.98923731e-01 9.98852351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.20, Y:186.49, Z:99.89 [[ 7.26536824e-01 6.86324523e-01 -3.32098291e-02 3.55198241e+02] [-6.85560675e-01 7.27295040e-01 3.23803326e-02 1.86485368e+02] [ 4.63767603e-02 -7.58151172e-04 9.98923731e-01 9.98884663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.24, Y:186.44, Z:99.89 [[ 7.23623678e-01 6.89395694e-01 -3.32016465e-02 3.55240842e+02] [-6.88634680e-01 7.24384738e-01 3.23887206e-02 1.86440260e+02] [ 4.63794105e-02 -5.73439962e-04 9.98923732e-01 9.98944200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.28, Y:186.40, Z:99.90 [[ 7.20466986e-01 6.92694378e-01 -3.31936988e-02 3.55284038e+02] [-6.91936473e-01 7.21231142e-01 3.23968637e-02 1.86395504e+02] [ 4.63814547e-02 -3.72939837e-04 9.98923732e-01 9.98983489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.470385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.33, Y:186.35, Z:99.90 [[ 7.19826760e-01 6.93360033e-01 -3.31858473e-02 3.55329176e+02] [-6.92602465e-01 7.20591249e-01 3.24049045e-02 1.86353864e+02] [ 4.63816968e-02 -3.41317812e-04 9.98923732e-01 9.98955946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.37, Y:186.31, Z:99.90 [[ 7.19361562e-01 6.93843008e-01 -3.31786605e-02 3.55370832e+02] [-6.93085614e-01 7.20126223e-01 3.24122612e-02 1.86308348e+02] [ 4.63818443e-02 -3.20482541e-04 9.98923732e-01 9.98986513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5903857229999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:355.41, Y:186.26, Z:99.90 [[ 7.20822271e-01 6.92325748e-01 -3.31709761e-02 3.55411758e+02] [-6.91566382e-01 7.21584974e-01 3.24201236e-02 1.86263058e+02] [ 4.63809642e-02 -4.29215171e-04 9.98923732e-01 9.98984104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.45, Y:186.22, Z:99.90 [[ 7.23022263e-01 6.90028232e-01 -3.31639445e-02 3.55454033e+02] [-6.89266113e-01 7.23782215e-01 3.24273150e-02 1.86215982e+02] [ 4.63792360e-02 -5.86887540e-04 9.98923732e-01 9.99031807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.50, Y:186.17, Z:99.91 [[ 7.23980838e-01 6.89022844e-01 -3.31551996e-02 3.55495213e+02] [-6.88259260e-01 7.24739319e-01 3.24362536e-02 1.86170139e+02] [ 4.63781965e-02 -6.63852908e-04 9.98923732e-01 9.99063090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.54, Y:186.12, Z:99.91 [[ 7.23044923e-01 6.90005243e-01 -3.31482090e-02 3.55535196e+02] [-6.89242362e-01 7.23804112e-01 3.24433961e-02 1.86122028e+02] [ 4.63789234e-02 -6.10882978e-04 9.98923732e-01 9.99133147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.58, Y:186.08, Z:99.91 [[ 7.20868966e-01 6.92278592e-01 -3.31403858e-02 3.55577536e+02] [-6.91517739e-01 7.21630185e-01 3.24513855e-02 1.86076959e+02] [ 4.63805022e-02 -4.76032031e-04 9.98923732e-01 9.99132243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.62, Y:186.03, Z:99.92 [[ 7.14671175e-01 6.98675424e-01 -3.31324984e-02 3.55617142e+02] [-6.97921012e-01 7.15438779e-01 3.24594364e-02 1.86028468e+02] [ 4.63828847e-02 -7.39567477e-05 9.98923732e-01 9.99193162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.66, Y:185.98, Z:99.92 [[ 7.12716606e-01 7.00669531e-01 -3.31247139e-02 3.55660411e+02] [-6.99916898e-01 7.13485953e-01 3.24673785e-02 1.85982860e+02] [ 4.63829210e-02 4.45071922e-05 9.98923732e-01 9.99222339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.70, Y:185.94, Z:99.92 [[ 7.09324843e-01 7.04103411e-01 -3.31157647e-02 3.55700651e+02] [-7.03354076e-01 7.10097402e-01 3.24765039e-02 1.85936103e+02] [ 4.63822356e-02 2.55717084e-04 9.98923732e-01 9.99226391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.070385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:355.74, Y:185.89, Z:99.93 [[ 7.07857494e-01 7.05578903e-01 -3.31086130e-02 3.55740161e+02] [-7.04830837e-01 7.08631283e-01 3.24837931e-02 1.85887991e+02] [ 4.63816780e-02 3.42074986e-04 9.98923732e-01 9.99284153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:355.78, Y:185.84, Z:99.93 [[ 7.08462176e-01 7.04972117e-01 -3.31007369e-02 3.55778826e+02] [-7.04223013e-01 7.09234961e-01 3.24918169e-02 1.85837807e+02] [ 4.63820247e-02 2.91077390e-04 9.98923732e-01 9.99337077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:355.82, Y:185.79, Z:99.93 [[ 7.11328487e-01 7.02080272e-01 -3.30919086e-02 3.55817655e+02] [-7.01327608e-01 7.12097805e-01 3.25008057e-02 1.85790167e+02] [ 4.63828500e-02 8.95201609e-05 9.98923732e-01 9.99334821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.86, Y:185.74, Z:99.94 [[ 7.12526569e-01 7.00864666e-01 -3.30848760e-02 3.55858732e+02] [-7.00110357e-01 7.13294273e-01 3.25079631e-02 1.85743627e+02] [ 4.63829353e-02 2.76940622e-07 9.98923732e-01 9.99395389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.90, Y:185.69, Z:99.95 [[ 7.13399036e-01 6.99976939e-01 -3.30771871e-02 3.55895570e+02] [-6.99221312e-01 7.14165443e-01 3.25157847e-02 1.85693475e+02] [ 4.63828835e-02 -6.84552928e-05 9.98923733e-01 9.99510831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.370385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:355.94, Y:185.65, Z:99.95 [[ 7.15508626e-01 6.97820515e-01 -3.30746805e-02 3.55938450e+02] [-6.97062461e-01 7.16272632e-01 3.25183343e-02 1.85651348e+02] [ 4.63824492e-02 -2.12030559e-04 9.98923733e-01 9.99462815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:355.98, Y:185.60, Z:99.96 [[ 7.12872433e-01 7.00513487e-01 -3.30718779e-02 3.55975625e+02] [-6.99758186e-01 7.13639162e-01 3.25211843e-02 1.85602491e+02] [ 4.63829154e-02 -4.11384173e-05 9.98923733e-01 9.99574158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.02, Y:185.56, Z:99.95 [[ 7.13477053e-01 6.99897826e-01 -3.30685332e-02 3.56018367e+02] [-6.99141706e-01 7.14242974e-01 3.25245850e-02 1.85559840e+02] [ 4.63828538e-02 -8.59543646e-05 9.98923733e-01 9.99522974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.06, Y:185.51, Z:99.95 [[ 7.13036765e-01 7.00346526e-01 -3.30653133e-02 3.56060200e+02] [-6.99590737e-01 7.13803011e-01 3.25278580e-02 1.85512758e+02] [ 4.63828926e-02 -6.13717421e-05 9.98923733e-01 9.99538049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:356.10, Y:185.47, Z:99.96 [[ 7.13097548e-01 7.00284935e-01 -3.30589863e-02 3.56101333e+02] [-6.99528782e-01 7.13863435e-01 3.25342871e-02 1.85466654e+02] [ 4.63828727e-02 -7.44079262e-05 9.98923733e-01 9.99565652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.14, Y:185.42, Z:99.96 [[ 7.13551869e-01 6.99822273e-01 -3.30532454e-02 3.56143629e+02] [-6.99065352e-01 7.14316998e-01 3.25401185e-02 1.85420337e+02] [ 4.63827947e-02 -1.12683750e-04 9.98923733e-01 9.99637544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.19, Y:185.37, Z:99.97 [[ 7.11929309e-01 7.01473261e-01 -3.30442525e-02 3.56186409e+02] [-7.00717691e-01 7.12695772e-01 3.25492482e-02 1.85374152e+02] [ 4.63829263e-02 -1.80714730e-05 9.98923733e-01 9.99682379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.790385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:356.23, Y:185.33, Z:99.97 [[ 7.10402215e-01 7.03020180e-01 -3.30351325e-02 3.56230959e+02] [-7.02265848e-01 7.11169897e-01 3.25585018e-02 1.85330885e+02] [ 4.63828755e-02 6.98135378e-05 9.98923733e-01 9.99708516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.28, Y:185.29, Z:99.97 [[ 7.11197437e-01 7.02216093e-01 -3.30267378e-02 3.56275897e+02] [-7.01460498e-01 7.11963875e-01 3.25670149e-02 1.85288782e+02] [ 4.63829262e-02 5.37440323e-06 9.98923733e-01 9.99740955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.32, Y:185.24, Z:99.98 [[ 7.11338390e-01 7.02073520e-01 -3.30222336e-02 3.56319752e+02] [-7.01317560e-01 7.12104467e-01 3.25715814e-02 1.85244554e+02] [ 4.63829249e-02 -1.03440159e-05 9.98923733e-01 9.99767465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.970385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:356.37, Y:185.20, Z:99.98 [[ 7.12848192e-01 7.00540639e-01 -3.30192189e-02 3.56365345e+02] [-6.99782890e-01 7.13612500e-01 3.25746373e-02 1.85202402e+02] [ 4.63827846e-02 -1.14486913e-04 9.98923733e-01 9.99764147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.41, Y:185.16, Z:99.98 [[ 7.12243870e-01 7.01155267e-01 -3.30145496e-02 3.56407717e+02] [-7.00397958e-01 7.13008615e-01 3.25793690e-02 1.85158153e+02] [ 4.63828544e-02 -8.11327197e-05 9.98923733e-01 9.99816915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.45, Y:185.12, Z:99.98 [[ 7.14952267e-01 6.98393605e-01 -3.30095253e-02 3.56454518e+02] [-6.97633107e-01 7.15713840e-01 3.25844589e-02 1.85117741e+02] [ 4.63821518e-02 -2.67795047e-04 9.98923733e-01 9.99811065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.50, Y:185.07, Z:99.99 [[ 7.14806521e-01 6.98543186e-01 -3.30008309e-02 3.56496248e+02] [-6.97782441e-01 7.15567847e-01 3.25932619e-02 1.85073103e+02] [ 4.63821346e-02 -2.70475784e-04 9.98923733e-01 9.99903006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:356.54, Y:185.03, Z:100.00 [[ 7.16773560e-01 6.96525080e-01 -3.29920608e-02 3.56540204e+02] [-6.95761784e-01 7.17532328e-01 3.26021369e-02 1.85029785e+02] [ 4.63810762e-02 -4.13734624e-04 9.98923733e-01 9.99950090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.59, Y:184.99, Z:100.00 [[ 7.17320672e-01 6.95961996e-01 -3.29841439e-02 3.56585408e+02] [-6.95197735e-01 7.18078469e-01 3.26101447e-02 1.84986036e+02] [ 4.63806249e-02 -4.61428789e-04 9.98923733e-01 9.99985124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.330385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:356.63, Y:184.94, Z:100.00 [[ 7.17801057e-01 6.95466954e-01 -3.29751219e-02 3.56631271e+02] [-6.94701752e-01 7.18557903e-01 3.26192651e-02 1.84943280e+02] [ 4.63801553e-02 -5.06267990e-04 9.98923733e-01 9.99996474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.68, Y:184.90, Z:100.00 [[ 7.17218239e-01 6.96068410e-01 -3.29661479e-02 3.56675809e+02] [-6.95303425e-01 7.17975305e-01 3.26283319e-02 1.84901939e+02] [ 4.63804312e-02 -4.80159171e-04 9.98923733e-01 1.00004668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.72, Y:184.86, Z:100.01 [[ 7.16938840e-01 6.96356522e-01 -3.29589770e-02 3.56722183e+02] [-6.95591509e-01 7.17695877e-01 3.26355739e-02 1.84860380e+02] [ 4.63805167e-02 -4.71725902e-04 9.98923733e-01 1.00007199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.77, Y:184.82, Z:100.01 [[ 7.15325787e-01 6.98013669e-01 -3.29535473e-02 3.56768815e+02] [-6.97250157e-01 7.16084338e-01 3.26410556e-02 1.84818742e+02] [ 4.63814221e-02 -3.72122739e-04 9.98923733e-01 1.00010477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.82, Y:184.78, Z:100.01 [[ 7.16293800e-01 6.97020698e-01 -3.29444983e-02 3.56818452e+02] [-6.96255715e-01 7.17050867e-01 3.26501862e-02 1.84780752e+02] [ 4.63807366e-02 -4.49330723e-04 9.98923734e-01 1.00007509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.87, Y:184.74, Z:100.01 [[ 7.14934287e-01 6.98415221e-01 -3.29415283e-02 3.56865636e+02] [-6.97651576e-01 7.15692705e-01 3.26531825e-02 1.84740427e+02] [ 4.63814911e-02 -3.63170604e-04 9.98923734e-01 1.00008082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:356.91, Y:184.70, Z:100.02 [[ 7.12470250e-01 7.00929088e-01 -3.29326140e-02 3.56908304e+02] [-7.00167704e-01 7.13230937e-01 3.26621706e-02 1.84696090e+02] [ 4.63824245e-02 -2.12472104e-04 9.98923734e-01 1.00017843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.95, Y:184.65, Z:100.02 [[ 7.12195982e-01 7.01208136e-01 -3.29246420e-02 3.56954854e+02] [-7.00446679e-01 7.12956596e-01 3.26702047e-02 1.84653131e+02] [ 4.63824540e-02 -2.05632374e-04 9.98923734e-01 1.00020831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.00, Y:184.61, Z:100.02 [[ 7.12236186e-01 7.01167728e-01 -3.29155466e-02 3.57000645e+02] [-7.00405804e-01 7.12996331e-01 3.26793658e-02 1.84610903e+02] [ 4.63823806e-02 -2.21186951e-04 9.98923734e-01 1.00023117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.05, Y:184.57, Z:100.03 [[ 7.13235332e-01 7.00151624e-01 -3.29099387e-02 3.57045937e+02] [-6.99388357e-01 7.13994129e-01 3.26850123e-02 1.84568251e+02] [ 4.63819674e-02 -2.95277654e-04 9.98923734e-01 1.00029337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:357.09, Y:184.53, Z:100.03 [[ 7.13539454e-01 6.99842057e-01 -3.29020243e-02 3.57092575e+02] [-6.99078093e-01 7.14297549e-01 3.26929773e-02 1.84525734e+02] [ 4.63817558e-02 -3.26644778e-04 9.98923734e-01 1.00032525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:357.14, Y:184.48, Z:100.03 [[ 7.13620697e-01 6.99759642e-01 -3.28929270e-02 3.57137236e+02] [-6.98995169e-01 7.14378278e-01 3.27021277e-02 1.84483975e+02] [ 4.63816217e-02 -3.44918064e-04 9.98923734e-01 1.00030955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:357.18, Y:184.44, Z:100.04 [[ 7.13279247e-01 7.00108095e-01 -3.28842150e-02 3.57183011e+02] [-6.99343588e-01 7.14036795e-01 3.27108859e-02 1.84442123e+02] [ 4.63816954e-02 -3.34631152e-04 9.98923734e-01 1.00038702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.23, Y:184.40, Z:100.04 [[ 7.12870192e-01 7.00525031e-01 -3.28750782e-02 3.57229176e+02] [-6.99760544e-01 7.13627759e-01 3.27200659e-02 1.84400053e+02] [ 4.63817936e-02 -3.20477042e-04 9.98923734e-01 1.00042331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:357.28, Y:184.36, Z:100.04 [[ 7.13821431e-01 6.99556139e-01 -3.28659778e-02 3.57275516e+02] [-6.98790204e-01 7.14577533e-01 3.27292043e-02 1.84359151e+02] [ 4.63812052e-02 -3.96384148e-04 9.98923734e-01 1.00044864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.32, Y:184.32, Z:100.05 [[ 7.14248533e-01 6.99120457e-01 -3.28575703e-02 3.57321915e+02] [-6.98353671e-01 7.15003774e-01 3.27376426e-02 1.84316981e+02] [ 4.63808424e-02 -4.36608351e-04 9.98923734e-01 1.00046745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:357.37, Y:184.28, Z:100.05 [[ 7.15403872e-01 6.97938581e-01 -3.28487034e-02 3.57369409e+02] [-6.97170139e-01 7.16157428e-01 3.27465372e-02 1.84276710e+02] [ 4.63799146e-02 -5.25864343e-04 9.98923734e-01 1.00048695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.42, Y:184.23, Z:100.05 [[ 7.16366779e-01 6.96950576e-01 -3.28410012e-02 3.57415833e+02] [-6.96180742e-01 7.17118911e-01 3.27542598e-02 1.84234443e+02] [ 4.63790033e-02 -6.00791057e-04 9.98923734e-01 1.00051706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.410385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:357.46, Y:184.19, Z:100.05 [[ 7.17355123e-01 6.95933669e-01 -3.28322562e-02 3.57462832e+02] [-6.95162367e-01 7.18105750e-01 3.27630233e-02 1.84193781e+02] [ 4.63779230e-02 -6.78973728e-04 9.98923734e-01 1.00054354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.470385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:357.51, Y:184.15, Z:100.06 [[ 7.16786805e-01 6.96519149e-01 -3.28291173e-02 3.57510500e+02] [-6.95748317e-01 7.17537914e-01 3.27661682e-02 1.84153606e+02] [ 4.63784000e-02 -6.45553953e-04 9.98923734e-01 1.00059010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.530385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:357.56, Y:184.11, Z:100.06 [[ 7.14873726e-01 6.98482945e-01 -3.28196924e-02 3.57557498e+02] [-6.97713743e-01 7.15626504e-01 3.27756058e-02 1.84112435e+02] [ 4.63798434e-02 -5.31669023e-04 9.98923735e-01 1.00061548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5903857229999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:357.60, Y:184.07, Z:100.06 [[ 7.13674880e-01 6.99708194e-01 -3.28117175e-02 3.57603470e+02] [-6.98939917e-01 7.14428603e-01 3.27835876e-02 1.84070075e+02] [ 4.63805743e-02 -4.63403905e-04 9.98923735e-01 1.00063834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.650385723 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:357.64, Y:184.02, Z:100.07 [[ 7.10901230e-01 7.02526404e-01 -3.28038519e-02 3.57644014e+02] [-7.01760752e-01 7.11657619e-01 3.27914562e-02 1.84023219e+02] [ 4.63819749e-02 -2.91030788e-04 9.98923735e-01 1.00067379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.710385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:357.69, Y:183.98, Z:100.07 [[ 7.15640749e-01 6.97698275e-01 -3.27938221e-02 3.57688854e+02] [-6.96927062e-01 7.16391466e-01 3.28014836e-02 1.83982428e+02] [ 4.63787529e-02 -6.19176181e-04 9.98923735e-01 1.00071829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.770385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:357.73, Y:183.94, Z:100.07 [[ 7.14842124e-01 6.98516939e-01 -3.27845025e-02 3.57733564e+02] [-6.97746158e-01 7.15593286e-01 3.28107957e-02 1.83938799e+02] [ 4.63792665e-02 -5.79278263e-04 9.98923735e-01 1.00073356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:357.78, Y:183.89, Z:100.07 [[ 7.13518188e-01 6.99869679e-01 -3.27754185e-02 3.57775938e+02] [-6.99099906e-01 7.14270382e-01 3.28198675e-02 1.83894004e+02] [ 4.63801408e-02 -5.04280395e-04 9.98923735e-01 1.00073639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.82, Y:183.85, Z:100.09 [[ 7.12998638e-01 7.00399334e-01 -3.27676021e-02 3.57816437e+02] [-6.99629761e-01 7.13751036e-01 3.28276695e-02 1.83847337e+02] [ 4.63803878e-02 -4.80894008e-04 9.98923735e-01 1.00086208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.86, Y:183.80, Z:100.08 [[ 7.13994319e-01 6.99384702e-01 -3.27589827e-02 3.57859853e+02] [-6.98613665e-01 7.14745218e-01 3.28362687e-02 1.83804663e+02] [ 4.63795102e-02 -5.59036357e-04 9.98923735e-01 1.00080800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.010385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:357.90, Y:183.76, Z:100.08 [[ 7.15305917e-01 6.98043259e-01 -3.27574963e-02 3.57901097e+02] [-6.97270746e-01 7.16055297e-01 3.28377514e-02 1.83757518e+02] [ 4.63783498e-02 -6.48193942e-04 9.98923735e-01 1.00084676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.070385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:357.94, Y:183.71, Z:100.09 [[ 7.16880125e-01 6.96426895e-01 -3.27485234e-02 3.57943618e+02] [-6.95652284e-01 7.17627336e-01 3.28466976e-02 1.83712319e+02] [ 4.63765592e-02 -7.65559589e-04 9.98923735e-01 1.00086567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.130385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:357.99, Y:183.67, Z:100.09 [[ 7.17845042e-01 6.95432645e-01 -3.27403799e-02 3.57985123e+02] [-6.94656629e-01 7.18590794e-01 3.28548127e-02 1.83667586e+02] [ 4.63752448e-02 -8.41342446e-04 9.98923735e-01 1.00088103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.190385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:358.02, Y:183.62, Z:100.09 [[ 7.17213955e-01 6.96083830e-01 -3.27329384e-02 3.58023888e+02] [-6.95308153e-01 7.17960059e-01 3.28622249e-02 1.83620836e+02] [ 4.63758057e-02 -8.09767322e-04 9.98923735e-01 1.00092213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.07, Y:183.58, Z:100.09 [[ 7.15408530e-01 6.97939428e-01 -3.27290338e-02 3.58067003e+02] [-6.97165509e-01 7.16156457e-01 3.28661133e-02 1.83576167e+02] [ 4.63776652e-02 -6.95144293e-04 9.98923735e-01 1.00094361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.310385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:358.11, Y:183.53, Z:100.10 [[ 7.12963944e-01 7.00436820e-01 -3.27211877e-02 3.58107206e+02] [-6.99665163e-01 7.13714204e-01 3.28739228e-02 1.83528037e+02] [ 4.63796824e-02 -5.44046554e-04 9.98923735e-01 1.00096496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.370385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:358.15, Y:183.48, Z:100.10 [[ 7.12691216e-01 7.00714689e-01 -3.27132363e-02 3.58148724e+02] [-6.99942961e-01 7.13441403e-01 3.28818334e-02 1.83482127e+02] [ 4.63797609e-02 -5.37194322e-04 9.98923735e-01 1.00099612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.430385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:358.19, Y:183.43, Z:100.10 [[ 7.12276984e-01 7.01136121e-01 -3.27053248e-02 3.58189355e+02] [-7.00364476e-01 7.13027256e-01 3.28897007e-02 1.83434498e+02] [ 4.63799451e-02 -5.20929125e-04 9.98923735e-01 1.00101573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.490385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:358.23, Y:183.39, Z:100.11 [[ 7.11321433e-01 7.02105675e-01 -3.27022938e-02 3.58230794e+02] [-7.01334914e-01 7.12072614e-01 3.28927141e-02 1.83387898e+02] [ 4.63805691e-02 -4.62032091e-04 9.98923736e-01 1.00107286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:358.27, Y:183.34, Z:100.11 [[ 7.10447029e-01 7.02990851e-01 -3.26937583e-02 3.58271238e+02] [-7.02220636e-01 7.11198769e-01 3.29011958e-02 1.83339159e+02] [ 4.63810003e-02 -4.16325108e-04 9.98923736e-01 1.00109805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:358.31, Y:183.29, Z:100.11 [[ 7.08466918e-01 7.04986769e-01 -3.26845765e-02 3.58312599e+02] [-7.04218251e-01 7.09220393e-01 3.29103147e-02 1.83291467e+02] [ 4.63819046e-02 -2.98793925e-04 9.98923736e-01 1.00110469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:358.35, Y:183.24, Z:100.11 [[ 7.06326782e-01 7.07131380e-01 -3.26754955e-02 3.58353057e+02] [-7.06364733e-01 7.07082161e-01 3.29193284e-02 1.83243022e+02] [ 4.63825501e-02 -1.70985655e-04 9.98923736e-01 1.00112182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.39, Y:183.19, Z:100.12 [[ 7.05106061e-01 7.08349027e-01 -3.26664832e-02 3.58393816e+02] [-7.07583270e-01 7.05862342e-01 3.29282691e-02 1.83194988e+02] [ 4.63827476e-02 -1.03665105e-04 9.98923736e-01 1.00115634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.44, Y:183.15, Z:100.12 [[ 7.03873817e-01 7.09573917e-01 -3.26574145e-02 3.58435144e+02] [-7.08809059e-01 7.04631006e-01 3.29372606e-02 1.83146819e+02] [ 4.63828479e-02 -3.58041091e-05 9.98923736e-01 1.00118004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.48, Y:183.10, Z:100.12 [[ 7.01119813e-01 7.12295657e-01 -3.26482049e-02 3.58475141e+02] [-7.11533313e-01 7.01879534e-01 3.29463869e-02 1.83097793e+02] [ 4.63826752e-02 1.30920737e-04 9.98923736e-01 1.00120258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.52, Y:183.05, Z:100.12 [[ 6.98638967e-01 7.14729518e-01 -3.26390811e-02 3.58517202e+02] [-7.13969398e-01 6.99400914e-01 3.29554231e-02 1.83050444e+02] [ 4.63820168e-02 2.79362339e-04 9.98923736e-01 1.00122898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.56, Y:183.00, Z:100.13 [[ 6.98053441e-01 7.15301813e-01 -3.26298742e-02 3.58556921e+02] [-7.14541893e-01 6.98815586e-01 3.29645366e-02 1.83001172e+02] [ 4.63818575e-02 3.04403861e-04 9.98923736e-01 1.00126117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.60, Y:182.95, Z:100.13 [[ 6.99168131e-01 7.14212721e-01 -3.26207422e-02 3.58596550e+02] [-7.13451192e-01 6.99928668e-01 3.29735709e-02 1.82951679e+02] [ 4.63823364e-02 2.19237469e-04 9.98923736e-01 1.00128414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:358.64, Y:182.90, Z:100.13 [[ 6.98972194e-01 7.14404890e-01 -3.26117321e-02 3.58636433e+02] [-7.13643154e-01 6.99732524e-01 3.29824797e-02 1.82903336e+02] [ 4.63823344e-02 2.19303154e-04 9.98923736e-01 1.00131435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.68, Y:182.86, Z:100.13 [[ 6.97370704e-01 7.15968687e-01 -3.26027822e-02 3.58679330e+02] [-7.15208242e-01 6.98132325e-01 3.29913242e-02 1.82857431e+02] [ 4.63818112e-02 3.10595544e-04 9.98923736e-01 1.00133987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:358.72, Y:182.81, Z:100.14 [[ 6.94204651e-01 7.19039319e-01 -3.25938666e-02 3.58724141e+02] [-7.18281829e-01 6.94969212e-01 3.30001300e-02 1.82814358e+02] [ 4.63801248e-02 5.02738353e-04 9.98923736e-01 1.00135421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:358.77, Y:182.77, Z:100.14 [[ 6.93462739e-01 7.19755223e-01 -3.25860294e-02 3.58771035e+02] [-7.18998159e-01 6.94227721e-01 3.30078671e-02 1.82772537e+02] [ 4.63797096e-02 5.39569216e-04 9.98923737e-01 1.00138010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.81, Y:182.73, Z:100.14 [[ 6.97083308e-01 7.16249691e-01 -3.25766982e-02 3.58814624e+02] [-7.15488350e-01 6.97844033e-01 3.30170739e-02 1.82726835e+02] [ 4.63819234e-02 2.92596928e-04 9.98923737e-01 1.00143068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.86, Y:182.68, Z:100.15 [[ 7.02237848e-01 7.11197133e-01 -3.25675130e-02 3.58857884e+02] [-7.10429898e-01 7.02992628e-01 3.30261315e-02 1.82681978e+02] [ 4.63828116e-02 -5.52645704e-05 9.98923737e-01 1.00146915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:358.90, Y:182.64, Z:100.15 [[ 7.06938209e-01 7.06525478e-01 -3.25594414e-02 3.58901959e+02] [-7.05752889e-01 7.07687508e-01 3.30340871e-02 1.82638807e+02] [ 4.63813341e-02 -3.74138482e-04 9.98923737e-01 1.00149109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.95, Y:182.59, Z:100.15 [[ 7.09296403e-01 7.04158399e-01 -3.25509111e-02 3.58945859e+02] [-7.03382923e-01 7.10042715e-01 3.30424905e-02 1.82594438e+02] [ 4.63796845e-02 -5.41164698e-04 9.98923737e-01 1.00151880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.99, Y:182.55, Z:100.16 [[ 7.11482183e-01 7.01950236e-01 -3.25418229e-02 3.58989630e+02] [-7.01172036e-01 7.12225652e-01 3.30514386e-02 1.82549915e+02] [ 4.63775861e-02 -6.98093399e-04 9.98923737e-01 1.00155819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.04, Y:182.51, Z:100.16 [[ 7.11659231e-01 7.01771157e-01 -3.25327820e-02 3.59035971e+02] [-7.00992363e-01 7.12402078e-01 3.30603353e-02 1.82507249e+02] [ 4.63772112e-02 -7.22461056e-04 9.98923737e-01 1.00157851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.08, Y:182.47, Z:100.16 [[ 7.13559218e-01 6.99839582e-01 -3.25238801e-02 3.59082808e+02] [-6.99058378e-01 7.14299531e-01 3.30690904e-02 1.82466497e+02] [ 4.63748507e-02 -8.60663441e-04 9.98923737e-01 1.00160688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.13, Y:182.42, Z:100.17 [[ 7.13391367e-01 7.00011039e-01 -3.25161988e-02 3.59127562e+02] [-6.99229669e-01 7.14131504e-01 3.30766415e-02 1.82424583e+02] [ 4.63748562e-02 -8.60299526e-04 9.98923737e-01 1.00169376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.17, Y:182.38, Z:100.18 [[ 7.12318801e-01 7.01102829e-01 -3.25076858e-02 3.59173528e+02] [-7.00322212e-01 7.13059732e-01 3.30850059e-02 1.82382537e+02] [ 4.63759130e-02 -8.01217310e-04 9.98923737e-01 1.00175476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.22, Y:182.34, Z:100.17 [[ 7.10674681e-01 7.02769736e-01 -3.24991687e-02 3.59216865e+02] [-7.01990475e-01 7.11417038e-01 3.30933701e-02 1.82338689e+02] [ 4.63774813e-02 -7.04513399e-04 9.98923737e-01 1.00172314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:359.26, Y:182.30, Z:100.17 [[ 7.10364603e-01 7.03083523e-01 -3.24913884e-02 3.59264358e+02] [-7.02304240e-01 7.11106938e-01 3.31010072e-02 1.82296655e+02] [ 4.63776244e-02 -6.94944025e-04 9.98923737e-01 1.00174695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:359.31, Y:182.26, Z:100.18 [[ 7.12815549e-01 7.00598936e-01 -3.24826749e-02 3.59312799e+02] [-6.99816677e-01 7.13554746e-01 3.31095557e-02 1.82257488e+02] [ 4.63746863e-02 -8.69088487e-04 9.98923737e-01 1.00179600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.35, Y:182.21, Z:100.18 [[ 7.12115135e-01 7.01311237e-01 -3.24743482e-02 3.59354154e+02] [-7.00529345e-01 7.12854721e-01 3.31177207e-02 1.82211826e+02] [ 4.63753220e-02 -8.34396266e-04 9.98923737e-01 1.00180171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:359.40, Y:182.17, Z:100.19 [[ 7.15526757e-01 6.97830472e-01 -3.24667985e-02 3.59401274e+02] [-6.97044648e-01 7.16262162e-01 3.31251203e-02 1.82171674e+02] [ 4.63704576e-02 -1.07110171e-03 9.98923738e-01 1.00185434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:182.13, Z:100.19 [[ 7.13977760e-01 6.99415634e-01 -3.24581126e-02 3.59443224e+02] [-6.98631056e-01 7.14714495e-01 3.31336291e-02 1.82127804e+02] [ 4.63724618e-02 -9.80428776e-04 9.98923738e-01 1.00186535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.49, Y:182.09, Z:100.19 [[ 7.14890314e-01 6.98483236e-01 -3.24500771e-02 3.59489837e+02] [-6.97697341e-01 7.15625643e-01 3.31414970e-02 1.82087101e+02] [ 4.63708874e-02 -1.05220266e-03 9.98923738e-01 1.00190807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.53, Y:182.04, Z:100.19 [[ 7.12497014e-01 7.00924527e-01 -3.24470569e-02 3.59533254e+02] [-7.00141017e-01 7.13234885e-01 3.31444536e-02 1.82044556e+02] [ 4.63741334e-02 -8.97808814e-04 9.98923738e-01 1.00192309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.58, Y:182.00, Z:100.20 [[ 7.12233702e-01 7.01192449e-01 -3.24392163e-02 3.59581079e+02] [-7.00408868e-01 7.12971496e-01 3.31521257e-02 1.82003925e+02] [ 4.63742568e-02 -8.91346471e-04 9.98923738e-01 1.00196040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.62, Y:181.96, Z:100.20 [[ 7.08237154e-01 7.05229352e-01 -3.24298397e-02 3.59624311e+02] [-7.04449557e-01 7.08978949e-01 3.31612955e-02 1.81959928e+02] [ 4.63783926e-02 -6.40875344e-04 9.98923738e-01 1.00198035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.470385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:359.67, Y:181.92, Z:100.20 [[ 7.06251640e-01 7.07218133e-01 -3.24212064e-02 3.59670145e+02] [-7.06440039e-01 7.06995219e-01 3.31697339e-02 1.81916406e+02] [ 4.63798752e-02 -5.22540601e-04 9.98923738e-01 1.00199207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.72, Y:181.87, Z:100.20 [[ 7.03876767e-01 7.09582240e-01 -3.24120713e-02 3.59715179e+02] [-7.08806233e-01 7.04622524e-01 3.31786579e-02 1.81874549e+02] [ 4.63812619e-02 -3.79808294e-04 9.98923738e-01 1.00199550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.76, Y:181.83, Z:100.20 [[ 7.03853196e-01 7.09605953e-01 -3.24047701e-02 3.59760162e+02] [-7.08829643e-01 7.04598638e-01 3.31857873e-02 1.81830503e+02] [ 4.63811891e-02 -3.88460832e-04 9.98923738e-01 1.00202754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.650385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:359.80, Y:181.79, Z:100.21 [[ 7.04206068e-01 7.09256181e-01 -3.23957438e-02 3.59802917e+02] [-7.08479095e-01 7.04950701e-01 3.31945964e-02 1.81785956e+02] [ 4.63808749e-02 -4.24128910e-04 9.98923738e-01 1.00205579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.85, Y:181.74, Z:100.21 [[ 7.08575755e-01 7.04891096e-01 -3.23873915e-02 3.59848061e+02] [-7.04109051e-01 7.09315178e-01 3.32027436e-02 1.81743493e+02] [ 4.63771867e-02 -7.22403590e-04 9.98923738e-01 1.00207240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.89, Y:181.70, Z:100.21 [[ 7.10800129e-01 7.02648154e-01 -3.23843683e-02 3.59891865e+02] [-7.01863643e-01 7.11536934e-01 3.32056920e-02 1.81698941e+02] [ 4.63745923e-02 -8.73199464e-04 9.98923738e-01 1.00213683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.94, Y:181.65, Z:100.22 [[ 7.10659704e-01 7.02790636e-01 -3.23744857e-02 3.59935003e+02] [-7.02005833e-01 7.11396199e-01 3.32153244e-02 1.81654075e+02] [ 4.63745051e-02 -8.77714815e-04 9.98923738e-01 1.00218672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.98, Y:181.61, Z:100.22 [[ 7.10655286e-01 7.02795370e-01 -3.23687026e-02 3.59980284e+02] [-7.02010316e-01 7.11391512e-01 3.32209592e-02 1.81610325e+02] [ 4.63743566e-02 -8.85487155e-04 9.98923738e-01 1.00219703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.02, Y:181.57, Z:100.22 [[ 7.08732518e-01 7.04734751e-01 -3.23596901e-02 3.60024336e+02] [-7.03951311e-01 7.09470462e-01 3.32297357e-02 1.81566253e+02] [ 4.63763938e-02 -7.71347994e-04 9.98923738e-01 1.00220123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.07, Y:181.52, Z:100.22 [[ 7.08511306e-01 7.04957507e-01 -3.23518592e-02 3.60069978e+02] [-7.04173951e-01 7.09249127e-01 3.32373580e-02 1.81523620e+02] [ 4.63764529e-02 -7.67707386e-04 9.98923738e-01 1.00217464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.070385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:360.11, Y:181.48, Z:100.22 [[ 7.06037036e-01 7.07435691e-01 -3.23488286e-02 3.60112938e+02] [-7.06654591e-01 7.06777455e-01 3.32403073e-02 1.81480388e+02] [ 4.63788025e-02 -6.09439753e-04 9.98923738e-01 1.00224636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.16, Y:181.44, Z:100.23 [[ 7.08266991e-01 7.05203468e-01 -3.23409578e-02 3.60157783e+02] [-7.04419685e-01 7.09004570e-01 3.32479634e-02 1.81437957e+02] [ 4.63764660e-02 -7.66827758e-04 9.98923739e-01 1.00226687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.190385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:360.20, Y:181.39, Z:100.23 [[ 7.07563383e-01 7.05909827e-01 -3.23322748e-02 3.60199745e+02] [-7.05126394e-01 7.08301334e-01 3.32564051e-02 1.81392741e+02] [ 4.63770166e-02 -7.32674082e-04 9.98923739e-01 1.00227488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.24, Y:181.35, Z:100.24 [[ 7.07971302e-01 7.05500861e-01 -3.23291026e-02 3.60243276e+02] [-7.04716861e-01 7.08708651e-01 3.32594886e-02 1.81347943e+02] [ 4.63765125e-02 -7.63899696e-04 9.98923739e-01 1.00238142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.29, Y:181.30, Z:100.24 [[ 7.07824253e-01 7.05648825e-01 -3.23196807e-02 3.60287675e+02] [-7.04864562e-01 7.08561322e-01 3.32686418e-02 1.81303918e+02] [ 4.63764536e-02 -7.67353991e-04 9.98923739e-01 1.00242267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.33, Y:181.26, Z:100.24 [[ 7.07077591e-01 7.06397424e-01 -3.23103637e-02 3.60332599e+02] [-7.05613528e-01 7.07815049e-01 3.32776879e-02 1.81261713e+02] [ 4.63770347e-02 -7.31277663e-04 9.98923739e-01 1.00244220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.38, Y:181.22, Z:100.25 [[ 7.06182994e-01 7.07292012e-01 -3.23046306e-02 3.60377276e+02] [-7.06508796e-01 7.06921174e-01 3.32832524e-02 1.81217640e+02] [ 4.63778060e-02 -6.80561154e-04 9.98923739e-01 1.00246457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.490385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:360.42, Y:181.17, Z:100.25 [[ 7.05522817e-01 7.07950963e-01 -3.22953468e-02 3.60420101e+02] [-7.07168024e-01 7.06261291e-01 3.32922583e-02 1.81173112e+02] [ 4.63782396e-02 -6.50211230e-04 9.98923739e-01 1.00248838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.550385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:360.46, Y:181.13, Z:100.25 [[ 7.04587609e-01 7.08882105e-01 -3.22871849e-02 3.60463821e+02] [-7.08099780e-01 7.05326733e-01 3.33001719e-02 1.81128856e+02] [ 4.63789106e-02 -6.00339955e-04 9.98923739e-01 1.00250638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.610385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:360.51, Y:181.08, Z:100.25 [[ 7.03523360e-01 7.09938584e-01 -3.22813870e-02 3.60506868e+02] [-7.09157111e-01 7.04263386e-01 3.33057915e-02 1.81083372e+02] [ 4.63796653e-02 -5.38827222e-04 9.98923739e-01 1.00252240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.55, Y:181.04, Z:100.26 [[ 7.02927203e-01 7.10529275e-01 -3.22722210e-02 3.60548670e+02] [-7.09748016e-01 7.03667454e-01 3.33146706e-02 1.81036773e+02] [ 4.63799604e-02 -5.12643381e-04 9.98923739e-01 1.00259359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.59, Y:180.99, Z:100.26 [[ 7.02229481e-01 7.11219269e-01 -3.22631006e-02 3.60589754e+02] [-7.10438332e-01 7.02970071e-01 3.33235009e-02 1.80990651e+02] [ 4.63803100e-02 -4.79801391e-04 9.98923739e-01 1.00263474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.63, Y:180.95, Z:100.27 [[ 7.01928249e-01 7.11516949e-01 -3.22546943e-02 3.60634323e+02] [-7.10735952e-01 7.02668776e-01 3.33316355e-02 1.80945783e+02] [ 4.63803902e-02 -4.71845697e-04 9.98923739e-01 1.00266112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.850385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:360.68, Y:180.90, Z:100.27 [[ 6.95940540e-01 7.17375096e-01 -3.22449404e-02 3.60675059e+02] [-7.16599896e-01 6.96687134e-01 3.33410688e-02 1.80900090e+02] [ 4.63826875e-02 -9.66804883e-05 9.98923739e-01 1.00266768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.72, Y:180.86, Z:100.27 [[ 6.96441203e-01 7.16889403e-01 -3.22371768e-02 3.60719650e+02] [-7.16113335e-01 6.97186894e-01 3.33485736e-02 1.80855519e+02] [ 4.63825762e-02 -1.39848476e-04 9.98923739e-01 1.00269238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.970385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:360.76, Y:180.81, Z:100.27 [[ 6.94089068e-01 7.19167401e-01 -3.22275631e-02 3.60760905e+02] [-7.18393349e-01 6.94836851e-01 3.33578615e-02 1.80808950e+02] [ 4.63827851e-02 -1.26001539e-06 9.98923739e-01 1.00274892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.030385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:360.80, Y:180.76, Z:100.28 [[ 6.93154106e-01 7.20068962e-01 -3.22191759e-02 3.60800345e+02] [-7.19295506e-01 6.93902506e-01 3.33659605e-02 1.80762020e+02] [ 4.63827595e-02 4.73559099e-05 9.98923740e-01 1.00279249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:360.84, Y:180.72, Z:100.28 [[ 6.95125024e-01 7.18166847e-01 -3.22115113e-02 3.60842006e+02] [-7.17391000e-01 6.95870945e-01 3.33733583e-02 1.80715919e+02] [ 4.63826943e-02 -9.04081277e-05 9.98923740e-01 1.00283403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.150385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:360.89, Y:180.67, Z:100.28 [[ 6.96733795e-01 7.16606558e-01 -3.22034089e-02 3.60885226e+02] [-7.15828679e-01 6.97477597e-01 3.33811748e-02 1.80669651e+02] [ 4.63823251e-02 -2.05668900e-04 9.98923740e-01 1.00282503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.93, Y:180.62, Z:100.28 [[ 7.00628074e-01 7.12799997e-01 -3.21941860e-02 3.60928112e+02] [-7.12017669e-01 7.01367195e-01 3.33900674e-02 1.80624353e+02] [ 4.63803859e-02 -4.71189400e-04 9.98923740e-01 1.00282867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.270385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:360.97, Y:180.58, Z:100.29 [[ 7.02053166e-01 7.11396639e-01 -3.21896719e-02 3.60966142e+02] [-7.10612634e-01 7.02790507e-01 3.33944186e-02 1.80575267e+02] [ 4.63792730e-02 -5.70269739e-04 9.98923740e-01 1.00291187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.330385723 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:361.01, Y:180.53, Z:100.29 [[ 7.04122073e-01 7.09349334e-01 -3.21811746e-02 3.61008350e+02] [-7.08562812e-01 7.04856729e-01 3.34026053e-02 1.80529125e+02] [ 4.63772332e-02 -7.17128155e-04 9.98923740e-01 1.00294168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.390385723 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:361.05, Y:180.48, Z:100.29 [[ 7.05440501e-01 7.08038603e-01 -3.21719896e-02 3.61050591e+02] [-7.07250312e-01 7.06173259e-01 3.34114495e-02 1.80483554e+02] [ 4.63755948e-02 -8.16139938e-04 9.98923740e-01 1.00294182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:361.09, Y:180.44, Z:100.30 [[ 7.06115142e-01 7.07366161e-01 -3.21639647e-02 3.61093637e+02] [-7.06576821e-01 7.06846769e-01 3.34191730e-02 1.80438159e+02] [ 4.63745866e-02 -8.71472107e-04 9.98923740e-01 1.00300306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.510385723 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:361.14, Y:180.39, Z:100.30 [[ 7.06208190e-01 7.07273681e-01 -3.21548188e-02 3.61136111e+02] [-7.06483845e-01 7.06939281e-01 3.34279705e-02 1.80391947e+02] [ 4.63742283e-02 -8.90246497e-04 9.98923740e-01 1.00304706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.570385723 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:361.18, Y:180.35, Z:100.31 [[ 7.05862872e-01 7.07618733e-01 -3.21455149e-02 3.61179588e+02] [-7.06828847e-01 7.06593910e-01 3.34369152e-02 1.80346424e+02] [ 4.63744126e-02 -8.80499740e-04 9.98923740e-01 1.00308366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.630385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:361.22, Y:180.30, Z:100.30 [[ 7.04569589e-01 7.08906876e-01 -3.21362130e-02 3.61222540e+02] [-7.08117919e-01 7.05301629e-01 3.34458528e-02 1.80301471e+02] [ 4.63757184e-02 -8.08702531e-04 9.98923740e-01 1.00303882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.690385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:361.27, Y:180.26, Z:100.31 [[ 7.04399739e-01 7.09076094e-01 -3.21263177e-02 3.61266948e+02] [-7.08286880e-01 7.05131502e-01 3.34553550e-02 1.80256449e+02] [ 4.63756711e-02 -8.11294010e-04 9.98923740e-01 1.00307495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.750385723 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:361.31, Y:180.21, Z:100.31 [[ 7.02932128e-01 7.10531465e-01 -3.21163634e-02 3.61308670e+02] [-7.09743330e-01 7.03665052e-01 3.34649082e-02 1.80210913e+02] [ 4.63770328e-02 -7.29184380e-04 9.98923740e-01 1.00314902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.810385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:361.35, Y:180.17, Z:100.32 [[ 7.03373801e-01 7.10094609e-01 -3.21083046e-02 3.61352416e+02] [-7.09305666e-01 7.04105855e-01 3.34726385e-02 1.80166228e+02] [ 4.63763854e-02 -7.69174614e-04 9.98923740e-01 1.00316650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.870385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:361.39, Y:180.12, Z:100.32 [[ 7.03896786e-01 7.09576554e-01 -3.21002930e-02 3.61390912e+02] [-7.08786722e-01 7.04627881e-01 3.34803199e-02 1.80117869e+02] [ 4.63756115e-02 -8.14428129e-04 9.98923741e-01 1.00318142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.930385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:361.43, Y:180.07, Z:100.33 [[ 7.05391741e-01 7.08090859e-01 -3.20909129e-02 3.61434111e+02] [-7.07299079e-01 7.06120726e-01 3.34893084e-02 1.80073740e+02] [ 4.63735318e-02 -9.25208426e-04 9.98923741e-01 1.00326478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.48, Y:180.03, Z:100.33 [[ 7.05181228e-01 7.08300964e-01 -3.20808351e-02 3.61477751e+02] [-7.07508962e-01 7.05909972e-01 3.34989595e-02 1.80028271e+02] [ 4.63735267e-02 -9.25359096e-04 9.98923741e-01 1.00329995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.050385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:361.52, Y:179.98, Z:100.33 [[ 7.04467594e-01 7.09011158e-01 -3.20715796e-02 3.61519217e+02] [-7.08219488e-01 7.05196698e-01 3.35078183e-02 1.79983852e+02] [ 4.63741891e-02 -8.91454519e-04 9.98923741e-01 1.00333310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:361.56, Y:179.94, Z:100.34 [[ 7.03050273e-01 7.10416921e-01 -3.20641817e-02 3.61562214e+02] [-7.09626387e-01 7.03780607e-01 3.35148960e-02 1.79938194e+02] [ 4.63756985e-02 -8.09067351e-04 9.98923741e-01 1.00337108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.61, Y:179.89, Z:100.34 [[ 7.02056086e-01 7.11399845e-01 -3.20548389e-02 3.61605982e+02] [-7.10609925e-01 7.02787086e-01 3.35238294e-02 1.79893227e+02] [ 4.63765738e-02 -7.57121815e-04 9.98923741e-01 1.00338673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.230385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:179.85, Z:100.34 [[ 7.01768352e-01 7.11684101e-01 -3.20456086e-02 3.61648725e+02] [-7.10894074e-01 7.02499236e-01 3.35326504e-02 1.79847204e+02] [ 4.63766697e-02 -7.51119593e-04 9.98923741e-01 1.00341888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:361.69, Y:179.80, Z:100.34 [[ 7.02238472e-01 7.11220639e-01 -3.20364044e-02 3.61690704e+02] [-7.10429729e-01 7.02968400e-01 3.35414416e-02 1.79802671e+02] [ 4.63759455e-02 -7.94476580e-04 9.98923741e-01 1.00343267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.74, Y:179.76, Z:100.34 [[ 7.03284330e-01 7.10186800e-01 -3.20290439e-02 3.61735721e+02] [-7.09394498e-01 7.04012746e-01 3.35484687e-02 1.79760140e+02] [ 4.63745348e-02 -8.72884900e-04 9.98923741e-01 1.00338981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.78, Y:179.71, Z:100.35 [[ 7.00576214e-01 7.12858730e-01 -3.20218424e-02 3.61775949e+02] [-7.12068892e-01 7.01307302e-01 3.35553411e-02 1.79712470e+02] [ 4.63773697e-02 -7.06316011e-04 9.98923741e-01 1.00349748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.470385723 meters Centerline goodness : 0.995896 with order 1 Centerline is valid? [True, True] Translation: X:362.33, Y:180.26, Z:101.34 [[ 7.33761480e-01 6.78652249e-01 -3.20189967e-02 3.62326261e+02] [-6.77828340e-01 7.34453945e-01 3.35580563e-02 1.80263185e+02] [ 4.62907288e-02 -2.92022565e-03 9.98923741e-01 1.01344181e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 548.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.85, Y:180.84, Z:102.34 [[ 7.63663384e-01 6.44742687e-01 -3.35425761e-02 3.62852702e+02] [-6.43956224e-01 7.64394527e-01 3.19591547e-02 1.80843504e+02] [ 4.62451929e-02 -2.80608556e-03 9.98926177e-01 1.02340316e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 548.5903857229999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:362.90, Y:180.80, Z:102.35 [[ 7.63764544e-01 6.44553502e-01 -3.48497399e-02 3.62898983e+02] [-6.43833716e-01 7.64558758e-01 3.04639413e-02 1.80802189e+02] [ 4.62803139e-02 -8.29840681e-04 9.98928148e-01 1.02346399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.95, Y:180.76, Z:102.35 [[ 7.65680259e-01 6.42277002e-01 -3.48424179e-02 3.62945233e+02] [-6.41554474e-01 7.66471979e-01 3.04723134e-02 1.80761332e+02] [ 4.62774031e-02 -9.78739679e-04 9.98928148e-01 1.02347730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.99, Y:180.72, Z:102.35 [[ 7.65349997e-01 6.42670658e-01 -3.48397522e-02 3.62992890e+02] [-6.41948398e-01 7.66141962e-01 3.04753609e-02 1.80720902e+02] [ 4.62778163e-02 -9.58994251e-04 9.98928148e-01 1.02353295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.04, Y:180.68, Z:102.36 [[ 7.65149689e-01 6.42909597e-01 -3.48310802e-02 3.63040063e+02] [-6.42187134e-01 7.65941469e-01 3.04852691e-02 1.80680373e+02] [ 4.62778408e-02 -9.57722554e-04 9.98928148e-01 1.02355624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.09, Y:180.64, Z:102.36 [[ 7.65931186e-01 6.41978639e-01 -3.48259164e-02 3.63086935e+02] [-6.41254946e-01 7.66721842e-01 3.04911670e-02 1.80639032e+02] [ 4.62764687e-02 -1.02184461e-03 9.98928148e-01 1.02356851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.890385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:363.13, Y:180.60, Z:102.36 [[ 7.66608632e-01 6.41169914e-01 -3.48187749e-02 3.63134199e+02] [-6.40445017e-01 7.67398183e-01 3.04993199e-02 1.80598425e+02] [ 4.62751109e-02 -1.08153098e-03 9.98928148e-01 1.02355075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.18, Y:180.56, Z:102.36 [[ 7.65973309e-01 6.41929177e-01 -3.48112245e-02 3.63180160e+02] [-6.41204671e-01 7.66763220e-01 3.05079354e-02 1.80557432e+02] [ 4.62759004e-02 -1.04714447e-03 9.98928148e-01 1.02364971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:363.23, Y:180.52, Z:102.37 [[ 7.63534813e-01 6.44828095e-01 -3.48039867e-02 3.63228120e+02] [-6.44106213e-01 7.64327121e-01 3.05161901e-02 1.80517316e+02] [ 4.62793277e-02 -8.82709391e-04 9.98928148e-01 1.02367548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.28, Y:180.48, Z:102.36 [[ 7.61354127e-01 6.47401845e-01 -3.47957609e-02 3.63277053e+02] [-6.46682213e-01 7.62148480e-01 3.05255666e-02 1.80478109e+02] [ 4.62818444e-02 -7.38966453e-04 9.98928148e-01 1.02364862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.130385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:363.32, Y:180.44, Z:102.37 [[ 7.57902817e-01 6.51439250e-01 -3.47882770e-02 3.63324368e+02] [-6.50723459e-01 7.58700632e-01 3.05340932e-02 1.80438258e+02] [ 4.62849945e-02 -5.04327319e-04 9.98928148e-01 1.02368880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.37, Y:180.40, Z:102.37 [[ 7.56905870e-01 6.52597755e-01 -3.47803626e-02 3.63371794e+02] [-6.51882771e-01 7.57704409e-01 3.05431056e-02 1.80396591e+02] [ 4.62855962e-02 -4.45536827e-04 9.98928148e-01 1.02373030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:363.42, Y:180.36, Z:102.37 [[ 7.55655399e-01 6.54045759e-01 -3.47715715e-02 3.63418536e+02] [-6.53331845e-01 7.56454895e-01 3.05531105e-02 1.80357636e+02] [ 4.62862578e-02 -3.70247912e-04 9.98928148e-01 1.02374343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.310385723 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:363.46, Y:180.31, Z:102.38 [[ 7.52280546e-01 6.57925076e-01 -3.47645499e-02 3.63460146e+02] [-6.57214916e-01 7.53083378e-01 3.05610978e-02 1.80313108e+02] [ 4.62875173e-02 -1.42738619e-04 9.98928148e-01 1.02377053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.370385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:363.51, Y:180.28, Z:102.38 [[ 7.56869483e-01 6.52641224e-01 -3.47565627e-02 3.63510265e+02] [-6.51925042e-01 7.57666948e-01 3.05701789e-02 1.80275337e+02] [ 4.62852577e-02 -4.78961907e-04 9.98928148e-01 1.02383175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.56, Y:180.23, Z:102.39 [[ 7.56112576e-01 6.53518514e-01 -3.47465704e-02 3.63555984e+02] [-6.52802736e-01 7.56910403e-01 3.05815321e-02 1.80232253e+02] [ 4.62856380e-02 -4.40424816e-04 9.98928148e-01 1.02385819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:363.60, Y:180.19, Z:102.39 [[ 7.56866520e-01 6.52645408e-01 -3.47425208e-02 3.63599753e+02] [-6.51928498e-01 7.57663330e-01 3.05861320e-02 1.80190367e+02] [ 4.62850326e-02 -4.99979840e-04 9.98928148e-01 1.02393351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.550385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:363.64, Y:180.15, Z:102.39 [[ 7.60063372e-01 6.48919986e-01 -3.47350356e-02 3.63644880e+02] [-6.48198783e-01 7.60856298e-01 3.05946301e-02 1.80148439e+02] [ 4.62818376e-02 -7.38649950e-04 9.98928149e-01 1.02393419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.69, Y:180.11, Z:102.39 [[ 7.62754867e-01 6.45754609e-01 -3.47274860e-02 3.63691360e+02] [-6.45029726e-01 7.63544430e-01 3.06031972e-02 1.80107572e+02] [ 4.62781341e-02 -9.42476787e-04 9.98928149e-01 1.02393440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.670385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:363.74, Y:180.06, Z:102.40 [[ 7.60936797e-01 6.47896382e-01 -3.47198780e-02 3.63735439e+02] [-6.47173328e-01 7.61728035e-01 3.06118262e-02 1.80063868e+02] [ 4.62803959e-02 -8.23886005e-04 9.98928149e-01 1.02403313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.78, Y:180.02, Z:102.41 [[ 7.59000657e-01 6.50163854e-01 -3.47126093e-02 3.63782244e+02] [-6.49442788e-01 7.59793707e-01 3.06200664e-02 1.80023692e+02] [ 4.62824825e-02 -6.96796750e-04 9.98928149e-01 1.02406200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.83, Y:179.98, Z:102.40 [[ 7.58449193e-01 6.50807477e-01 -3.47051767e-02 3.63829764e+02] [-6.50086698e-01 7.59242505e-01 3.06284883e-02 1.79983368e+02] [ 4.62828945e-02 -6.68778485e-04 9.98928149e-01 1.02404558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:363.88, Y:179.94, Z:102.41 [[ 7.56934512e-01 6.52568952e-01 -3.46973593e-02 3.63876041e+02] [-6.51849614e-01 7.57729130e-01 3.06373416e-02 1.79941179e+02] [ 4.62841778e-02 -5.73000907e-04 9.98928149e-01 1.02407486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.92, Y:179.90, Z:102.41 [[ 7.56699565e-01 6.52841844e-01 -3.46885412e-02 3.63922900e+02] [-6.52122335e-01 7.57494028e-01 3.06473225e-02 1.79900050e+02] [ 4.62842173e-02 -5.69643121e-04 9.98928149e-01 1.02409635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.970385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:363.97, Y:179.86, Z:102.42 [[ 7.56969457e-01 6.52529174e-01 -3.46831039e-02 3.63969082e+02] [-6.51809055e-01 7.57763367e-01 3.06534746e-02 1.79857411e+02] [ 4.62838721e-02 -5.96982859e-04 9.98928149e-01 1.02415066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:364.01, Y:179.82, Z:102.42 [[ 7.57370006e-01 6.52064699e-01 -3.46742324e-02 3.64014644e+02] [-6.51343633e-01 7.58163057e-01 3.06635065e-02 1.79815206e+02] [ 4.62833121e-02 -6.38779602e-04 9.98928149e-01 1.02417858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.06, Y:179.77, Z:102.42 [[ 7.56218375e-01 6.53400219e-01 -3.46687774e-02 3.64058705e+02] [-6.52680271e-01 7.57012440e-01 3.06696727e-02 1.79773348e+02] [ 4.62842667e-02 -5.65343017e-04 9.98928149e-01 1.02422877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.10, Y:179.73, Z:102.43 [[ 7.55744475e-01 6.53948345e-01 -3.46677163e-02 3.64103603e+02] [-6.53228918e-01 7.56539013e-01 3.06708721e-02 1.79730950e+02] [ 4.62846459e-02 -5.33387291e-04 9.98928149e-01 1.02427482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.210385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:364.15, Y:179.69, Z:102.43 [[ 7.57275180e-01 6.52175564e-01 -3.46602862e-02 3.64151304e+02] [-6.51453894e-01 7.58067680e-01 3.06792664e-02 1.79690760e+02] [ 4.62831106e-02 -6.53068590e-04 9.98928149e-01 1.02425403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.270385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:364.20, Y:179.65, Z:102.43 [[ 7.57244986e-01 6.52210734e-01 -3.46581736e-02 3.64196663e+02] [-6.51488991e-01 7.58037420e-01 3.06816528e-02 1.79650484e+02] [ 4.62830958e-02 -6.54109197e-04 9.98928149e-01 1.02427720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.24, Y:179.61, Z:102.44 [[ 7.55127984e-01 6.54660986e-01 -3.46514304e-02 3.64239207e+02] [-6.53941465e-01 7.55922436e-01 3.06892666e-02 1.79606653e+02] [ 4.62848592e-02 -5.14316876e-04 9.98928149e-01 1.02438047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.29, Y:179.57, Z:102.44 [[ 7.57419687e-01 6.52008556e-01 -3.46447883e-02 3.64286720e+02] [-6.51285911e-01 7.58211297e-01 3.06967629e-02 1.79566239e+02] [ 4.62826220e-02 -6.86670029e-04 9.98928149e-01 1.02437770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.450385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:364.33, Y:179.52, Z:102.44 [[ 7.57331919e-01 6.52110909e-01 -3.46370681e-02 3.64329981e+02] [-6.51387973e-01 7.58123264e-01 3.07054716e-02 1.79523335e+02] [ 4.62825402e-02 -6.92064137e-04 9.98928149e-01 1.02443196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.37, Y:179.48, Z:102.45 [[ 7.58798644e-01 6.50403870e-01 -3.46327109e-02 3.64374846e+02] [-6.49678929e-01 7.59588153e-01 3.07103853e-02 1.79480305e+02] [ 4.62807504e-02 -8.02856181e-04 9.98928149e-01 1.02450084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.42, Y:179.44, Z:102.45 [[ 7.59993481e-01 6.49007703e-01 -3.46252843e-02 3.64422059e+02] [-6.48280930e-01 7.60781305e-01 3.07187564e-02 1.79438612e+02] [ 4.62789785e-02 -8.99143133e-04 9.98928149e-01 1.02452814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.47, Y:179.40, Z:102.45 [[ 7.60545147e-01 6.48361593e-01 -3.46168219e-02 3.64468262e+02] [-6.47633717e-01 7.61331952e-01 3.07282898e-02 1.79397723e+02] [ 4.62779354e-02 -9.51230639e-04 9.98928150e-01 1.02454229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.52, Y:179.36, Z:102.46 [[ 7.60422773e-01 6.48505508e-01 -3.46094266e-02 3.64515446e+02] [-6.47777403e-01 7.61209365e-01 3.07366168e-02 1.79357686e+02] [ 4.62778849e-02 -9.53618861e-04 9.98928150e-01 1.02456497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.56, Y:179.32, Z:102.46 [[ 7.59145524e-01 6.50000615e-01 -3.46016359e-02 3.64560014e+02] [-6.49273660e-01 7.59933179e-01 3.07453847e-02 1.79316049e+02] [ 4.62794501e-02 -8.74290395e-04 9.98928150e-01 1.02461811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:179.28, Z:102.47 [[ 7.60281513e-01 6.48671905e-01 -3.45945251e-02 3.64607722e+02] [-6.47943209e-01 7.61067558e-01 3.07533836e-02 1.79276097e+02] [ 4.62776267e-02 -9.65941383e-04 9.98928150e-01 1.02465448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.66, Y:179.24, Z:102.47 [[ 7.59676067e-01 6.49381250e-01 -3.45870701e-02 3.64655435e+02] [-6.48652907e-01 7.60462438e-01 3.07617657e-02 1.79235358e+02] [ 4.62782815e-02 -9.33973644e-04 9.98928150e-01 1.02468302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.70, Y:179.20, Z:102.47 [[ 7.58149657e-01 6.51163126e-01 -3.45786261e-02 3.64703464e+02] [-6.50436199e-01 7.58937337e-01 3.07712545e-02 1.79195454e+02] [ 4.62801167e-02 -8.38025888e-04 9.98928150e-01 1.02469971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.75, Y:179.16, Z:102.47 [[ 7.56673726e-01 6.52878009e-01 -3.45713400e-02 3.64751304e+02] [-6.52152493e-01 7.57462707e-01 3.07794382e-02 1.79155245e+02] [ 4.62817191e-02 -7.44206604e-04 9.98928150e-01 1.02474042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.80, Y:179.12, Z:102.48 [[ 7.56336068e-01 6.53269591e-01 -3.45628831e-02 3.64798729e+02] [-6.52544051e-01 7.57125025e-01 3.07889317e-02 1.79115636e+02] [ 4.62818966e-02 -7.32975813e-04 9.98928150e-01 1.02477586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:364.85, Y:179.08, Z:102.48 [[ 7.57332068e-01 6.52115059e-01 -3.45555755e-02 3.64847768e+02] [-6.51387942e-01 7.58119572e-01 3.07971311e-02 1.79077683e+02] [ 4.62805311e-02 -8.14569760e-04 9.98928150e-01 1.02481180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:364.89, Y:179.04, Z:102.48 [[ 7.57281946e-01 6.52173690e-01 -3.45475343e-02 3.64893984e+02] [-6.51446222e-01 7.58069127e-01 3.08061490e-02 1.79037197e+02] [ 4.62803790e-02 -8.23079757e-04 9.98928150e-01 1.02483131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.230385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:364.94, Y:179.00, Z:102.49 [[ 7.60761825e-01 6.48111427e-01 -3.45401782e-02 3.64943528e+02] [-6.47379383e-01 7.61544751e-01 3.08143945e-02 1.79000147e+02] [ 4.62750526e-02 -1.08181569e-03 9.98928150e-01 1.02485307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.290385723 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:364.99, Y:178.96, Z:102.49 [[ 7.63810042e-01 6.44516672e-01 -3.45322970e-02 3.64991600e+02] [-6.43780545e-01 7.64589131e-01 3.08232240e-02 1.78960781e+02] [ 4.62691007e-02 -1.31186708e-03 9.98928150e-01 1.02490170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.350385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:365.04, Y:178.92, Z:102.49 [[ 7.67850066e-01 6.39698624e-01 -3.45245856e-02 3.65039828e+02] [-6.38957223e-01 7.68624137e-01 3.08318591e-02 1.78921566e+02] [ 4.62595276e-02 -1.61451171e-03 9.98928150e-01 1.02492458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:365.08, Y:178.88, Z:102.50 [[ 7.66174133e-01 6.41705371e-01 -3.45168632e-02 3.65082773e+02] [-6.40965609e-01 7.66949771e-01 3.08405020e-02 1.78877478e+02] [ 4.62632161e-02 -1.50507268e-03 9.98928150e-01 1.02499249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.470385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:365.13, Y:178.84, Z:102.50 [[ 7.69469905e-01 6.37750088e-01 -3.45092663e-02 3.65130681e+02] [-6.37005960e-01 7.70241355e-01 3.08490003e-02 1.78837711e+02] [ 4.62544167e-02 -1.75476900e-03 9.98928150e-01 1.02502428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.530385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:365.18, Y:178.80, Z:102.50 [[ 7.70742690e-01 6.36211733e-01 -3.45012560e-02 3.65180174e+02] [-6.35465666e-01 7.71512264e-01 3.08579563e-02 1.78799398e+02] [ 4.62503360e-02 -1.85918063e-03 9.98928151e-01 1.02503348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:365.23, Y:178.76, Z:102.51 [[ 7.68905180e-01 6.38431511e-01 -3.44968199e-02 3.65227350e+02] [-6.37687443e-01 7.69676689e-01 3.08629148e-02 1.78759617e+02] [ 4.62552554e-02 -1.73246619e-03 9.98928151e-01 1.02509567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.650385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:365.28, Y:178.72, Z:102.51 [[ 7.65005179e-01 6.43100031e-01 -3.44880522e-02 3.65277386e+02] [-6.42360233e-01 7.65780782e-01 3.08727092e-02 1.78723793e+02] [ 4.62645278e-02 -1.46402920e-03 9.98928151e-01 1.02513124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.33, Y:178.69, Z:102.52 [[ 7.60827275e-01 6.48037788e-01 -3.44801920e-02 3.65328208e+02] [-6.47302628e-01 7.61607275e-01 3.08814854e-02 1.78687515e+02] [ 4.62727346e-02 -1.17635746e-03 9.98928151e-01 1.02516734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.770385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:365.38, Y:178.65, Z:102.52 [[ 7.57758051e-01 6.51624405e-01 -3.44727518e-02 3.65379618e+02] [-6.50892560e-01 7.58541163e-01 3.08897886e-02 1.78651474e+02] [ 4.62775414e-02 -9.68928331e-04 9.98928151e-01 1.02517725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.830385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:365.43, Y:178.62, Z:102.52 [[ 7.58267423e-01 6.51032048e-01 -3.44643059e-02 3.65429785e+02] [-6.50299164e-01 7.59049562e-01 3.08992090e-02 1.78615058e+02] [ 4.62764916e-02 -1.01775427e-03 9.98928151e-01 1.02522883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.48, Y:178.58, Z:102.52 [[ 7.59536956e-01 6.49550889e-01 -3.44565666e-02 3.65479101e+02] [-6.48816088e-01 7.60317295e-01 3.09078368e-02 1.78576782e+02] [ 4.62741364e-02 -1.11966953e-03 9.98928151e-01 1.02522907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.53, Y:178.54, Z:102.52 [[ 7.61228576e-01 6.47568002e-01 -3.44490626e-02 3.65529513e+02] [-6.46830791e-01 7.62006638e-01 3.09161984e-02 1.78539889e+02] [ 4.62707552e-02 -1.25157924e-03 9.98928151e-01 1.02522962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.58, Y:178.50, Z:102.53 [[ 7.63302232e-01 6.45122841e-01 -3.44415747e-02 3.65580657e+02] [-6.44382763e-01 7.64077567e-01 3.09245379e-02 1.78503546e+02] [ 4.62661603e-02 -1.41121174e-03 9.98928151e-01 1.02531282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.63, Y:178.46, Z:102.53 [[ 7.63278403e-01 6.45151270e-01 -3.44371759e-02 3.65627837e+02] [-6.44411000e-01 7.64053554e-01 3.09294356e-02 1.78464164e+02] [ 4.62660113e-02 -1.41607529e-03 9.98928151e-01 1.02529765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.68, Y:178.43, Z:102.53 [[ 7.61689575e-01 6.47026720e-01 -3.44298606e-02 3.65677356e+02] [-6.46287991e-01 7.62466196e-01 3.09375767e-02 1.78425444e+02] [ 4.62690435e-02 -1.31322424e-03 9.98928151e-01 1.02531240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.73, Y:178.39, Z:102.53 [[ 7.58821380e-01 6.50388565e-01 -3.44213328e-02 3.65725933e+02] [-6.49652847e-01 7.59600854e-01 3.09470618e-02 1.78386987e+02] [ 4.62740889e-02 -1.12137526e-03 9.98928151e-01 1.02533885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.77, Y:178.35, Z:102.54 [[ 7.53311881e-01 6.56762429e-01 -3.44139814e-02 3.65774634e+02] [-6.56032936e-01 7.54097183e-01 3.09552346e-02 1.78348509e+02] [ 4.62817215e-02 -7.42240715e-04 9.98928151e-01 1.02537860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.82, Y:178.31, Z:102.54 [[ 7.49946268e-01 6.60603341e-01 -3.44067035e-02 3.65823708e+02] [-6.59877499e-01 7.50734946e-01 3.09633219e-02 1.78309224e+02] [ 4.62847886e-02 -5.16618228e-04 9.98928151e-01 1.02541065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.87, Y:178.27, Z:102.54 [[ 7.49290406e-01 6.61347612e-01 -3.43980276e-02 3.65874166e+02] [-6.60622111e-01 7.50079398e-01 3.09729572e-02 1.78271194e+02] [ 4.62851431e-02 -4.83642046e-04 9.98928151e-01 1.02543039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.92, Y:178.23, Z:102.55 [[ 7.50634872e-01 6.59821683e-01 -3.43894656e-02 3.65922308e+02] [-6.59094143e-01 7.51421984e-01 3.09824608e-02 1.78230434e+02] [ 4.62838998e-02 -5.90620155e-04 9.98928151e-01 1.02546624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.97, Y:178.19, Z:102.55 [[ 7.54088816e-01 6.55871946e-01 -3.43809163e-02 3.65969708e+02] [-6.55139852e-01 7.54871693e-01 3.09919449e-02 1.78188376e+02] [ 4.62799277e-02 -8.46370638e-04 9.98928152e-01 1.02549389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.550385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:366.02, Y:178.15, Z:102.55 [[ 7.56913537e-01 6.52610484e-01 -3.43722942e-02 3.66018364e+02] [-6.51874583e-01 7.57692837e-01 3.10015045e-02 1.78148329e+02] [ 4.62755479e-02 -1.05903342e-03 9.98928152e-01 1.02550401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.07, Y:178.11, Z:102.55 [[ 7.58971869e-01 6.50215988e-01 -3.43638097e-02 3.66066608e+02] [-6.49477204e-01 7.59748436e-01 3.10109063e-02 1.78108325e+02] [ 4.62716378e-02 -1.21789452e-03 9.98928152e-01 1.02552077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.11, Y:178.07, Z:102.55 [[ 7.60158569e-01 6.48828680e-01 -3.43554251e-02 3.66113492e+02] [-6.48088059e-01 7.60933384e-01 3.10201924e-02 1.78066537e+02] [ 4.62689804e-02 -1.31492433e-03 9.98928152e-01 1.02554525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.16, Y:178.03, Z:102.56 [[ 7.62634645e-01 6.45916924e-01 -3.43471409e-02 3.66161676e+02] [-6.45172933e-01 7.63406225e-01 3.10293624e-02 1.78026376e+02] [ 4.62632115e-02 -1.50422113e-03 9.98928152e-01 1.02557630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:366.21, Y:177.99, Z:102.56 [[ 7.63969267e-01 6.44338280e-01 -3.43386174e-02 3.66209652e+02] [-6.43592272e-01 7.64738897e-01 3.10387921e-02 1.77986226e+02] [ 4.62595583e-02 -1.61261442e-03 9.98928152e-01 1.02558325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.26, Y:177.95, Z:102.56 [[ 7.66350749e-01 6.41504403e-01 -3.43311865e-02 3.66257287e+02] [-6.40755183e-01 7.67117252e-01 3.10470090e-02 1.77946690e+02] [ 4.62528384e-02 -1.79501293e-03 9.98928152e-01 1.02564130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.31, Y:177.91, Z:102.57 [[ 7.65975940e-01 6.41952283e-01 -3.43238430e-02 3.66307251e+02] [-6.41203148e-01 7.66742526e-01 3.10551254e-02 1.77907960e+02] [ 4.62534588e-02 -1.77892264e-03 9.98928152e-01 1.02567723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.970385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.36, Y:177.87, Z:102.57 [[ 7.62936838e-01 6.45561639e-01 -3.43154661e-02 3.66358784e+02] [-6.44815717e-01 7.63706551e-01 3.10643790e-02 1.77870874e+02] [ 4.62609177e-02 -1.57300723e-03 9.98928152e-01 1.02570310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.41, Y:177.83, Z:102.57 [[ 7.60260910e-01 6.48711322e-01 -3.43069865e-02 3.66407058e+02] [-6.47968168e-01 7.61033295e-01 3.10737409e-02 1.77832453e+02] [ 4.62666466e-02 -1.39431535e-03 9.98928152e-01 1.02572923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.46, Y:177.79, Z:102.58 [[ 7.57929165e-01 6.51434532e-01 -3.42991458e-02 3.66457065e+02] [-6.50693762e-01 7.58703838e-01 3.10823931e-02 1.77794096e+02] [ 4.62710378e-02 -1.24001207e-03 9.98928152e-01 1.02576933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.51, Y:177.76, Z:102.58 [[ 7.59280029e-01 6.49859970e-01 -3.42907743e-02 3.66506055e+02] [-6.49117177e-01 7.60052762e-01 3.10916260e-02 1.77755020e+02] [ 4.62680009e-02 -1.34852011e-03 9.98928152e-01 1.02580809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.210385723 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:366.55, Y:177.72, Z:102.58 [[ 7.61499402e-01 6.47258371e-01 -3.42821067e-02 3.66554173e+02] [-6.46512509e-01 7.62269173e-01 3.11011801e-02 1.77715094e+02] [ 4.62626923e-02 -1.51971925e-03 9.98928152e-01 1.02581120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.60, Y:177.67, Z:102.59 [[ 7.62463022e-01 6.46123383e-01 -3.42741031e-02 3.66602122e+02] [-6.45375980e-01 7.63231297e-01 3.11099977e-02 1.77674450e+02] [ 4.62599651e-02 -1.60053999e-03 9.98928153e-01 1.02586698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.65, Y:177.63, Z:102.59 [[ 7.62647238e-01 6.45906384e-01 -3.42656441e-02 3.66651347e+02] [-6.45158345e-01 7.63414893e-01 3.11193120e-02 1.77634572e+02] [ 4.62590653e-02 -1.62629108e-03 9.98928153e-01 1.02589065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.70, Y:177.60, Z:102.59 [[ 7.62772963e-01 6.45758354e-01 -3.42571846e-02 3.66701209e+02] [-6.45009749e-01 7.63540066e-01 3.11286217e-02 1.77596261e+02] [ 4.62583005e-02 -1.64785303e-03 9.98928153e-01 1.02590535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.75, Y:177.56, Z:102.59 [[ 7.63737659e-01 6.44617590e-01 -3.42483800e-02 3.66748897e+02] [-6.43867406e-01 7.64503217e-01 3.11383057e-02 1.77555373e+02] [ 4.62552963e-02 -1.73008105e-03 9.98928153e-01 1.02592380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.80, Y:177.52, Z:102.60 [[ 7.65929253e-01 6.42012486e-01 -3.42395652e-02 3.66795993e+02] [-6.41259267e-01 7.66691826e-01 3.11479954e-02 1.77515905e+02] [ 4.62485967e-02 -1.90072236e-03 9.98928153e-01 1.02595596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.84, Y:177.48, Z:102.60 [[ 7.66178299e-01 6.41715688e-01 -3.42314255e-02 3.66844698e+02] [-6.40961775e-01 7.66940186e-01 3.11569384e-02 1.77476140e+02] [ 4.62473519e-02 -1.93073485e-03 9.98928153e-01 1.02598493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.89, Y:177.44, Z:102.60 [[ 7.64912037e-01 6.43224977e-01 -3.42228761e-02 3.66893314e+02] [-6.42472148e-01 7.65674996e-01 3.11663262e-02 1.77438112e+02] [ 4.62505599e-02 -1.85225337e-03 9.98928153e-01 1.02602706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.94, Y:177.40, Z:102.60 [[ 7.61990388e-01 6.46683475e-01 -3.42218181e-02 3.66941307e+02] [-6.45934058e-01 7.62756698e-01 3.11674879e-02 1.77402881e+02] [ 4.62584203e-02 -1.64428829e-03 9.98928153e-01 1.02604637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.99, Y:177.37, Z:102.61 [[ 7.59642596e-01 6.49439644e-01 -3.42239113e-02 3.66988896e+02] [-6.48693112e-01 7.60411716e-01 3.11651892e-02 1.77365380e+02] [ 4.62641725e-02 -1.47358972e-03 9.98928153e-01 1.02608710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.810385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:367.03, Y:177.33, Z:102.61 [[ 7.58861780e-01 6.50351846e-01 -3.42239113e-02 3.67033835e+02] [-6.49606239e-01 7.59631796e-01 3.11651892e-02 1.77328579e+02] [ 4.62659096e-02 -1.41800468e-03 9.98928153e-01 1.02609809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.08, Y:177.29, Z:102.61 [[ 7.58911364e-01 6.50293844e-01 -3.42265638e-02 3.67079643e+02] [-6.49548309e-01 7.59681451e-01 3.11622759e-02 1.77292864e+02] [ 4.62659218e-02 -1.41759869e-03 9.98928153e-01 1.02612632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.12, Y:177.25, Z:102.62 [[ 7.59761258e-01 6.49300514e-01 -3.42297284e-02 3.67124965e+02] [-6.48554128e-01 7.60530520e-01 3.11587995e-02 1.77254893e+02] [ 4.62641776e-02 -1.47341705e-03 9.98928153e-01 1.02615930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.17, Y:177.22, Z:102.62 [[ 7.60684508e-01 6.48218555e-01 -3.42313269e-02 3.67169447e+02] [-6.47471154e-01 7.61452785e-01 3.11570432e-02 1.77217698e+02] [ 4.62621127e-02 -1.53688330e-03 9.98928153e-01 1.02618530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.22, Y:177.18, Z:102.62 [[ 7.62620917e-01 6.45939107e-01 -3.42345968e-02 3.67218339e+02] [-6.45189571e-01 7.63387110e-01 3.11534499e-02 1.77179060e+02] [ 4.62574815e-02 -1.67046763e-03 9.98928153e-01 1.02615102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.26, Y:177.14, Z:102.62 [[ 7.59866823e-01 6.49177128e-01 -3.42267096e-02 3.67260924e+02] [-6.48430468e-01 7.60635820e-01 3.11621128e-02 1.77140495e+02] [ 4.62637922e-02 -1.48541432e-03 9.98928153e-01 1.02623564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.30, Y:177.10, Z:102.63 [[ 7.57605352e-01 6.51814752e-01 -3.42295250e-02 3.67304341e+02] [-6.51070910e-01 7.58377074e-01 3.11590199e-02 1.77103963e+02] [ 4.62687958e-02 -1.32039224e-03 9.98928153e-01 1.02625580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.35, Y:177.07, Z:102.63 [[ 7.53200942e-01 6.56899099e-01 -3.42332408e-02 3.67348514e+02] [-6.56160654e-01 7.53977829e-01 3.11549370e-02 1.77068187e+02] [ 4.62767546e-02 -1.00342224e-03 9.98928153e-01 1.02628487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.39, Y:177.03, Z:102.63 [[ 7.47808089e-01 6.63031492e-01 -3.42389097e-02 3.67392730e+02] [-6.62299704e-01 7.48591251e-01 3.11487057e-02 1.77031055e+02] [ 4.62835210e-02 -6.16834326e-04 9.98928153e-01 1.02630714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.44, Y:176.99, Z:102.63 [[ 7.44954032e-01 6.66236420e-01 -3.42421185e-02 3.67437193e+02] [-6.65508164e-01 7.45740479e-01 3.11451779e-02 1.76992908e+02] [ 4.62857856e-02 -4.13316437e-04 9.98928153e-01 1.02631443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.48, Y:176.95, Z:102.63 [[ 7.43345393e-01 6.68030353e-01 -3.42501746e-02 3.67479809e+02] [-6.67304403e-01 7.44133969e-01 3.11363161e-02 1.76952395e+02] [ 4.62867226e-02 -2.89744814e-04 9.98928153e-01 1.02633832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.52, Y:176.91, Z:102.64 [[ 7.45110784e-01 6.66060583e-01 -3.42522935e-02 3.67520587e+02] [-6.65332655e-01 7.45897535e-01 3.11339850e-02 1.76910477e+02] [ 4.62858214e-02 -4.09098606e-04 9.98928153e-01 1.02638764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.56, Y:176.87, Z:102.64 [[ 7.47045135e-01 6.63890204e-01 -3.42543850e-02 3.67561052e+02] [-6.63160097e-01 7.47829863e-01 3.11316836e-02 1.76867142e+02] [ 4.62844719e-02 -5.40631528e-04 9.98928153e-01 1.02641973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.60, Y:176.82, Z:102.65 [[ 7.48123957e-01 6.62674153e-01 -3.42565603e-02 3.67601385e+02] [-6.61942879e-01 7.48907599e-01 3.11292898e-02 1.76823977e+02] [ 4.62835741e-02 -6.12681358e-04 9.98928153e-01 1.02646733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.64, Y:176.78, Z:102.65 [[ 7.48955425e-01 6.61734168e-01 -3.42587606e-02 3.67644850e+02] [-6.61002022e-01 7.49738251e-01 3.11268681e-02 1.76784700e+02] [ 4.62828154e-02 -6.67526668e-04 9.98928153e-01 1.02647974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.69, Y:176.74, Z:102.65 [[ 7.49027101e-01 6.61652952e-01 -3.42603886e-02 3.67685175e+02] [-6.60920802e-01 7.49809924e-01 3.11250761e-02 1.76743039e+02] [ 4.62827779e-02 -6.70121948e-04 9.98928153e-01 1.02650372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.73, Y:176.70, Z:102.65 [[ 7.48952568e-01 6.61737176e-01 -3.42631034e-02 3.67726767e+02] [-6.61005252e-01 7.49735602e-01 3.11220873e-02 1.76702612e+02] [ 4.62829106e-02 -6.60875968e-04 9.98928153e-01 1.02653429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.77, Y:176.66, Z:102.66 [[ 7.48392436e-01 6.62370150e-01 -3.42716508e-02 3.67768358e+02] [-6.61639319e-01 7.49176490e-01 3.11126721e-02 1.76662875e+02] [ 4.62836203e-02 -6.09016717e-04 9.98928153e-01 1.02655275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.81, Y:176.62, Z:102.66 [[ 7.47883530e-01 6.62944544e-01 -3.42747361e-02 3.67810230e+02] [-6.62214471e-01 7.48668290e-01 3.11092728e-02 1.76621427e+02] [ 4.62841308e-02 -5.68886505e-04 9.98928153e-01 1.02655221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.85, Y:176.58, Z:102.66 [[ 7.47299310e-01 6.63602666e-01 -3.42818302e-02 3.67849288e+02] [-6.62873642e-01 7.48085045e-01 3.11014533e-02 1.76578704e+02] [ 4.62847318e-02 -5.17572925e-04 9.98928153e-01 1.02659682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.010385723 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:367.89, Y:176.54, Z:102.67 [[ 7.45669879e-01 6.65432628e-01 -3.42906634e-02 3.67890712e+02] [-6.64705980e-01 7.46457812e-01 3.10917113e-02 1.76536570e+02] [ 4.62859727e-02 -3.90943562e-04 9.98928154e-01 1.02665624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.94, Y:176.49, Z:102.67 [[ 7.43798263e-01 6.67523894e-01 -3.42927997e-02 3.67935359e+02] [-6.66799570e-01 7.44588333e-01 3.10893549e-02 1.76492804e+02] [ 4.62869058e-02 -2.57784012e-04 9.98928154e-01 1.02668578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.98, Y:176.45, Z:102.67 [[ 7.40658540e-01 6.71006299e-01 -3.42851912e-02 3.67976607e+02] [-6.70285302e-01 7.41451646e-01 3.10977432e-02 1.76450149e+02] [ 4.62875931e-02 -5.19493469e-05 9.98928154e-01 1.02672212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.02, Y:176.41, Z:102.68 [[ 7.39909351e-01 6.71832300e-01 -3.42857692e-02 3.68020196e+02] [-6.71112218e-01 7.40703288e-01 3.10971060e-02 1.76409214e+02] [ 4.62876222e-02 5.59106508e-07 9.98928154e-01 1.02677022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.06, Y:176.37, Z:102.68 [[ 7.36381199e-01 6.75697517e-01 -3.42869563e-02 3.68062938e+02] [-6.74981663e-01 7.37178951e-01 3.10957971e-02 1.76366087e+02] [ 4.62869753e-02 2.44706442e-04 9.98928154e-01 1.02677929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.10, Y:176.32, Z:102.68 [[ 7.33937737e-01 6.78350854e-01 -3.42858240e-02 3.68103911e+02] [-6.77637825e-01 7.34738015e-01 3.10970455e-02 1.76323141e+02] [ 4.62858056e-02 4.10076061e-04 9.98928154e-01 1.02680873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.15, Y:176.28, Z:102.68 [[ 7.33638405e-01 6.78674456e-01 -3.42880905e-02 3.68146384e+02] [-6.77961898e-01 7.34439102e-01 3.10945462e-02 1.76278407e+02] [ 4.62855886e-02 4.33865673e-04 9.98928154e-01 1.02682690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.19, Y:176.24, Z:102.69 [[ 7.35175168e-01 6.77009807e-01 -3.42811062e-02 3.68186119e+02] [-6.76295076e-01 7.35973926e-01 3.11022444e-02 1.76235454e+02] [ 4.62865248e-02 3.18545615e-04 9.98928154e-01 1.02686433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.23, Y:176.19, Z:102.69 [[ 7.39311916e-01 6.72489816e-01 -3.42832020e-02 3.68225174e+02] [-6.71770310e-01 7.40106374e-01 3.10999340e-02 1.76190752e+02] [ 4.62876053e-02 3.78854378e-05 9.98928154e-01 1.02691090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.27, Y:176.14, Z:102.69 [[ 7.44065785e-01 6.67226067e-01 -3.42853157e-02 3.68267719e+02] [-6.66501047e-01 7.44855216e-01 3.10976037e-02 1.76143999e+02] [ 4.62867280e-02 -2.87464115e-04 9.98928154e-01 1.02693088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.31, Y:176.10, Z:102.69 [[ 7.50307404e-01 6.60199919e-01 -3.42763281e-02 3.68309116e+02] [-6.59467056e-01 7.51089559e-01 3.11075068e-02 1.76099093e+02] [ 4.62817656e-02 -7.36083486e-04 9.98928154e-01 1.02693588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.35, Y:176.06, Z:102.70 [[ 7.52875933e-01 6.57269697e-01 -3.42691613e-02 3.68352832e+02] [-6.56533431e-01 7.53654885e-01 3.11154000e-02 1.76055368e+02] [ 4.62783304e-02 -9.27185746e-04 9.98928154e-01 1.02697257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.40, Y:176.01, Z:102.70 [[ 7.53615153e-01 6.56422416e-01 -3.42609446e-02 3.68397637e+02] [-6.55684864e-01 7.54392887e-01 3.11244448e-02 1.76011554e+02] [ 4.62769961e-02 -9.91470423e-04 9.98928154e-01 1.02701088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.44, Y:175.97, Z:102.70 [[ 7.53597223e-01 6.56443449e-01 -3.42523592e-02 3.68444676e+02] [-6.55705489e-01 7.54374570e-01 3.11338901e-02 1.75971560e+02] [ 4.62767469e-02 -1.00295323e-03 9.98928154e-01 1.02704077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.49, Y:175.93, Z:102.71 [[ 7.51931416e-01 6.58351323e-01 -3.42444477e-02 3.68490565e+02] [-6.57614939e-01 7.52710257e-01 3.11425896e-02 1.75927809e+02] [ 4.62789121e-02 -8.97431054e-04 9.98928154e-01 1.02705588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.53, Y:175.88, Z:102.71 [[ 7.49587181e-01 6.61019685e-01 -3.42349884e-02 3.68533389e+02] [-6.60285600e-01 7.50368189e-01 3.11529847e-02 1.75884512e+02] [ 4.62815824e-02 -7.47008182e-04 9.98928154e-01 1.02711715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.58, Y:175.84, Z:102.72 [[ 7.50325826e-01 6.60181520e-01 -3.42274189e-02 3.68579449e+02] [-6.59446183e-01 7.51105655e-01 3.11612990e-02 1.75842246e+02] [ 4.62805216e-02 -8.09986680e-04 9.98928154e-01 1.02715161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.63, Y:175.80, Z:102.72 [[ 7.51202779e-01 6.59183948e-01 -3.42185211e-02 3.68625119e+02] [-6.58447131e-01 7.51981210e-01 3.11710667e-02 1.75801090e+02] [ 4.62791517e-02 -8.84704919e-04 9.98928154e-01 1.02719243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0903857229999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:368.67, Y:175.76, Z:102.72 [[ 7.52654807e-01 6.57525966e-01 -3.42103098e-02 3.68672637e+02] [-6.56787026e-01 7.53431222e-01 3.11800760e-02 1.75759623e+02] [ 4.62768251e-02 -9.98946504e-04 9.98928154e-01 1.02721289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.72, Y:175.72, Z:102.72 [[ 7.53492263e-01 6.56566565e-01 -3.42016791e-02 3.68719684e+02] [-6.55826207e-01 7.54267326e-01 3.11895402e-02 1.75718051e+02] [ 4.62752184e-02 -1.07071974e-03 9.98928154e-01 1.02723563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.77, Y:175.68, Z:102.73 [[ 7.54132967e-01 6.55830997e-01 -3.41931472e-02 3.68765995e+02] [-6.55089459e-01 7.54906901e-01 3.11988909e-02 1.75675467e+02] [ 4.62738426e-02 -1.12854185e-03 9.98928155e-01 1.02727136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.81, Y:175.63, Z:102.73 [[ 7.53771388e-01 6.56246982e-01 -3.41846831e-02 3.68813704e+02] [-6.55505452e-01 7.54545329e-01 3.12081624e-02 1.75634832e+02] [ 4.62741553e-02 -1.11557374e-03 9.98928155e-01 1.02729157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.330385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:368.86, Y:175.59, Z:102.73 [[ 7.51819563e-01 6.58482597e-01 -3.41762144e-02 3.68860589e+02] [-6.57742947e-01 7.52595301e-01 3.12174337e-02 1.75592658e+02] [ 4.62769952e-02 -9.90713357e-04 9.98928155e-01 1.02732540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.91, Y:175.55, Z:102.74 [[ 7.49557715e-01 6.61056582e-01 -3.41676209e-02 3.68907228e+02] [-6.60319168e-01 7.50335579e-01 3.12268365e-02 1.75550535e+02] [ 4.62798875e-02 -8.44781235e-04 9.98928155e-01 1.02737107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.96, Y:175.51, Z:102.74 [[ 7.46345607e-01 6.64681427e-01 -3.41589866e-02 3.68955424e+02] [-6.63947359e-01 7.47126629e-01 3.12362787e-02 1.75509830e+02] [ 4.62832628e-02 -6.33290426e-04 9.98928155e-01 1.02739847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.00, Y:175.47, Z:102.74 [[ 7.44321447e-01 6.66947781e-01 -3.41502872e-02 3.69002613e+02] [-6.66215655e-01 7.45104290e-01 3.12457868e-02 1.75467750e+02] [ 4.62848336e-02 -5.05453292e-04 9.98928155e-01 1.02742425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.05, Y:175.43, Z:102.74 [[ 7.44236234e-01 6.67043067e-01 -3.41463665e-02 3.69048354e+02] [-6.66310845e-01 7.45018987e-01 3.12500709e-02 1.75426591e+02] [ 4.62848345e-02 -5.05340754e-04 9.98928155e-01 1.02744896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.10, Y:175.38, Z:102.75 [[ 7.43595952e-01 6.67757185e-01 -3.41379864e-02 3.69095178e+02] [-6.67025294e-01 7.44379015e-01 3.12592227e-02 1.75383894e+02] [ 4.62851713e-02 -4.73331029e-04 9.98928155e-01 1.02746582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.14, Y:175.34, Z:102.75 [[ 7.42238862e-01 6.69265764e-01 -3.41293037e-02 3.69140134e+02] [-6.68535029e-01 7.43023003e-01 3.12686998e-02 1.75342040e+02] [ 4.62859280e-02 -3.92209110e-04 9.98928155e-01 1.02749678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.19, Y:175.30, Z:102.75 [[ 7.41568498e-01 6.70008882e-01 -3.41212817e-02 3.69187030e+02] [-6.69278530e-01 7.42352996e-01 3.12774511e-02 1.75299803e+02] [ 4.62862058e-02 -3.57731176e-04 9.98928155e-01 1.02753213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.23, Y:175.25, Z:102.76 [[ 7.38695645e-01 6.73175387e-01 -3.41121921e-02 3.69229385e+02] [-6.72447941e-01 7.39482838e-01 3.12873614e-02 1.75254008e+02] [ 4.62872623e-02 -1.73164335e-04 9.98928155e-01 1.02755313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.27, Y:175.21, Z:102.76 [[ 7.36802348e-01 6.75247531e-01 -3.41038288e-02 3.69271663e+02] [-6.74521877e-01 7.37591193e-01 3.12964749e-02 1.75208654e+02] [ 4.62875512e-02 -5.55375619e-05 9.98928155e-01 1.02757252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.32, Y:175.16, Z:102.76 [[ 7.35941406e-01 6.76186167e-01 -3.40956611e-02 3.69315796e+02] [-6.75461107e-01 7.36730797e-01 3.13053706e-02 1.75163874e+02] [ 4.62875822e-02 -8.62544902e-06 9.98928155e-01 1.02760482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.36, Y:175.12, Z:102.76 [[ 7.37121558e-01 6.74899907e-01 -3.40870093e-02 3.69362227e+02] [-6.74173034e-01 7.37909280e-01 3.13147883e-02 1.75120975e+02] [ 4.62874682e-02 -1.02263064e-04 9.98928155e-01 1.02759761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.41, Y:175.08, Z:102.76 [[ 7.36793576e-01 6.75258389e-01 -3.40783508e-02 3.69407021e+02] [-6.74531463e-01 7.37581249e-01 3.13242082e-02 1.75077482e+02] [ 4.62874869e-02 -9.25556064e-05 9.98928156e-01 1.02763160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:175.03, Z:102.77 [[ 7.33923948e-01 6.78376691e-01 -3.40691090e-02 3.69447060e+02] [-6.77652645e-01 7.34714269e-01 3.13342566e-02 1.75030668e+02] [ 4.62874898e-02 9.00604923e-05 9.98928156e-01 1.02771820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.49, Y:174.99, Z:102.77 [[ 7.34746979e-01 6.77485612e-01 -3.40605783e-02 3.69492203e+02] [-6.76760178e-01 7.35536026e-01 3.13435268e-02 1.74985983e+02] [ 4.62875708e-02 2.12814225e-05 9.98928156e-01 1.02770533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.53, Y:174.94, Z:102.78 [[ 7.33959938e-01 6.78338502e-01 -3.40541504e-02 3.69533168e+02] [-6.77613661e-01 7.34749530e-01 3.13505090e-02 1.74940929e+02] [ 4.62875284e-02 6.55398956e-05 9.98928156e-01 1.02775720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.58, Y:174.89, Z:102.78 [[ 7.34552406e-01 6.77697123e-01 -3.40495549e-02 3.69576895e+02] [-6.76971361e-01 7.35341152e-01 3.13554994e-02 1.74894888e+02] [ 4.62875706e-02 1.83160089e-05 9.98928156e-01 1.02778162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.62, Y:174.85, Z:102.78 [[ 7.33900195e-01 6.78403784e-01 -3.40412923e-02 3.69619725e+02] [-6.77678366e-01 7.34689256e-01 3.13644672e-02 1.74848993e+02] [ 4.62875449e-02 5.06587288e-05 9.98928156e-01 1.02780612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.66, Y:174.80, Z:102.78 [[ 7.33304927e-01 6.79047591e-01 -3.40331216e-02 3.69662566e+02] [-6.78322453e-01 7.34094247e-01 3.13733306e-02 1.74804110e+02] [ 4.62875033e-02 7.92126113e-05 9.98928156e-01 1.02779686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.71, Y:174.76, Z:102.78 [[ 7.31770658e-01 6.80701103e-01 -3.40251860e-02 3.69705284e+02] [-6.79977349e-01 7.32561246e-01 3.13819346e-02 1.74758527e+02] [ 4.62872501e-02 1.71976859e-04 9.98928156e-01 1.02781357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.75, Y:174.71, Z:102.79 [[ 7.31811496e-01 6.80657617e-01 -3.40168089e-02 3.69745798e+02] [-6.79933394e-01 7.32601655e-01 3.13910124e-02 1.74710303e+02] [ 4.62873022e-02 1.56860534e-04 9.98928156e-01 1.02785867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.79, Y:174.66, Z:102.80 [[ 7.30535605e-01 6.82027275e-01 -3.40077217e-02 3.69785185e+02] [-6.81304076e-01 7.31326700e-01 3.14008540e-02 1.74662758e+02] [ 4.62869938e-02 2.30157565e-04 9.98928156e-01 1.02796406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.83, Y:174.62, Z:102.80 [[ 7.32781225e-01 6.79614392e-01 -3.39993336e-02 3.69827715e+02] [-6.78888166e-01 7.33569543e-01 3.14099337e-02 1.74617445e+02] [ 4.62875186e-02 6.51355845e-05 9.98928156e-01 1.02797343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.710385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:369.87, Y:174.57, Z:102.80 [[ 7.37548277e-01 6.74438253e-01 -3.39938574e-02 3.69870232e+02] [-6.73706222e-01 7.38331206e-01 3.14158592e-02 1.74570878e+02] [ 4.62867830e-02 -2.68839560e-04 9.98928156e-01 1.02801482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.91, Y:174.52, Z:102.81 [[ 7.41560493e-01 6.70024658e-01 -3.39851979e-02 3.69911818e+02] [-6.69287538e-01 7.42338633e-01 3.14252241e-02 1.74523705e+02] [ 4.62842004e-02 -5.57835233e-04 9.98928156e-01 1.02805667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.830385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:369.96, Y:174.48, Z:102.81 [[ 7.44299697e-01 6.66980937e-01 -3.39763356e-02 3.69956116e+02] [-6.66240198e-01 7.45074394e-01 3.14348029e-02 1.74480087e+02] [ 4.62813120e-02 -7.60513721e-04 9.98928156e-01 1.02807080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.00, Y:174.43, Z:102.81 [[ 7.48590430e-01 6.62162013e-01 -3.39681663e-02 3.69998213e+02] [-6.61415888e-01 7.49359941e-01 3.14436282e-02 1.74433590e+02] [ 4.62751592e-02 -1.07131425e-03 9.98928157e-01 1.02808906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.04, Y:174.39, Z:102.81 [[ 7.52210485e-01 6.58047213e-01 -3.39595670e-02 3.70040807e+02] [-6.57296461e-01 7.52975482e-01 3.14529128e-02 1.74386432e+02] [ 4.62682229e-02 -1.33770759e-03 9.98928157e-01 1.02812722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.010385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:370.09, Y:174.34, Z:102.82 [[ 7.52894370e-01 6.57265093e-01 -3.39509159e-02 3.70085819e+02] [-6.56513127e-01 7.53658173e-01 3.14622482e-02 1.74343108e+02] [ 4.62664228e-02 -1.39852763e-03 9.98928157e-01 1.02816621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.13, Y:174.30, Z:102.82 [[ 7.52363546e-01 6.57873114e-01 -3.39420268e-02 3.70131036e+02] [-6.57121333e-01 7.53127531e-01 3.14718350e-02 1.74301411e+02] [ 4.62671489e-02 -1.37423148e-03 9.98928157e-01 1.02819494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.18, Y:174.26, Z:102.82 [[ 7.53340224e-01 6.56754904e-01 -3.39338134e-02 3.70180162e+02] [-6.56001591e-01 7.54102698e-01 3.14806885e-02 1.74261955e+02] [ 4.62646768e-02 -1.45503331e-03 9.98928157e-01 1.02816161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.190385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:370.22, Y:174.22, Z:102.82 [[ 7.51022425e-01 6.59404591e-01 -3.39249399e-02 3.70224593e+02] [-6.58653538e-01 7.51787125e-01 3.14902481e-02 1.74218873e+02] [ 4.62691472e-02 -1.30510084e-03 9.98928157e-01 1.02824944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.27, Y:174.18, Z:102.83 [[ 7.48544644e-01 6.62216411e-01 -3.39166959e-02 3.70271385e+02] [-6.61467828e-01 7.49311763e-01 3.14991248e-02 1.74177346e+02] [ 4.62734165e-02 -1.14369795e-03 9.98928157e-01 1.02828397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.32, Y:174.14, Z:102.83 [[ 7.45760282e-01 6.65350914e-01 -3.39081533e-02 3.70318827e+02] [-6.64605139e-01 7.46530130e-01 3.15083180e-02 1.74135562e+02] [ 4.62775463e-02 -9.62119175e-04 9.98928157e-01 1.02831054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.37, Y:174.09, Z:102.83 [[ 7.42285764e-01 6.69225414e-01 -3.38997105e-02 3.70365742e+02] [-6.68483243e-01 7.43059087e-01 3.15173990e-02 1.74094049e+02] [ 4.62817323e-02 -7.33528140e-04 9.98928157e-01 1.02831514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.41, Y:174.05, Z:102.84 [[ 7.37948533e-01 6.74005234e-01 -3.38955498e-02 3.70411391e+02] [-6.73267867e-01 7.38726438e-01 3.15218730e-02 1.74050130e+02] [ 4.62854462e-02 -4.40735391e-04 9.98928157e-01 1.02835713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.46, Y:174.01, Z:102.84 [[ 7.34163578e-01 6.78126242e-01 -3.38915928e-02 3.70456730e+02] [-6.77393046e-01 7.34945416e-01 3.15261269e-02 1.74006833e+02] [ 4.62871647e-02 -1.87404792e-04 9.98928157e-01 1.02839493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.550385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:370.50, Y:173.96, Z:102.84 [[ 7.34633119e-01 6.77617986e-01 -3.38828296e-02 3.70502988e+02] [-6.76883814e-01 7.35414041e-01 3.15355424e-02 1.73963952e+02] [ 4.62869593e-02 -2.32314893e-04 9.98928157e-01 1.02840449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:370.54, Y:173.92, Z:102.85 [[ 7.35772579e-01 6.76381037e-01 -3.38733607e-02 3.70544720e+02] [-6.75645085e-01 7.36551823e-01 3.15457099e-02 1.73918543e+02] [ 4.62864056e-02 -3.24098655e-04 9.98928157e-01 1.02845142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.59, Y:173.87, Z:102.85 [[ 7.37698858e-01 6.74280050e-01 -3.38645698e-02 3.70587465e+02] [-6.73541445e-01 7.38475588e-01 3.15551443e-02 1.73872897e+02] [ 4.62851623e-02 -4.69002620e-04 9.98928157e-01 1.02850385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:370.63, Y:173.83, Z:102.85 [[ 7.39569681e-01 6.72227994e-01 -3.38557421e-02 3.70631176e+02] [-6.71486801e-01 7.40343942e-01 3.15646127e-02 1.73827830e+02] [ 4.62835098e-02 -6.10546565e-04 9.98928158e-01 1.02852160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:370.67, Y:173.78, Z:102.85 [[ 7.39302228e-01 6.72522562e-01 -3.38470093e-02 3.70673242e+02] [-6.71781249e-01 7.40076373e-01 3.15739742e-02 1.73783626e+02] [ 4.62835819e-02 -6.04923247e-04 9.98928158e-01 1.02854807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.850385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:370.72, Y:173.74, Z:102.86 [[ 7.39188846e-01 6.72647532e-01 -3.38400383e-02 3.70717750e+02] [-6.71906008e-01 7.39962789e-01 3.15814438e-02 1.73739787e+02] [ 4.62835493e-02 -6.07325929e-04 9.98928158e-01 1.02857600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.76, Y:173.69, Z:102.86 [[ 7.39000504e-01 6.72854873e-01 -3.38315690e-02 3.70760106e+02] [-6.72113151e-01 7.39774257e-01 3.15905138e-02 1.73693995e+02] [ 4.62835550e-02 -6.06763140e-04 9.98928158e-01 1.02861212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.80, Y:173.65, Z:102.86 [[ 7.38653548e-01 6.73236133e-01 -3.38237469e-02 3.70804404e+02] [-6.72494427e-01 7.39427316e-01 3.15988868e-02 1.73649156e+02] [ 4.62837147e-02 -5.94348534e-04 9.98928158e-01 1.02863720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.85, Y:173.60, Z:102.87 [[ 7.37526294e-01 6.74471281e-01 -3.38150466e-02 3.70847625e+02] [-6.73730444e-01 7.38300895e-01 3.16081945e-02 1.73603185e+02] [ 4.62844986e-02 -5.29648224e-04 9.98928158e-01 1.02867590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.89, Y:173.56, Z:102.87 [[ 7.36075845e-01 6.76054371e-01 -3.38059012e-02 3.70891580e+02] [-6.75314751e-01 7.36851607e-01 3.16179727e-02 1.73559141e+02] [ 4.62854013e-02 -4.43602199e-04 9.98928158e-01 1.02868483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.93, Y:173.51, Z:102.87 [[ 7.35132209e-01 6.77080770e-01 -3.37974476e-02 3.70934676e+02] [-6.76341818e-01 7.35908607e-01 3.16270064e-02 1.73514299e+02] [ 4.62858705e-02 -3.91403929e-04 9.98928158e-01 1.02871051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.98, Y:173.47, Z:102.88 [[ 7.33761664e-01 6.78566031e-01 -3.37929370e-02 3.70976487e+02] [-6.77828428e-01 7.34539345e-01 3.16318253e-02 1.73470444e+02] [ 4.62865239e-02 -3.04407396e-04 9.98928158e-01 1.02878802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.270385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:371.02, Y:173.43, Z:102.88 [[ 7.32298931e-01 6.80144569e-01 -3.37881641e-02 3.71018649e+02] [-6.79408408e-01 7.33077977e-01 3.16369227e-02 1.73426621e+02] [ 4.62870401e-02 -2.11721920e-04 9.98928158e-01 1.02879958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.330385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:371.07, Y:173.38, Z:102.87 [[ 7.33519400e-01 6.78828360e-01 -3.37838504e-02 3.71065057e+02] [-6.78090589e-01 7.34296921e-01 3.16415285e-02 1.73384244e+02] [ 4.62865442e-02 -3.01164012e-04 9.98928158e-01 1.02874741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:371.11, Y:173.34, Z:102.88 [[ 7.31365643e-01 6.81148475e-01 -3.37794354e-02 3.71108580e+02] [-6.80412953e-01 7.32145292e-01 3.16462411e-02 1.73338959e+02] [ 4.62872434e-02 -1.61008074e-04 9.98928158e-01 1.02878144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.15, Y:173.29, Z:102.89 [[ 7.29155394e-01 6.83514195e-01 -3.37750854e-02 3.71149417e+02] [-6.82780987e-01 7.29937220e-01 3.16508830e-02 1.73293978e+02] [ 4.62875198e-02 -1.74258525e-05 9.98928158e-01 1.02889188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.19, Y:173.25, Z:102.89 [[ 7.30475400e-01 6.82103714e-01 -3.37670430e-02 3.71192483e+02] [-6.81368600e-01 7.31255434e-01 3.16594608e-02 1.73249298e+02] [ 4.62873695e-02 -1.18654534e-04 9.98928158e-01 1.02888707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.23, Y:173.20, Z:102.90 [[ 7.29726984e-01 6.82904552e-01 -3.37624379e-02 3.71234462e+02] [-6.82170067e-01 7.30507609e-01 3.16643710e-02 1.73204425e+02] [ 4.62874609e-02 -7.46214484e-05 9.98928158e-01 1.02895708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.630385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:371.28, Y:173.16, Z:102.90 [[ 7.29601140e-01 6.83039427e-01 -3.37537715e-02 3.71277418e+02] [-6.82304659e-01 7.30381499e-01 3.16736066e-02 1.73159310e+02] [ 4.62874524e-02 -7.87439023e-05 9.98928158e-01 1.02896500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:371.32, Y:173.11, Z:102.90 [[ 7.29016899e-01 6.83663341e-01 -3.37460697e-02 3.71320846e+02] [-6.82928861e-01 7.29797529e-01 3.16818102e-02 1.73114538e+02] [ 4.62874905e-02 -5.04100061e-05 9.98928158e-01 1.02900915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.36, Y:173.07, Z:102.90 [[ 7.29645675e-01 6.82992672e-01 -3.37372110e-02 3.71363868e+02] [-6.82257039e-01 7.30425218e-01 3.16912408e-02 1.73070033e+02] [ 4.62873950e-02 -1.05927126e-04 9.98928159e-01 1.02903644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:371.41, Y:173.02, Z:102.91 [[ 7.30408450e-01 6.82177286e-01 -3.37290184e-02 3.71407898e+02] [-6.81440379e-01 7.31186790e-01 3.16999579e-02 1.73024751e+02] [ 4.62872039e-02 -1.69601989e-04 9.98928159e-01 1.02907683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:371.45, Y:172.98, Z:102.91 [[ 7.33739830e-01 6.78593250e-01 -3.37203654e-02 3.71451091e+02] [-6.77852119e-01 7.34514149e-01 3.17091597e-02 1.72980521e+02] [ 4.62857072e-02 -4.08852315e-04 9.98928159e-01 1.02911274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.49, Y:172.94, Z:102.91 [[ 7.33944571e-01 6.78372213e-01 -3.37121349e-02 3.71493565e+02] [-6.77630447e-01 7.34718281e-01 3.17179076e-02 1.72936216e+02] [ 4.62854690e-02 -4.34817030e-04 9.98928159e-01 1.02914932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.54, Y:172.89, Z:102.92 [[ 7.33903221e-01 6.78417318e-01 -3.37046731e-02 3.71538174e+02] [-6.77675235e-01 7.34676628e-01 3.17258349e-02 1.72891590e+02] [ 4.62853914e-02 -4.42870191e-04 9.98928159e-01 1.02917004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.58, Y:172.85, Z:102.91 [[ 7.33346268e-01 6.79019755e-01 -3.36960529e-02 3.71582732e+02] [-6.78277887e-01 7.34119880e-01 3.17349878e-02 1.72847120e+02] [ 4.62856259e-02 -4.17447345e-04 9.98928159e-01 1.02913622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.63, Y:172.80, Z:102.92 [[ 7.31203649e-01 6.81326672e-01 -3.36925846e-02 3.71626995e+02] [-6.80587075e-01 7.31979433e-01 3.17386696e-02 1.72803952e+02] [ 4.62866811e-02 -2.76693445e-04 9.98928159e-01 1.02917446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.170385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:372.21, Y:173.44, Z:103.85 [[ 7.76239936e-01 6.29537079e-01 -3.36842482e-02 3.72206958e+02] [-6.28745604e-01 7.76962715e-01 3.17475146e-02 1.73443822e+02] [ 4.61576425e-02 -3.46486569e-03 9.98928159e-01 1.03853511e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 560.230385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:372.26, Y:173.41, Z:103.86 [[ 7.75427600e-01 6.30421973e-01 -3.57795139e-02 3.72255101e+02] [-6.29746361e-01 7.76252618e-01 2.91786547e-02 1.73405574e+02] [ 4.61688064e-02 -9.39154834e-05 9.98933648e-01 1.03857631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.290385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:372.30, Y:173.37, Z:103.86 [[ 7.76417541e-01 6.29202744e-01 -3.57730269e-02 3.72302318e+02] [-6.28525470e-01 7.77241195e-01 2.91866056e-02 1.73365150e+02] [ 4.61685625e-02 -1.76734007e-04 9.98933648e-01 1.03861369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.350385723 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:372.35, Y:173.32, Z:103.86 [[ 7.77862385e-01 6.27416074e-01 -3.57656320e-02 3.72349861e+02] [-6.26736492e-01 7.78684135e-01 2.91956646e-02 1.73323783e+02] [ 4.61679595e-02 -2.94582539e-04 9.98933648e-01 1.03864969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.410385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:372.40, Y:173.28, Z:103.87 [[ 7.78715003e-01 6.26357979e-01 -3.57578842e-02 3.72397368e+02] [-6.25676844e-01 7.79535468e-01 2.92051507e-02 1.73284326e+02] [ 4.61674182e-02 -3.69608878e-04 9.98933648e-01 1.03868464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4703857229999 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:372.44, Y:173.24, Z:103.87 [[ 7.80191206e-01 6.24518663e-01 -3.57508400e-02 3.72444113e+02] [-6.23835199e-01 7.81009731e-01 2.92137712e-02 1.73244561e+02] [ 4.61662993e-02 -4.89694974e-04 9.98933648e-01 1.03869983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.530385723 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:372.49, Y:173.21, Z:103.88 [[ 7.81330274e-01 6.23093365e-01 -3.57443957e-02 3.72492005e+02] [-6.22408048e-01 7.82147248e-01 2.92216540e-02 1.73205514e+02] [ 4.61651994e-02 -5.84163433e-04 9.98933648e-01 1.03875270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5903857229999 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:372.54, Y:173.17, Z:103.88 [[ 7.82354711e-01 6.21807005e-01 -3.57373102e-02 3.72540262e+02] [-6.21119948e-01 7.83170223e-01 2.92303168e-02 1.73168290e+02] [ 4.61640129e-02 -6.71319739e-04 9.98933648e-01 1.03877357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.650385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:372.59, Y:173.13, Z:103.88 [[ 7.83618663e-01 6.20213752e-01 -3.57308455e-02 3.72588904e+02] [-6.19524678e-01 7.84432470e-01 2.92382171e-02 1.73130476e+02] [ 4.61623797e-02 -7.75472054e-04 9.98933648e-01 1.03878755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.710385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:372.64, Y:173.09, Z:103.88 [[ 7.84834089e-01 6.18675398e-01 -3.57240105e-02 3.72637834e+02] [-6.17984348e-01 7.85646220e-01 2.92465659e-02 1.73092735e+02] [ 4.61605646e-02 -8.76822547e-04 9.98933648e-01 1.03882551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.770385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:372.69, Y:173.06, Z:103.89 [[ 7.85920072e-01 6.17295653e-01 -3.57171822e-02 3.72687615e+02] [-6.16602800e-01 7.86730664e-01 2.92549024e-02 1.73056210e+02] [ 4.61587266e-02 -9.68700455e-04 9.98933648e-01 1.03887387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.74, Y:173.02, Z:103.90 [[ 7.85514942e-01 6.17811500e-01 -3.57103127e-02 3.72735752e+02] [-6.17118798e-01 7.86325663e-01 2.92632854e-02 1.73016720e+02] [ 4.61591296e-02 -9.49242622e-04 9.98933648e-01 1.03897712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.890385723 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:372.79, Y:172.98, Z:103.90 [[ 7.86614501e-01 6.16411059e-01 -3.57076156e-02 3.72785823e+02] [-6.15716764e-01 7.87423859e-01 2.92665761e-02 1.72980340e+02] [ 4.61572696e-02 -1.03573560e-03 9.98933648e-01 1.03896659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.950385723 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:372.84, Y:172.95, Z:103.89 [[ 7.87245593e-01 6.15605075e-01 -3.57039078e-02 3.72837228e+02] [-6.14909746e-01 7.88054063e-01 2.92710987e-02 1.72945414e+02] [ 4.61560465e-02 -1.08886251e-03 9.98933648e-01 1.03893302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:372.89, Y:172.91, Z:103.89 [[ 7.88409247e-01 6.14114484e-01 -3.56967751e-02 3.72888602e+02] [-6.13417234e-01 7.89216061e-01 2.92797946e-02 1.72911927e+02] [ 4.61536142e-02 -1.18744380e-03 9.98933648e-01 1.03886768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:372.94, Y:172.87, Z:103.89 [[ 7.87773866e-01 6.14929673e-01 -3.56907981e-02 3.72939665e+02] [-6.14232929e-01 7.88581116e-01 2.92870786e-02 1.72874231e+02] [ 4.61545830e-02 -1.14913170e-03 9.98933648e-01 1.03885781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.98, Y:172.83, Z:103.89 [[ 7.83564309e-01 6.20285210e-01 -3.56823814e-02 3.72983669e+02] [-6.19593518e-01 7.84375892e-01 2.92973296e-02 1.72829964e+02] [ 4.61611000e-02 -8.47769569e-04 9.98933649e-01 1.03893960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.190385723 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:373.50, Y:173.48, Z:104.83 [[ 8.11369781e-01 5.83443273e-01 -3.56794960e-02 3.73503627e+02] [-5.82714690e-01 8.12148416e-01 2.93008431e-02 1.73484986e+02] [ 4.60724260e-02 -2.98285220e-03 9.98933649e-01 1.04830494e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 561.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.55, Y:173.45, Z:104.84 [[ 8.11266226e-01 5.83499839e-01 -3.70816545e-02 3.73554744e+02] [-5.82856312e-01 8.12113019e-01 2.74037117e-02 1.73451684e+02] [ 4.61045558e-02 -6.18429340e-04 9.98936428e-01 1.04837760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.60, Y:173.42, Z:104.84 [[ 8.10905131e-01 5.84002052e-01 -3.70738659e-02 3.73604344e+02] [-5.83358569e-01 8.11751957e-01 2.74142448e-02 1.73415087e+02] [ 4.61047584e-02 -6.02994417e-04 9.98936428e-01 1.04840715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.370385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:373.66, Y:173.38, Z:104.84 [[ 8.10329077e-01 5.84801510e-01 -3.70672607e-02 3.73656550e+02] [-5.84158453e-01 8.11176227e-01 2.74231729e-02 1.73379462e+02] [ 4.61051935e-02 -5.68640658e-04 9.98936428e-01 1.04843352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.71, Y:173.34, Z:104.84 [[ 8.10158847e-01 5.85037796e-01 -3.70596739e-02 3.73707671e+02] [-5.84394518e-01 8.11005829e-01 2.74334218e-02 1.73342503e+02] [ 4.61052002e-02 -5.67959157e-04 9.98936428e-01 1.04844202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.76, Y:173.30, Z:104.85 [[ 8.11167564e-01 5.83638871e-01 -3.70520154e-02 3.73757272e+02] [-5.82993660e-01 8.12013074e-01 2.74437616e-02 1.73303433e+02] [ 4.61039670e-02 -6.60399121e-04 9.98936428e-01 1.04846246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.81, Y:173.27, Z:104.85 [[ 8.12496613e-01 5.81787730e-01 -3.70444503e-02 3.73806114e+02] [-5.81140128e-01 8.13340293e-01 2.74539694e-02 1.73266566e+02] [ 4.61021266e-02 -7.78240549e-04 9.98936429e-01 1.04846554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.85, Y:173.23, Z:104.85 [[ 8.13379396e-01 5.80553283e-01 -3.70384121e-02 3.73854090e+02] [-5.79904030e-01 8.14221806e-01 2.74621132e-02 1.73226509e+02] [ 4.61007028e-02 -8.58392666e-04 9.98936429e-01 1.04852639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.670385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:373.91, Y:173.19, Z:104.85 [[ 8.13971033e-01 5.79723995e-01 -3.70303566e-02 3.73905116e+02] [-5.79073390e-01 8.14812399e-01 2.74729711e-02 1.73191375e+02] [ 4.60995342e-02 -9.18908480e-04 9.98936429e-01 1.04853327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.96, Y:173.16, Z:104.86 [[ 8.12092420e-01 5.82352872e-01 -3.70274760e-02 3.73956655e+02] [-5.81704813e-01 8.12935750e-01 2.74768530e-02 1.73156931e+02] [ 4.61021832e-02 -7.74683045e-04 9.98936429e-01 1.04857308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.01, Y:173.12, Z:104.86 [[ 8.07603483e-01 5.88562843e-01 -3.70188248e-02 3.74006682e+02] [-5.87920736e-01 8.08451353e-01 2.74885036e-02 1.73120966e+02] [ 4.61066308e-02 -4.35676525e-04 9.98936429e-01 1.04864375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.06, Y:173.09, Z:104.87 [[ 8.05572985e-01 5.91339433e-01 -3.70113631e-02 3.74058720e+02] [-5.90699788e-01 8.06422712e-01 2.74985465e-02 1.73085250e+02] [ 4.61077787e-02 -2.89481843e-04 9.98936429e-01 1.04866612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.11, Y:173.05, Z:104.86 [[ 8.05827506e-01 5.90993018e-01 -3.70038324e-02 3.74114275e+02] [-5.90352542e-01 8.06676607e-01 2.75086766e-02 1.73054438e+02] [ 4.61075618e-02 -3.21941702e-04 9.98936429e-01 1.04857252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.16, Y:173.02, Z:104.86 [[ 8.03266884e-01 5.94469107e-01 -3.69972175e-02 3.74162651e+02] [-5.93831896e-01 8.04118438e-01 2.75175703e-02 1.73015578e+02] [ 4.61084902e-02 -1.33825100e-04 9.98936429e-01 1.04863332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.21, Y:172.98, Z:104.87 [[ 8.04206774e-01 5.93197262e-01 -3.69928864e-02 3.74214970e+02] [-5.92558436e-01 8.05057118e-01 2.75233916e-02 1.72981002e+02] [ 4.61081870e-02 -2.14051078e-04 9.98936429e-01 1.04865778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.27, Y:172.94, Z:104.87 [[ 8.03107427e-01 5.94685357e-01 -3.69836093e-02 3.74265153e+02] [-5.94047533e-01 8.03958522e-01 2.75358517e-02 1.72943086e+02] [ 4.61084557e-02 -1.44225150e-04 9.98936429e-01 1.04869581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.31, Y:172.91, Z:104.88 [[ 8.02127919e-01 5.96006391e-01 -3.69754523e-02 3.74313384e+02] [-5.95369464e-01 8.02979685e-01 2.75468006e-02 1.72905198e+02] [ 4.61086063e-02 -8.20026073e-05 9.98936429e-01 1.04876764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.36, Y:172.87, Z:104.88 [[ 8.03422483e-01 5.94260393e-01 -3.69715888e-02 3.74364028e+02] [-5.93621377e-01 8.04272683e-01 2.75519850e-02 1.72868817e+02] [ 4.61082924e-02 -1.88758795e-04 9.98936429e-01 1.04878776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.41, Y:172.83, Z:104.88 [[ 8.05412375e-01 5.91561099e-01 -3.69644845e-02 3.74413657e+02] [-5.90918796e-01 8.06260094e-01 2.75615131e-02 1.72830121e+02] [ 4.61073077e-02 -3.55375055e-04 9.98936429e-01 1.04881760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.46, Y:172.79, Z:104.88 [[ 8.07454983e-01 5.88770449e-01 -3.69568486e-02 3.74464011e+02] [-5.88124748e-01 8.08300118e-01 2.75717481e-02 1.72792686e+02] [ 4.61056556e-02 -5.27708177e-04 9.98936429e-01 1.04883525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.51, Y:172.76, Z:104.89 [[ 8.07782113e-01 5.88322065e-01 -3.69486998e-02 3.74513186e+02] [-5.87675395e-01 8.08626506e-01 2.75826639e-02 1.72755597e+02] [ 4.61051879e-02 -5.66940797e-04 9.98936430e-01 1.04888071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.56, Y:172.72, Z:104.89 [[ 8.09034147e-01 5.86599578e-01 -3.69416201e-02 3.74562623e+02] [-5.85950678e-01 8.09876828e-01 2.75921426e-02 1.72717462e+02] [ 4.61037013e-02 -6.77018150e-04 9.98936430e-01 1.04890644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.61, Y:172.68, Z:104.89 [[ 8.09271708e-01 5.86272241e-01 -3.69345676e-02 3.74611455e+02] [-5.85622569e-01 8.10113794e-01 2.76015798e-02 1.72680567e+02] [ 4.61032427e-02 -7.07461216e-04 9.98936430e-01 1.04891924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.66, Y:172.64, Z:104.89 [[ 8.08957220e-01 5.86706510e-01 -3.69281401e-02 3.74661108e+02] [-5.86056898e-01 8.09799352e-01 2.76101765e-02 1.72642358e+02] [ 4.61034542e-02 -6.93460419e-04 9.98936430e-01 1.04894284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.71, Y:172.60, Z:104.90 [[ 8.07697304e-01 5.88440275e-01 -3.69202965e-02 3.74710169e+02] [-5.87791992e-01 8.08540459e-01 2.76206609e-02 1.72604028e+02] [ 4.61046628e-02 -6.07678687e-04 9.98936430e-01 1.04899368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.76, Y:172.57, Z:104.90 [[ 8.06065557e-01 5.90673964e-01 -3.69132137e-02 3.74759747e+02] [-5.90027584e-01 8.06910172e-01 2.76301234e-02 1.72566578e+02] [ 4.61060422e-02 -4.91876474e-04 9.98936430e-01 1.04901612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.81, Y:172.53, Z:104.90 [[ 8.04605078e-01 5.92662298e-01 -3.69062213e-02 3.74808544e+02] [-5.92017577e-01 8.05450960e-01 2.76394601e-02 1.72530111e+02] [ 4.61070174e-02 -3.89718235e-04 9.98936430e-01 1.04900702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:374.86, Y:172.49, Z:104.91 [[ 8.03275417e-01 5.94463629e-01 -3.68998333e-02 3.74857262e+02] [-5.93820414e-01 8.04122444e-01 2.76479858e-02 1.72491860e+02] [ 4.61077061e-02 -2.97073078e-04 9.98936430e-01 1.04906928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.90, Y:172.45, Z:104.91 [[ 8.01901543e-01 5.96316042e-01 -3.68930090e-02 3.74904758e+02] [-5.95674364e-01 8.02749735e-01 2.76570890e-02 1.72453277e+02] [ 4.61082191e-02 -2.02042694e-04 9.98936430e-01 1.04907022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.95, Y:172.41, Z:104.91 [[ 8.01842513e-01 5.96395800e-01 -3.68867775e-02 3.74953445e+02] [-5.95753825e-01 8.02690480e-01 2.76653976e-02 1.72414124e+02] [ 4.61081921e-02 -2.07853113e-04 9.98936430e-01 1.04912481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.00, Y:172.37, Z:104.91 [[ 8.01532860e-01 5.96812166e-01 -3.68824319e-02 3.75001257e+02] [-5.96170364e-01 8.02380958e-01 2.76711898e-02 1.72373921e+02] [ 4.61082638e-02 -1.91155010e-04 9.98936430e-01 1.04914850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.05, Y:172.33, Z:104.92 [[ 8.01074351e-01 5.97427888e-01 -3.68755040e-02 3.75048278e+02] [-5.96786313e-01 8.01922622e-01 2.76804191e-02 1.72333370e+02] [ 4.61083551e-02 -1.67277663e-04 9.98936430e-01 1.04917996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.10, Y:172.29, Z:104.92 [[ 8.00067725e-01 5.98775708e-01 -3.68685176e-02 3.75097275e+02] [-5.98135133e-01 8.00916751e-01 2.76897214e-02 1.72293489e+02] [ 4.61085458e-02 -1.01296710e-04 9.98936430e-01 1.04918046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.170385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:375.14, Y:172.25, Z:104.92 [[ 8.00165163e-01 5.98645943e-01 -3.68611785e-02 3.75144908e+02] [-5.98004781e-01 8.01013745e-01 2.76994878e-02 1.72252624e+02] [ 4.61084967e-02 -1.21004193e-04 9.98936430e-01 1.04919652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.19, Y:172.21, Z:104.92 [[ 8.00850104e-01 5.97729793e-01 -3.68538251e-02 3.75192602e+02] [-5.97087211e-01 8.01697611e-01 2.77092680e-02 1.72211901e+02] [ 4.61082786e-02 -1.86022524e-04 9.98936430e-01 1.04923055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.24, Y:172.17, Z:104.93 [[ 8.02514522e-01 5.95493726e-01 -3.68465011e-02 3.75240752e+02] [-5.94848335e-01 8.03359892e-01 2.77190037e-02 1.72172153e+02] [ 4.61074940e-02 -3.26823171e-04 9.98936431e-01 1.04925822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.29, Y:172.13, Z:104.93 [[ 8.05966605e-01 5.90813599e-01 -3.68391543e-02 3.75290484e+02] [-5.90162853e-01 8.06807859e-01 2.77287643e-02 1.72134592e+02] [ 4.61046503e-02 -6.07357587e-04 9.98936431e-01 1.04929666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.410385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:375.34, Y:172.10, Z:104.93 [[ 8.06835150e-01 5.89627422e-01 -3.68313023e-02 3.75340836e+02] [-5.88974963e-01 8.07675077e-01 2.77391900e-02 1.72096765e+02] [ 4.61035120e-02 -6.88238578e-04 9.98936431e-01 1.04933063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.39, Y:172.06, Z:104.93 [[ 8.03886279e-01 5.93642063e-01 -3.68232537e-02 3.75386998e+02] [-5.92993311e-01 8.04729071e-01 2.77498703e-02 1.72055691e+02] [ 4.61062330e-02 -4.71796875e-04 9.98936431e-01 1.04934272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.44, Y:172.02, Z:104.94 [[ 8.05073537e-01 5.92031414e-01 -3.68158136e-02 3.75439249e+02] [-5.91380524e-01 8.05914681e-01 2.77597376e-02 1.72019960e+02] [ 4.61050414e-02 -5.76475002e-04 9.98936431e-01 1.04937748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5903857229999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:375.49, Y:171.98, Z:104.95 [[ 8.03130859e-01 5.94664626e-01 -3.68076823e-02 3.75486284e+02] [-5.94016000e-01 8.03973750e-01 2.77705151e-02 1.71979979e+02] [ 4.61065533e-02 -4.39005421e-04 9.98936431e-01 1.04945642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.53, Y:171.94, Z:104.94 [[ 8.00989015e-01 5.97546906e-01 -3.68007089e-02 3.75534539e+02] [-5.96900889e-01 8.01833907e-01 2.77797529e-02 1.71941573e+02] [ 4.61077616e-02 -2.84901064e-04 9.98936431e-01 1.04942155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.710385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:375.58, Y:171.90, Z:104.95 [[ 8.00014706e-01 5.98851107e-01 -3.67943271e-02 3.75584742e+02] [-5.98206078e-01 8.00860352e-01 2.77882030e-02 1.71903490e+02] [ 4.61081139e-02 -2.20380956e-04 9.98936431e-01 1.04945293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.64, Y:171.87, Z:104.95 [[ 8.02623319e-01 5.95350760e-01 -3.67869620e-02 3.75639098e+02] [-5.94701597e-01 8.03465795e-01 2.77979498e-02 1.71870909e+02] [ 4.61065962e-02 -4.34017693e-04 9.98936431e-01 1.04948223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.830385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:375.69, Y:171.83, Z:104.95 [[ 8.02636471e-01 5.95333531e-01 -3.67788225e-02 3.75688624e+02] [-5.94683857e-01 8.03478553e-01 2.78087148e-02 1.71832466e+02] [ 4.61064555e-02 -4.48516678e-04 9.98936431e-01 1.04951778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.73, Y:171.79, Z:104.96 [[ 7.99456621e-01 5.99597386e-01 -3.67707088e-02 3.75734207e+02] [-5.98951711e-01 8.00301773e-01 2.78194392e-02 1.71791091e+02] [ 4.61081265e-02 -2.16555980e-04 9.98936431e-01 1.04955809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.78, Y:171.75, Z:104.96 [[ 7.98574956e-01 6.00771592e-01 -3.67632109e-02 3.75783771e+02] [-6.00126703e-01 7.99420708e-01 2.78293441e-02 1.71753591e+02] [ 4.61083515e-02 -1.61232671e-04 9.98936431e-01 1.04958709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.84, Y:171.72, Z:104.96 [[ 7.99907592e-01 5.98996526e-01 -3.67560351e-02 3.75838317e+02] [-5.98349324e-01 8.00751576e-01 2.78388184e-02 1.71721756e+02] [ 4.61078086e-02 -2.75533414e-04 9.98936431e-01 1.04958147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.88, Y:171.68, Z:104.96 [[ 7.98045267e-01 6.01475955e-01 -3.67481539e-02 3.75882622e+02] [-6.00830897e-01 7.98890890e-01 2.78492180e-02 1.71679730e+02] [ 4.61084004e-02 -1.45510322e-04 9.98936432e-01 1.04961550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.93, Y:171.64, Z:104.96 [[ 7.99084846e-01 6.00094381e-01 -3.67442755e-02 3.75932279e+02] [-5.99447626e-01 7.99929172e-01 2.78543343e-02 1.71640640e+02] [ 4.61080473e-02 -2.31707732e-04 9.98936432e-01 1.04964555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.98, Y:171.60, Z:104.97 [[ 8.02013285e-01 5.96175391e-01 -3.67368226e-02 3.75981727e+02] [-5.95524060e-01 8.02854085e-01 2.78641603e-02 1.71601175e+02] [ 4.61062348e-02 -4.69764979e-04 9.98936432e-01 1.04967298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.03, Y:171.56, Z:104.97 [[ 8.02293461e-01 5.95798757e-01 -3.67293332e-02 3.76031598e+02] [-5.95146580e-01 8.03133605e-01 2.78740290e-02 1.71563226e+02] [ 4.61058737e-02 -5.03814157e-04 9.98936432e-01 1.04969944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.08, Y:171.53, Z:104.97 [[ 8.01404079e-01 5.96994977e-01 -3.67219241e-02 3.76082088e+02] [-5.96343607e-01 8.02244849e-01 2.78837865e-02 1.71525329e+02] [ 4.61064550e-02 -4.47295583e-04 9.98936432e-01 1.04974664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.13, Y:171.49, Z:104.98 [[ 8.01144285e-01 5.97344031e-01 -3.67143536e-02 3.76131918e+02] [-5.96692570e-01 8.01984985e-01 2.78937511e-02 1.71488500e+02] [ 4.61065260e-02 -4.39737240e-04 9.98936432e-01 1.04978314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.18, Y:171.45, Z:104.98 [[ 8.00070439e-01 5.98781953e-01 -3.67078397e-02 3.76181583e+02] [-5.98131610e-01 8.00912004e-01 2.79023206e-02 1.71451710e+02] [ 4.61071555e-02 -3.67702673e-04 9.98936432e-01 1.04981832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.24, Y:171.42, Z:104.98 [[ 7.99970525e-01 5.98915714e-01 -3.67032149e-02 3.76235122e+02] [-5.98265233e-01 8.00811983e-01 2.79084029e-02 1.71418911e+02] [ 4.61071553e-02 -3.67642265e-04 9.98936432e-01 1.04981721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.28, Y:171.38, Z:104.99 [[ 7.97037769e-01 6.02813576e-01 -3.66958648e-02 3.76282542e+02] [-6.02166766e-01 7.97882052e-01 2.79180639e-02 1.71380977e+02] [ 4.61083599e-02 -1.54721131e-04 9.98936432e-01 1.04986498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.33, Y:171.34, Z:104.99 [[ 7.96556828e-01 6.03449201e-01 -3.66917036e-02 3.76332416e+02] [-6.02802812e-01 7.97401434e-01 2.79235318e-02 1.71344299e+02] [ 4.61084500e-02 -1.24817884e-04 9.98936432e-01 1.04989265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.670385723 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:171.31, Z:104.99 [[ 7.93249986e-01 6.07789872e-01 -3.66869365e-02 3.76380058e+02] [-6.07147815e-01 7.94097889e-01 2.79297935e-02 1.71305953e+02] [ 4.61084645e-02 1.19085050e-04 9.98936432e-01 1.04994583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.43, Y:171.27, Z:104.99 [[ 7.95562351e-01 6.04760399e-01 -3.66797695e-02 3.76429935e+02] [-6.04114679e-01 7.96407468e-01 2.79392027e-02 1.71270052e+02] [ 4.61085657e-02 -6.85906531e-05 9.98936432e-01 1.04994945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.48, Y:171.23, Z:105.00 [[ 7.99011121e-01 6.00196718e-01 -3.66759991e-02 3.76480324e+02] [-5.99545944e-01 7.99852352e-01 2.79441513e-02 1.71232633e+02] [ 4.61073720e-02 -3.38741131e-04 9.98936432e-01 1.05000232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.53, Y:171.20, Z:105.00 [[ 7.99309167e-01 5.99800222e-01 -3.66680900e-02 3.76531412e+02] [-5.99148556e-01 8.00149706e-01 2.79545256e-02 1.71195308e+02] [ 4.61070922e-02 -3.74675404e-04 9.98936432e-01 1.05003225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.58, Y:171.16, Z:105.01 [[ 7.98932258e-01 6.00302634e-01 -3.66605509e-02 3.76582355e+02] [-5.99651042e-01 7.99772855e-01 2.79644092e-02 1.71159150e+02] [ 4.61072220e-02 -3.58131045e-04 9.98936432e-01 1.05005408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9703857229999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:376.63, Y:171.12, Z:105.01 [[ 7.98586244e-01 6.00763330e-01 -3.66528488e-02 3.76633257e+02] [-6.00111760e-01 7.99426859e-01 2.79745007e-02 1.71122693e+02] [ 4.61073260e-02 -3.44245897e-04 9.98936432e-01 1.05005691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.68, Y:171.09, Z:105.01 [[ 7.96148811e-01 6.03990231e-01 -3.66452096e-02 3.76683011e+02] [-6.03341608e-01 7.96991701e-01 2.79845041e-02 1.71086404e+02] [ 4.61082950e-02 -1.70250012e-04 9.98936432e-01 1.05011142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.73, Y:171.05, Z:105.01 [[ 7.94447681e-01 6.06226467e-01 -3.66381299e-02 3.76732858e+02] [-6.05579789e-01 7.95292065e-01 2.79937700e-02 1.71049053e+02] [ 4.61085783e-02 -5.22747510e-05 9.98936433e-01 1.05014756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.78, Y:171.01, Z:105.02 [[ 7.92074067e-01 6.09324892e-01 -3.66312413e-02 3.76783571e+02] [-6.08681100e-01 7.92920653e-01 2.80027811e-02 1.71012301e+02] [ 4.61084594e-02 1.16467528e-04 9.98936433e-01 1.05018054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.83, Y:170.97, Z:105.02 [[ 7.90371418e-01 6.11532265e-01 -3.66239096e-02 3.76833762e+02] [-6.10890393e-01 7.91219460e-01 2.80123668e-02 1.70974931e+02] [ 4.61080161e-02 2.33020452e-04 9.98936433e-01 1.05021195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.88, Y:170.94, Z:105.02 [[ 7.90441595e-01 6.11442017e-01 -3.66161758e-02 3.76883905e+02] [-6.10799580e-01 7.91289210e-01 2.80224724e-02 1.70936302e+02] [ 4.61081018e-02 2.15017050e-04 9.98936433e-01 1.05024604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.93, Y:170.90, Z:105.03 [[ 7.92069947e-01 6.09331616e-01 -3.66084779e-02 3.76932732e+02] [-6.08686456e-01 7.92915491e-01 2.80325253e-02 1.70898534e+02] [ 4.61085331e-02 7.93638732e-05 9.98936433e-01 1.05028308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.98, Y:170.86, Z:105.03 [[ 7.94708107e-01 6.05887251e-01 -3.66014314e-02 3.76982446e+02] [-6.05238003e-01 7.95550515e-01 2.80417227e-02 1.70859786e+02] [ 4.61084099e-02 -1.32407145e-04 9.98936433e-01 1.05032439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.03, Y:170.82, Z:105.03 [[ 7.97112566e-01 6.02720861e-01 -3.65940043e-02 3.77032298e+02] [-6.02067822e-01 7.97952039e-01 2.80514116e-02 1.70822207e+02] [ 4.61074313e-02 -3.28060283e-04 9.98936433e-01 1.05034705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.510385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:377.08, Y:170.79, Z:105.03 [[ 7.99384032e-01 5.99705422e-01 -3.65865506e-02 3.77083848e+02] [-5.99048772e-01 8.00220683e-01 2.80611299e-02 1.70785644e+02] [ 4.61057262e-02 -5.14490988e-04 9.98936433e-01 1.05034393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.13, Y:170.75, Z:105.04 [[ 7.99620197e-01 5.99390973e-01 -3.65786980e-02 3.77132792e+02] [-5.98733526e-01 8.00456222e-01 2.80713623e-02 1.70748419e+02] [ 4.61053676e-02 -5.45535415e-04 9.98936433e-01 1.05039264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.18, Y:170.71, Z:105.04 [[ 8.00113239e-01 5.98733106e-01 -3.65714771e-02 3.77181306e+02] [-5.98074542e-01 8.00948384e-01 2.80807665e-02 1.70710518e+02] [ 4.61047500e-02 -5.95323610e-04 9.98936433e-01 1.05044930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.23, Y:170.68, Z:105.05 [[ 8.00141138e-01 5.98696253e-01 -3.65644049e-02 3.77231354e+02] [-5.98037229e-01 8.00975921e-01 2.80899723e-02 1.70676145e+02] [ 4.61045691e-02 -6.09067052e-04 9.98936433e-01 1.05045776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.28, Y:170.64, Z:105.05 [[ 7.99398006e-01 5.99688361e-01 -3.65608703e-02 3.77282418e+02] [-5.99030163e-01 8.00233440e-01 2.80945721e-02 1.70640302e+02] [ 4.61052189e-02 -5.57680804e-04 9.98936433e-01 1.05049204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:377.33, Y:170.60, Z:105.05 [[ 7.99299484e-01 5.99820115e-01 -3.65535750e-02 3.77332609e+02] [-5.99161621e-01 8.00134685e-01 2.81040608e-02 1.70604128e+02] [ 4.61051642e-02 -5.62062062e-04 9.98936433e-01 1.05052915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:377.38, Y:170.57, Z:105.05 [[ 7.98562249e-01 6.00801712e-01 -3.65463833e-02 3.77383516e+02] [-6.00143817e-01 7.99397921e-01 2.81134097e-02 1.70568548e+02] [ 4.61056875e-02 -5.17221665e-04 9.98936433e-01 1.05054762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.43, Y:170.53, Z:105.06 [[ 7.97097077e-01 6.02744662e-01 -3.65393165e-02 3.77434745e+02] [-6.02088383e-01 7.97934019e-01 2.81225915e-02 1.70532500e+02] [ 4.61067056e-02 -4.16537516e-04 9.98936434e-01 1.05057873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:377.49, Y:170.50, Z:105.06 [[ 7.95127279e-01 6.05341279e-01 -3.65314553e-02 3.77487520e+02] [-6.04687264e-01 7.95965991e-01 2.81327995e-02 1.70497292e+02] [ 4.61077409e-02 -2.79050563e-04 9.98936434e-01 1.05058885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.54, Y:170.46, Z:105.06 [[ 7.92870652e-01 6.08294491e-01 -3.65231716e-02 3.77536862e+02] [-6.07643105e-01 7.93711407e-01 2.81435497e-02 1.70461862e+02] [ 4.61084242e-02 -1.21141223e-04 9.98936434e-01 1.05061827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:377.59, Y:170.42, Z:105.06 [[ 7.92763309e-01 6.08434625e-01 -3.65190667e-02 3.77587308e+02] [-6.07783143e-01 7.93603990e-01 2.81488752e-02 1.70424801e+02] [ 4.61084274e-02 -1.19722289e-04 9.98936434e-01 1.05064769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.170385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:377.64, Y:170.39, Z:105.07 [[ 7.94225047e-01 6.06525444e-01 -3.65165807e-02 3.77637650e+02] [-6.05871793e-01 7.95064042e-01 2.81520998e-02 1.70387489e+02] [ 4.61079851e-02 -2.34736548e-04 9.98936434e-01 1.05065879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.230385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:377.69, Y:170.35, Z:105.07 [[ 7.95013953e-01 6.05491152e-01 -3.65141024e-02 3.77687453e+02] [-6.04836261e-01 7.95851981e-01 2.81553139e-02 1.70350206e+02] [ 4.61076142e-02 -2.98814186e-04 9.98936434e-01 1.05072274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.74, Y:170.31, Z:105.07 [[ 7.95206698e-01 6.05238406e-01 -3.65072513e-02 3.77737486e+02] [-6.04582841e-01 7.96044199e-01 2.81641945e-02 1.70312418e+02] [ 4.61074378e-02 -3.24698458e-04 9.98936434e-01 1.05074844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.350385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:377.79, Y:170.27, Z:105.08 [[ 7.95748292e-01 6.04526628e-01 -3.64994756e-02 3.77787673e+02] [-6.03869852e-01 7.96584844e-01 2.81742679e-02 1.70274340e+02] [ 4.61070242e-02 -3.78692650e-04 9.98936434e-01 1.05076885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.410385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:377.84, Y:170.24, Z:105.08 [[ 7.95860620e-01 6.04379207e-01 -3.64917397e-02 3.77837437e+02] [-6.03721817e-01 7.96696689e-01 2.81842839e-02 1.70235728e+02] [ 4.61068434e-02 -3.99902272e-04 9.98936434e-01 1.05078803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4703857229999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:377.89, Y:170.20, Z:105.08 [[ 7.95648566e-01 6.04658807e-01 -3.64840615e-02 3.77885859e+02] [-6.04001255e-01 7.96484507e-01 2.81942198e-02 1.70196514e+02] [ 4.61068730e-02 -3.96271662e-04 9.98936434e-01 1.05080772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.530385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:170.16, Z:105.08 [[ 7.94732740e-01 6.05862303e-01 -3.64793284e-02 3.77935007e+02] [-6.05205736e-01 7.95569455e-01 2.82003424e-02 1.70157025e+02] [ 4.61073638e-02 -3.34236550e-04 9.98936434e-01 1.05083317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:170.12, Z:105.09 [[ 7.94019323e-01 6.06797435e-01 -3.64717346e-02 3.77984616e+02] [-6.06141402e-01 7.94856457e-01 2.82101601e-02 1.70118039e+02] [ 4.61076465e-02 -2.92383902e-04 9.98936434e-01 1.05086679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.650385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:378.03, Y:170.08, Z:105.09 [[ 7.91653598e-01 6.09881107e-01 -3.64639031e-02 3.78032461e+02] [-6.09227869e-01 7.92492915e-01 2.82202793e-02 1.70079218e+02] [ 4.61084000e-02 -1.25859723e-04 9.98936434e-01 1.05090751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.710385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:378.08, Y:170.04, Z:105.09 [[ 7.88590543e-01 6.13836978e-01 -3.64571068e-02 3.78081329e+02] [-6.13187544e-01 7.89432806e-01 2.82290566e-02 1.70038965e+02] [ 4.61084749e-02 9.38766945e-05 9.98936434e-01 1.05094012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.13, Y:170.00, Z:105.10 [[ 7.86668654e-01 6.16298524e-01 -3.64493862e-02 3.78130760e+02] [-6.15651265e-01 7.87512589e-01 2.82390219e-02 1.69999463e+02] [ 4.61080180e-02 2.25357377e-04 9.98936434e-01 1.05096284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:378.18, Y:169.96, Z:105.10 [[ 7.85181607e-01 6.18192402e-01 -3.64417112e-02 3.78179076e+02] [-6.17546719e-01 7.86026748e-01 2.82489229e-02 1.69958668e+02] [ 4.61074292e-02 3.23924497e-04 9.98936434e-01 1.05099587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.890385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:378.23, Y:169.92, Z:105.10 [[ 7.84712096e-01 6.18788744e-01 -3.64337267e-02 3.78225922e+02] [-6.18143225e-01 7.85557363e-01 2.82592170e-02 1.69918465e+02] [ 4.61072677e-02 3.45911873e-04 9.98936435e-01 1.05101455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.27, Y:169.88, Z:105.10 [[ 7.84975377e-01 6.18455153e-01 -3.64263789e-02 3.78273458e+02] [-6.17808835e-01 7.85820033e-01 2.82686852e-02 1.69877436e+02] [ 4.61074923e-02 3.14316865e-04 9.98936435e-01 1.05103009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.010385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:378.32, Y:169.84, Z:105.11 [[ 7.86367230e-01 6.16684915e-01 -3.64183484e-02 3.78319400e+02] [-6.16036216e-01 7.87210059e-01 2.82790271e-02 1.69836098e+02] [ 4.61081396e-02 1.97321401e-04 9.98936435e-01 1.05105603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.070385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:378.37, Y:169.80, Z:105.11 [[ 7.87967114e-01 6.14639790e-01 -3.64109250e-02 3.78367061e+02] [-6.13988463e-01 7.88807913e-01 2.82885819e-02 1.69795151e+02] [ 4.61085138e-02 6.54156397e-05 9.98936435e-01 1.05109039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.130385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:378.41, Y:169.75, Z:105.11 [[ 7.90510488e-01 6.11365673e-01 -3.64030509e-02 3.78413067e+02] [-6.10710396e-01 7.91348214e-01 2.82987111e-02 1.69752323e+02] [ 4.61083498e-02 -1.38706277e-04 9.98936435e-01 1.05111471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.190385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:378.46, Y:169.71, Z:105.11 [[ 7.92399085e-01 6.08916307e-01 -3.63953515e-02 3.78459956e+02] [-6.08257986e-01 7.93234420e-01 2.83086099e-02 1.69709539e+02] [ 4.61076197e-02 -2.93953415e-04 9.98936435e-01 1.05113842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.250385723 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:378.51, Y:169.67, Z:105.12 [[ 7.93046966e-01 6.08072747e-01 -3.63874191e-02 3.78506724e+02] [-6.07413070e-01 7.93881230e-01 2.83188024e-02 1.69668005e+02] [ 4.61071810e-02 -3.55946361e-04 9.98936435e-01 1.05115004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.310385723 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:378.55, Y:169.63, Z:105.12 [[ 7.92427362e-01 6.08880448e-01 -3.63796232e-02 3.78554319e+02] [-6.08221162e-01 7.93261935e-01 2.83288139e-02 1.69627113e+02] [ 4.61074311e-02 -3.21670561e-04 9.98936435e-01 1.05117212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.370385723 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:378.60, Y:169.59, Z:105.12 [[ 7.91217438e-01 6.10452338e-01 -3.63718124e-02 3.78601561e+02] [-6.09794249e-01 7.92052955e-01 2.83388388e-02 1.69585483e+02] [ 4.61079119e-02 -2.42861398e-04 9.98936435e-01 1.05119082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.430385723 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:378.65, Y:169.54, Z:105.12 [[ 7.90325301e-01 6.11607372e-01 -3.63640257e-02 3.78647705e+02] [-6.10950044e-01 7.91161417e-01 2.83488270e-02 1.69543635e+02] [ 4.61081657e-02 -1.88192054e-04 9.98936435e-01 1.05123116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.490385723 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:378.70, Y:169.50, Z:105.13 [[ 7.89144322e-01 6.13130833e-01 -3.63568539e-02 3.78695075e+02] [-6.12474696e-01 7.89981373e-01 2.83580217e-02 1.69501930e+02] [ 4.61084148e-02 -1.10918794e-04 9.98936435e-01 1.05127520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.550385723 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:378.74, Y:169.46, Z:105.13 [[ 7.87908751e-01 6.14718276e-01 -3.63488884e-02 3.78742608e+02] [-6.14063355e-01 7.88746753e-01 2.83682282e-02 1.69461090e+02] [ 4.61085360e-02 -3.10548776e-05 9.98936435e-01 1.05131491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.610385723 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:378.79, Y:169.42, Z:105.14 [[ 7.84856958e-01 6.18610449e-01 -3.63410045e-02 3.78788602e+02] [-6.17959216e-01 7.85697829e-01 2.83783242e-02 1.69418837e+02] [ 4.61081762e-02 1.84333407e-04 9.98936435e-01 1.05136627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.670385723 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:378.84, Y:169.38, Z:105.14 [[ 7.81587017e-01 6.22737215e-01 -3.63331348e-02 3.78837765e+02] [-6.22089953e-01 7.82430949e-01 2.83883963e-02 1.69380195e+02] [ 4.61066800e-02 4.14476171e-04 9.98936436e-01 1.05138022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.730385723 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:378.89, Y:169.34, Z:105.14 [[ 7.79864312e-01 6.24893443e-01 -3.63296031e-02 3.78885703e+02] [-6.24248303e-01 7.80709868e-01 2.83929152e-02 1.69341542e+02] [ 4.61054262e-02 5.36071762e-04 9.98936436e-01 1.05139123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.790385723 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:378.93, Y:169.30, Z:105.14 [[ 7.78719669e-01 6.26319685e-01 -3.63225713e-02 3.78934828e+02] [-6.25675675e-01 7.79566086e-01 2.84019080e-02 1.69302741e+02] [ 4.61045188e-02 6.09024927e-04 9.98936436e-01 1.05141185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.850385723 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:378.99, Y:169.27, Z:105.14 [[ 7.78102137e-01 6.27087170e-01 -3.63145377e-02 3.78985509e+02] [-6.26443516e-01 7.78948823e-01 2.84121761e-02 1.69266634e+02] [ 4.61040775e-02 6.41431766e-04 9.98936436e-01 1.05142833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.910385723 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:379.04, Y:169.23, Z:105.15 [[ 7.77813495e-01 6.27445568e-01 -3.63073715e-02 3.79037359e+02] [-6.26801877e-01 7.78660154e-01 2.84213306e-02 1.69230567e+02] [ 4.61039414e-02 6.51034086e-04 9.98936436e-01 1.05145715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9703857229999 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:379.09, Y:169.19, Z:105.15 [[ 7.77349292e-01 6.28020811e-01 -3.63034319e-02 3.79087317e+02] [-6.27377511e-01 7.78196248e-01 2.84263618e-02 1.69192676e+02] [ 4.61035414e-02 6.78744508e-04 9.98936436e-01 1.05148546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.030385723 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:379.14, Y:169.16, Z:105.14 [[ 7.81617201e-01 6.22701595e-01 -3.62942916e-02 3.79141320e+02] [-6.22051989e-01 7.82459329e-01 2.84380273e-02 1.69161069e+02] [ 4.61072120e-02 3.49284937e-04 9.98936436e-01 1.05143395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0903857229999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:379.19, Y:169.12, Z:105.15 [[ 7.82679145e-01 6.21366761e-01 -3.62864217e-02 3.79189469e+02] [-6.20715254e-01 7.83519803e-01 2.84480656e-02 1.69121847e+02] [ 4.61078124e-02 2.57827774e-04 9.98936436e-01 1.05146266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.150385723 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:379.24, Y:169.08, Z:105.15 [[ 7.84129333e-01 6.19536144e-01 -3.62788529e-02 3.79235589e+02] [-6.18882228e-01 7.84968118e-01 2.84577146e-02 1.69080194e+02] [ 4.61083257e-02 1.37808483e-04 9.98936436e-01 1.05150057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.210385723 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:379.28, Y:169.04, Z:105.16 [[ 7.87295876e-01 6.15507308e-01 -3.62761119e-02 3.79283315e+02] [-6.14848938e-01 7.88131171e-01 2.84612082e-02 1.69042745e+02] [ 4.61084162e-02 -1.03062909e-04 9.98936436e-01 1.05158648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.270385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:379.33, Y:169.00, Z:105.16 [[ 7.90425526e-01 6.11483481e-01 -3.62689948e-02 3.79331949e+02] [-6.10820443e-01 7.91257120e-01 2.84702749e-02 1.69004021e+02] [ 4.61072032e-02 -3.49788521e-04 9.98936436e-01 1.05162352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.330385723 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:379.38, Y:168.97, Z:105.17 [[ 7.91704752e-01 6.09826611e-01 -3.62641659e-02 3.79381612e+02] [-6.09161551e-01 7.92534730e-01 2.84764243e-02 1.68966059e+02] [ 4.61062923e-02 -4.54184894e-04 9.98936436e-01 1.05165695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.390385723 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:379.43, Y:168.93, Z:105.17 [[ 7.92267999e-01 6.09095132e-01 -3.62565565e-02 3.79431009e+02] [-6.08428862e-01 7.93097006e-01 2.84861095e-02 1.68928674e+02] [ 4.61057170e-02 -5.09097627e-04 9.98936436e-01 1.05168782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.450385723 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:379.48, Y:168.89, Z:105.17 [[ 7.91419856e-01 6.10197169e-01 -3.62495073e-02 3.79482101e+02] [-6.09531643e-01 7.92249460e-01 2.84950770e-02 1.68891683e+02] [ 4.61062679e-02 -4.56347961e-04 9.98936436e-01 1.05170575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.510385723 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:379.53, Y:168.85, Z:105.17 [[ 7.90929498e-01 6.10833094e-01 -3.62417020e-02 3.79532178e+02] [-6.10167780e-01 7.91759272e-01 2.85050008e-02 1.68853393e+02] [ 4.61065014e-02 -4.31927104e-04 9.98936436e-01 1.05173560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.570385723 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:379.58, Y:168.82, Z:105.17 [[ 7.87617437e-01 6.15098298e-01 -3.62333737e-02 3.79581901e+02] [-6.14436991e-01 7.88450408e-01 2.85155832e-02 1.68815720e+02] [ 4.61081049e-02 -1.96245479e-04 9.98936437e-01 1.05174708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.630385723 meters Centerline goodness : 0.997837 with order 1 Centerline is valid? [True, True] Translation: X:380.11, Y:169.52, Z:106.13 [[ 8.31642040e-01 5.54129074e-01 -3.62282521e-02 3.80110849e+02] [-5.53406721e-01 8.32422664e-01 2.85220886e-02 1.69516803e+02] [ 4.59621366e-02 -3.67120975e-03 9.98936437e-01 1.06126047e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 568.690385723 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:380.58, Y:170.26, Z:107.08 [[ 8.73628149e-01 4.85084791e-01 -3.82962511e-02 3.80582968e+02] [-4.84432754e-01 8.74459533e-01 2.54053499e-02 1.70256726e+02] [ 4.58122707e-02 -3.64287039e-03 9.98943425e-01 1.07078210e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 568.750385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:380.64, Y:170.23, Z:107.08 [[ 8.72870544e-01 4.86302455e-01 -4.00866088e-02 3.80637610e+02] [-4.85796921e-01 8.73790539e-01 2.21685578e-02 1.70226680e+02] [ 4.58079236e-02 1.23670060e-04 9.98950258e-01 1.07082958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.810385723 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:380.69, Y:170.20, Z:107.09 [[ 8.71486890e-01 4.88778261e-01 -4.00800804e-02 3.80691254e+02] [-4.88274798e-01 8.72408020e-01 2.21803547e-02 1.70195648e+02] [ 4.58074588e-02 2.40204784e-04 9.98950259e-01 1.07086918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.870385723 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:380.75, Y:170.17, Z:107.09 [[ 8.71257153e-01 4.89188246e-01 -4.00728584e-02 3.80746559e+02] [-4.88684616e-01 8.72178192e-01 2.21933949e-02 1.70165651e+02] [ 4.58074211e-02 2.46835395e-04 9.98950259e-01 1.07087941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.930385723 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:380.80, Y:170.13, Z:107.09 [[ 8.72023023e-01 4.87822287e-01 -4.00657509e-02 3.80800767e+02] [-4.87316625e-01 8.72942948e-01 2.22062187e-02 1.70134928e+02] [ 4.58078031e-02 1.60372576e-04 9.98950259e-01 1.07090251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.990385723 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:380.86, Y:170.10, Z:107.09 [[ 8.73230784e-01 4.85657191e-01 -4.00635853e-02 3.80855483e+02] [-4.85149069e-01 8.74149353e-01 2.22101250e-02 1.70104139e+02] [ 4.58080641e-02 4.22462040e-05 9.98950259e-01 1.07094516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.050385723 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:380.91, Y:170.07, Z:107.10 [[ 8.75307427e-01 4.81904950e-01 -4.00565612e-02 3.80909623e+02] [-4.81392311e-01 8.76223482e-01 2.22227861e-02 1.70074084e+02] [ 4.58077701e-02 -1.68849149e-04 9.98950259e-01 1.07095435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.110385723 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:380.96, Y:170.04, Z:107.10 [[ 8.76889275e-01 4.79021007e-01 -4.00509081e-02 3.80964397e+02] [-4.78504890e-01 8.77803375e-01 2.22329696e-02 1.70042910e+02] [ 4.58068818e-02 -3.31297257e-04 9.98950259e-01 1.07097616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.170385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:381.02, Y:170.01, Z:107.10 [[ 8.77796002e-01 4.77357908e-01 -4.00450718e-02 3.81019348e+02] [-4.76839580e-01 8.78708850e-01 2.22434768e-02 1.70012007e+02] [ 4.58060585e-02 -4.30159860e-04 9.98950259e-01 1.07101947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.230385723 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:381.07, Y:169.98, Z:107.11 [[ 8.78292238e-01 4.76444775e-01 -4.00390048e-02 3.81073140e+02] [-4.75925000e-01 8.79204263e-01 2.22543923e-02 1.69981976e+02] [ 4.58054526e-02 -4.90296671e-04 9.98950259e-01 1.07106075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.290385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:381.13, Y:169.95, Z:107.11 [[ 8.78040821e-01 4.76908423e-01 -4.00334088e-02 3.81128760e+02] [-4.76388671e-01 8.78952859e-01 2.22644543e-02 1.69952088e+02] [ 4.58055849e-02 -4.77637278e-04 9.98950259e-01 1.07109083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.18, Y:169.92, Z:107.11 [[ 8.77269144e-01 4.78326919e-01 -4.00275834e-02 3.81184796e+02] [-4.77808165e-01 8.78181750e-01 2.22749224e-02 1.69922926e+02] [ 4.58061883e-02 -4.15595904e-04 9.98950259e-01 1.07111592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.410385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:381.24, Y:169.90, Z:107.11 [[ 8.76460465e-01 4.79807608e-01 -4.00214137e-02 3.81240746e+02] [-4.79289889e-01 8.77373658e-01 2.22860021e-02 1.69895191e+02] [ 4.58067275e-02 -3.50940818e-04 9.98950259e-01 1.07114498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.30, Y:169.87, Z:107.12 [[ 8.75651000e-01 4.81283805e-01 -4.00153178e-02 3.81297889e+02] [-4.80767125e-01 8.76564782e-01 2.22969421e-02 1.69867631e+02] [ 4.58071755e-02 -2.86290373e-04 9.98950259e-01 1.07117133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.35, Y:169.84, Z:107.12 [[ 8.75553417e-01 4.81461807e-01 -4.00092897e-02 3.81353279e+02] [-4.80944819e-01 8.76467024e-01 2.23077536e-02 1.69838068e+02] [ 4.58071544e-02 -2.89369321e-04 9.98950259e-01 1.07118285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.41, Y:169.81, Z:107.12 [[ 8.75717588e-01 4.81163382e-01 -4.00063253e-02 3.81408752e+02] [-4.80645840e-01 8.76630882e-01 2.23130686e-02 1.69810297e+02] [ 4.58070118e-02 -3.11072801e-04 9.98950259e-01 1.07122207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.46, Y:169.78, Z:107.12 [[ 8.76842122e-01 4.79111568e-01 -3.99999877e-02 3.81464528e+02] [-4.78591372e-01 8.77753906e-01 2.23244240e-02 1.69782365e+02] [ 4.58060353e-02 -4.31346347e-04 9.98950260e-01 1.07124727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.52, Y:169.75, Z:107.13 [[ 8.77218641e-01 4.78422372e-01 -3.99936153e-02 3.81521071e+02] [-4.77900939e-01 8.78129719e-01 2.23358343e-02 1.69754264e+02] [ 4.58055450e-02 -4.80423956e-04 9.98950260e-01 1.07128487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:381.58, Y:169.73, Z:107.13 [[ 8.77299449e-01 4.78274717e-01 -3.99871572e-02 3.81577505e+02] [-4.77752604e-01 8.78210137e-01 2.23473900e-02 1.69727073e+02] [ 4.58053184e-02 -5.01384508e-04 9.98950260e-01 1.07131593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.830385723 meters Centerline goodness : 0.997258 with order 1 Centerline is valid? [True, True] Translation: X:381.63, Y:169.70, Z:107.13 [[ 8.76439032e-01 4.79850124e-01 -3.99810175e-02 3.81634091e+02] [-4.79329147e-01 8.77350370e-01 2.23583689e-02 1.69701286e+02] [ 4.58060266e-02 -4.31680191e-04 9.98950260e-01 1.07130061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:381.69, Y:169.67, Z:107.13 [[ 8.75783522e-01 4.81046033e-01 -3.99742044e-02 3.81691391e+02] [-4.80525745e-01 8.76695253e-01 2.23705435e-02 1.69674879e+02] [ 4.58064564e-02 -3.83119034e-04 9.98950260e-01 1.07134772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.75, Y:169.65, Z:107.13 [[ 8.74698363e-01 4.83017011e-01 -3.99667439e-02 3.81748062e+02] [-4.82498169e-01 8.75610918e-01 2.23838643e-02 1.69648421e+02] [ 4.58071045e-02 -2.95248781e-04 9.98950260e-01 1.07134988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:381.80, Y:169.62, Z:107.14 [[ 8.73235283e-01 4.85657255e-01 -3.99646212e-02 3.81803502e+02] [-4.85140998e-01 8.74149304e-01 2.23876535e-02 1.69618706e+02] [ 4.58077721e-02 -1.61212704e-04 9.98950260e-01 1.07138378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.86, Y:169.59, Z:107.14 [[ 8.73359907e-01 4.85433719e-01 -3.99572001e-02 3.81860437e+02] [-4.84916623e-01 8.74273452e-01 2.24008908e-02 1.69594309e+02] [ 4.58076670e-02 -1.88129396e-04 9.98950260e-01 1.07141838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.130385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:381.92, Y:169.57, Z:107.14 [[ 8.73171509e-01 4.85773067e-01 -3.99505053e-02 3.81915775e+02] [-4.85255780e-01 8.74084946e-01 2.24128242e-02 1.69565598e+02] [ 4.58076816e-02 -1.84025976e-04 9.98950260e-01 1.07144607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:381.97, Y:169.54, Z:107.15 [[ 8.72795674e-01 4.86448189e-01 -3.99483487e-02 3.81971700e+02] [-4.85931432e-01 8.73709412e-01 2.24166675e-02 1.69539820e+02] [ 4.58077955e-02 -1.53012092e-04 9.98950260e-01 1.07148633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.250385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:382.03, Y:169.51, Z:107.15 [[ 8.72906299e-01 4.86250182e-01 -3.99418755e-02 3.82027540e+02] [-4.85732691e-01 8.73819620e-01 2.24281953e-02 1.69510178e+02] [ 4.58077086e-02 -1.76638306e-04 9.98950260e-01 1.07151423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.08, Y:169.48, Z:107.16 [[ 8.73763459e-01 4.84708732e-01 -3.99357473e-02 3.82082883e+02] [-4.84189130e-01 8.74675581e-01 2.24391020e-02 1.69480770e+02] [ 4.58072517e-02 -2.70012633e-04 9.98950260e-01 1.07155136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.370385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:382.14, Y:169.45, Z:107.16 [[ 8.74860216e-01 4.82726862e-01 -3.99296701e-02 3.82137215e+02] [-4.82204702e-01 8.75770876e-01 2.24499111e-02 1.69452076e+02] [ 4.58064173e-02 -3.86259389e-04 9.98950261e-01 1.07157430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.430385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:382.19, Y:169.42, Z:107.16 [[ 8.74081442e-01 4.84136037e-01 -3.99240575e-02 3.82190720e+02] [-4.83614888e-01 8.74992682e-01 2.24598878e-02 1.69418282e+02] [ 4.58068992e-02 -3.23902522e-04 9.98950261e-01 1.07159146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:382.25, Y:169.39, Z:107.16 [[ 8.74580032e-01 4.83235016e-01 -3.99210142e-02 3.82246891e+02] [-4.82712682e-01 8.75490592e-01 2.24652957e-02 1.69391394e+02] [ 4.58064899e-02 -3.77319165e-04 9.98950261e-01 1.07159597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.550385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:382.30, Y:169.36, Z:107.16 [[ 8.71229951e-01 4.89249635e-01 -3.99145096e-02 3.82300744e+02] [-4.88733058e-01 8.72143789e-01 2.24768466e-02 1.69360191e+02] [ 4.58079807e-02 -7.49616373e-05 9.98950261e-01 1.07162403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:382.36, Y:169.33, Z:107.16 [[ 8.69512736e-01 4.92295252e-01 -3.99122413e-02 3.82355824e+02] [-4.91781691e-01 8.70428273e-01 2.24808738e-02 1.69333038e+02] [ 4.58079707e-02 8.07034356e-05 9.98950261e-01 1.07164952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.41, Y:169.30, Z:107.17 [[ 8.68104880e-01 4.94774090e-01 -3.99063509e-02 3.82408874e+02] [-4.94262663e-01 8.69021611e-01 2.24913251e-02 1.69301981e+02] [ 4.58076063e-02 1.99390128e-04 9.98950261e-01 1.07166185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.46, Y:169.27, Z:107.17 [[ 8.67179130e-01 4.96395231e-01 -3.99015255e-02 3.82461623e+02] [-4.95885124e-01 8.68096596e-01 2.24998826e-02 1.69268722e+02] [ 4.58072128e-02 2.75144275e-04 9.98950261e-01 1.07167715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.51, Y:169.24, Z:107.17 [[ 8.65721415e-01 4.98933341e-01 -3.98992869e-02 3.82513058e+02] [-4.98425741e-01 8.66640270e-01 2.25038516e-02 1.69236076e+02] [ 4.58062506e-02 4.04765423e-04 9.98950261e-01 1.07173849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.56, Y:169.20, Z:107.18 [[ 8.64844957e-01 5.00451508e-01 -3.98934724e-02 3.82564344e+02] [-4.99945046e-01 8.65764439e-01 2.25141545e-02 1.69202876e+02] [ 4.58055923e-02 4.73290868e-04 9.98950261e-01 1.07177281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.62, Y:169.17, Z:107.18 [[ 8.65304485e-01 4.99656762e-01 -3.98906912e-02 3.82615988e+02] [-4.99149229e-01 8.66223377e-01 2.25190811e-02 1.69166895e+02] [ 4.58060604e-02 4.25545862e-04 9.98950261e-01 1.07181893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9703857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:382.67, Y:169.13, Z:107.19 [[ 8.65589135e-01 4.99163939e-01 -3.98849719e-02 3.82667303e+02] [-4.98655415e-01 8.66507479e-01 2.25292065e-02 1.69132436e+02] [ 4.58063939e-02 3.87820875e-04 9.98950261e-01 1.07186288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.030385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:382.72, Y:169.10, Z:107.19 [[ 8.65294685e-01 4.99674612e-01 -3.98796878e-02 3.82719527e+02] [-4.99166200e-01 8.66213091e-01 2.25385561e-02 1.69097409e+02] [ 4.58062519e-02 4.04099436e-04 9.98950261e-01 1.07190214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:382.77, Y:169.06, Z:107.19 [[ 8.64627995e-01 5.00827854e-01 -3.98734466e-02 3.82771315e+02] [-5.00320157e-01 8.65546796e-01 2.25495921e-02 1.69061408e+02] [ 4.58057978e-02 4.52480447e-04 9.98950261e-01 1.07192716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.82, Y:169.03, Z:107.19 [[ 8.65298009e-01 4.99669846e-01 -3.98672932e-02 3.82821921e+02] [-4.99160419e-01 8.66215851e-01 2.25604660e-02 1.69026496e+02] [ 4.58064659e-02 3.78648548e-04 9.98950261e-01 1.07193064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.87, Y:168.99, Z:107.19 [[ 8.66040167e-01 4.98382652e-01 -3.98642913e-02 3.82873652e+02] [-4.97871616e-01 8.66957115e-01 2.25657692e-02 1.68992769e+02] [ 4.58070188e-02 3.04436590e-04 9.98950261e-01 1.07194895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.93, Y:168.96, Z:107.20 [[ 8.67575352e-01 4.95705645e-01 -3.98612816e-02 3.82925558e+02] [-4.95191536e-01 8.68490581e-01 2.25710843e-02 1.68958010e+02] [ 4.58077615e-02 1.56852922e-04 9.98950261e-01 1.07197934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.98, Y:168.92, Z:107.20 [[ 8.67803067e-01 4.95307357e-01 -3.98554810e-02 3.82976444e+02] [-4.94792357e-01 8.68717795e-01 2.25813223e-02 1.68922329e+02] [ 4.58078606e-02 1.24046614e-04 9.98950261e-01 1.07204775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.03, Y:168.89, Z:107.21 [[ 8.67926718e-01 4.95091125e-01 -3.98495841e-02 3.83028979e+02] [-4.94575420e-01 8.68841048e-01 2.25917238e-02 1.68887520e+02] [ 4.58079164e-02 1.00664081e-04 9.98950261e-01 1.07207793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.08, Y:168.85, Z:107.21 [[ 8.66505822e-01 4.97574276e-01 -3.98434483e-02 3.83081381e+02] [-4.97060694e-01 8.67421346e-01 2.26025400e-02 1.68853337e+02] [ 4.58075000e-02 2.19379528e-04 9.98950261e-01 1.07209651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.13, Y:168.82, Z:107.21 [[ 8.64276707e-01 5.01436443e-01 -3.98405185e-02 3.83134021e+02] [-5.00926714e-01 8.65194382e-01 2.26077030e-02 1.68819736e+02] [ 4.58061190e-02 4.17868966e-04 9.98950261e-01 1.07212552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.19, Y:168.79, Z:107.21 [[ 8.62560259e-01 5.04383858e-01 -3.98337016e-02 3.83187667e+02] [-5.03876710e-01 8.63479363e-01 2.26197077e-02 1.68787760e+02] [ 4.58045947e-02 5.60413528e-04 9.98950262e-01 1.07214081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.630385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:383.24, Y:168.76, Z:107.22 [[ 8.61195814e-01 5.06710445e-01 -3.98283241e-02 3.83241523e+02] [-5.06205343e-01 8.62116043e-01 2.26291723e-02 1.68755770e+02] [ 4.58030752e-02 6.73161989e-04 9.98950262e-01 1.07215735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.30, Y:168.73, Z:107.21 [[ 8.62097690e-01 5.05174983e-01 -3.98222284e-02 3.83295485e+02] [-5.04667746e-01 8.63016744e-01 2.26398943e-02 1.68726163e+02] [ 4.58043581e-02 5.79193644e-04 9.98950262e-01 1.07214933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.35, Y:168.70, Z:107.22 [[ 8.62933855e-01 5.03745766e-01 -3.98166472e-02 3.83349666e+02] [-5.03236554e-01 8.63851817e-01 2.26497056e-02 1.68695996e+02] [ 4.58053764e-02 4.91994565e-04 9.98950262e-01 1.07221379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.40, Y:168.67, Z:107.23 [[ 8.64251647e-01 5.01481979e-01 -3.98109953e-02 3.83404030e+02] [-5.00969905e-01 8.65168015e-01 2.26596356e-02 1.68665361e+02] [ 4.58065987e-02 3.60483182e-04 9.98950262e-01 1.07225937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.46, Y:168.63, Z:107.23 [[ 8.64406797e-01 5.01215003e-01 -3.98046520e-02 3.83457948e+02] [-5.00702134e-01 8.65322720e-01 2.26707729e-02 1.68634319e+02] [ 4.58068013e-02 3.33504007e-04 9.98950262e-01 1.07228676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.51, Y:168.60, Z:107.23 [[ 8.64818740e-01 5.00504348e-01 -3.97987968e-02 3.83512986e+02] [-4.99990253e-01 8.65733976e-01 2.26810472e-02 1.68603913e+02] [ 4.58071333e-02 2.84015752e-04 9.98950262e-01 1.07230172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:383.57, Y:168.57, Z:107.23 [[ 8.66024536e-01 4.98415548e-01 -3.97925192e-02 3.83567066e+02] [-4.97898740e-01 8.66938242e-01 2.26920556e-02 1.68573107e+02] [ 4.58077299e-02 1.60768229e-04 9.98950262e-01 1.07232355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.62, Y:168.54, Z:107.23 [[ 8.67098934e-01 4.96544490e-01 -3.97870453e-02 3.83621808e+02] [-4.96025270e-01 8.68011271e-01 2.27016491e-02 1.68541724e+02] [ 4.58079825e-02 5.08041396e-05 9.98950262e-01 1.07234856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.68, Y:168.51, Z:107.24 [[ 8.68939758e-01 4.93316514e-01 -3.97808292e-02 3.83675382e+02] [-4.92793406e-01 8.69849872e-01 2.27125367e-02 1.68509827e+02] [ 4.58078185e-02 -1.32095798e-04 9.98950262e-01 1.07238912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.73, Y:168.48, Z:107.24 [[ 8.70244711e-01 4.91011320e-01 -3.97746967e-02 3.83729864e+02] [-4.90485311e-01 8.71153151e-01 2.27232709e-02 1.68479577e+02] [ 4.58072356e-02 -2.65901888e-04 9.98950262e-01 1.07242225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.78, Y:168.45, Z:107.25 [[ 8.70961361e-01 4.89739460e-01 -3.97689463e-02 3.83783417e+02] [-4.89211665e-01 8.71868765e-01 2.27333304e-02 1.68448906e+02] [ 4.58067111e-02 -3.44419978e-04 9.98950262e-01 1.07245401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.84, Y:168.42, Z:107.25 [[ 8.70904854e-01 4.89840246e-01 -3.97651685e-02 3.83838038e+02] [-4.89312254e-01 8.71812143e-01 2.27399367e-02 1.68417388e+02] [ 4.58066929e-02 -3.46737018e-04 9.98950262e-01 1.07249150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.89, Y:168.39, Z:107.25 [[ 8.70446651e-01 4.90654508e-01 -3.97590379e-02 3.83893495e+02] [-4.90126875e-01 8.71354150e-01 2.27506504e-02 1.68387844e+02] [ 4.58069119e-02 -3.16254438e-04 9.98950262e-01 1.07251165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.95, Y:168.36, Z:107.26 [[ 8.68877439e-01 4.93428519e-01 -3.97529016e-02 3.83948494e+02] [-4.92903293e-01 8.69786332e-01 2.27613675e-02 1.68359337e+02] [ 4.58076384e-02 -1.82502596e-04 9.98950263e-01 1.07255524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.00, Y:168.33, Z:107.26 [[ 8.67513740e-01 4.95822597e-01 -3.97474847e-02 3.84003195e+02] [-4.95299447e-01 8.68423829e-01 2.27708231e-02 1.68329134e+02] [ 4.58079515e-02 -6.70947659e-05 9.98950263e-01 1.07258196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.06, Y:168.30, Z:107.26 [[ 8.66689203e-01 4.97262941e-01 -3.97415665e-02 3.84058101e+02] [-4.96740830e-01 8.67599889e-01 2.27811473e-02 1.68299071e+02] [ 4.58079990e-02 -2.91568943e-06 9.98950263e-01 1.07260762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.11, Y:168.27, Z:107.26 [[ 8.67635026e-01 4.95611287e-01 -3.97355487e-02 3.84113091e+02] [-4.95086961e-01 8.68544439e-01 2.27916390e-02 1.68269019e+02] [ 4.58078833e-02 -1.02272219e-04 9.98950263e-01 1.07262797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:384.17, Y:168.24, Z:107.27 [[ 8.68461724e-01 4.94161709e-01 -3.97295827e-02 3.84167743e+02] [-4.93635390e-01 8.69369984e-01 2.28020339e-02 1.68237752e+02] [ 4.58075987e-02 -1.90765607e-04 9.98950263e-01 1.07266114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.22, Y:168.21, Z:107.27 [[ 8.69380855e-01 4.92543386e-01 -3.97233212e-02 3.84221174e+02] [-4.92014878e-01 8.70287843e-01 2.28129368e-02 1.68207335e+02] [ 4.58070847e-02 -2.88665429e-04 9.98950263e-01 1.07267985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.27, Y:168.18, Z:107.27 [[ 8.70000570e-01 4.91448390e-01 -3.97176021e-02 3.84274952e+02] [-4.90918286e-01 8.70906626e-01 2.28228895e-02 1.68175339e+02] [ 4.58065952e-02 -3.57829664e-04 9.98950263e-01 1.07271343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.33, Y:168.14, Z:107.27 [[ 8.70998413e-01 4.89678251e-01 -3.97111355e-02 3.84328145e+02] [-4.89145794e-01 8.71903088e-01 2.28341357e-02 1.68142934e+02] [ 4.58056413e-02 -4.63961109e-04 9.98950263e-01 1.07272792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.38, Y:168.11, Z:107.28 [[ 8.71356819e-01 4.89040680e-01 -3.97052585e-02 3.84381501e+02] [-4.88507095e-01 8.72260829e-01 2.28443503e-02 1.68110371e+02] [ 4.58051583e-02 -5.09279954e-04 9.98950263e-01 1.07276035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.44, Y:168.08, Z:107.28 [[ 8.70771341e-01 4.90082913e-01 -3.96989839e-02 3.84435844e+02] [-4.89549913e-01 8.71675697e-01 2.28552491e-02 1.68078311e+02] [ 4.58056065e-02 -4.67061814e-04 9.98950263e-01 1.07279437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.49, Y:168.05, Z:107.28 [[ 8.69930153e-01 4.91575045e-01 -3.96926076e-02 3.84489309e+02] [-4.91043091e-01 8.70835124e-01 2.28663175e-02 1.68046904e+02] [ 4.58062279e-02 -4.01318323e-04 9.98950263e-01 1.07281872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.54, Y:168.02, Z:107.28 [[ 8.67750233e-01 4.95413465e-01 -3.96866707e-02 3.84544065e+02] [-4.94885043e-01 8.68657271e-01 2.28766170e-02 1.68015365e+02] [ 4.58074991e-02 -2.10849978e-04 9.98950263e-01 1.07284238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.60, Y:167.98, Z:107.29 [[ 8.67039892e-01 4.96655832e-01 -3.96838827e-02 3.84597956e+02] [-4.96128489e-01 8.67947557e-01 2.28814522e-02 1.67984180e+02] [ 4.58077357e-02 -1.50827081e-04 9.98950263e-01 1.07288577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:384.65, Y:167.95, Z:107.29 [[ 8.65983077e-01 4.98496738e-01 -3.96776120e-02 3.84652256e+02] [-4.97970826e-01 8.66891572e-01 2.28923209e-02 1.67952247e+02] [ 4.58079347e-02 -6.60692537e-05 9.98950263e-01 1.07290678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.250385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:384.71, Y:167.92, Z:107.29 [[ 8.65512991e-01 4.99312979e-01 -3.96712994e-02 3.84707332e+02] [-4.98787422e-01 8.66421692e-01 2.29032550e-02 1.67921085e+02] [ 4.58079668e-02 -3.55196050e-05 9.98950263e-01 1.07292382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.310385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:384.76, Y:167.89, Z:107.30 [[ 8.65633376e-01 4.99104745e-01 -3.96650056e-02 3.84760582e+02] [-4.98578471e-01 8.66541661e-01 2.29141497e-02 1.67889769e+02] [ 4.58079407e-02 -5.91349525e-05 9.98950264e-01 1.07295291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.82, Y:167.86, Z:107.30 [[ 8.66307941e-01 4.97933425e-01 -3.96592291e-02 3.84815397e+02] [-4.97405466e-01 8.67215248e-01 2.29241432e-02 1.67859141e+02] [ 4.58077854e-02 -1.32650017e-04 9.98950264e-01 1.07297800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.87, Y:167.83, Z:107.30 [[ 8.67014634e-01 4.96702395e-01 -3.96529439e-02 3.84869378e+02] [-4.96172650e-01 8.67920899e-01 2.29350100e-02 1.67827890e+02] [ 4.58074931e-02 -2.10283033e-04 9.98950264e-01 1.07301086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.92, Y:167.80, Z:107.30 [[ 8.67449641e-01 4.95942811e-01 -3.96465352e-02 3.84923932e+02] [-4.95411767e-01 8.68355145e-01 2.29460829e-02 1.67797546e+02] [ 4.58072177e-02 -2.63211293e-04 9.98950264e-01 1.07304059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.98, Y:167.77, Z:107.31 [[ 8.67698858e-01 4.95507158e-01 -3.96402275e-02 3.84978512e+02] [-4.94975161e-01 8.68603803e-01 2.29569746e-02 1.67766813e+02] [ 4.58069976e-02 -2.98812650e-04 9.98950264e-01 1.07306257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.03, Y:167.74, Z:107.31 [[ 8.67399585e-01 4.96031368e-01 -3.96338567e-02 3.85033125e+02] [-4.95499415e-01 8.68304556e-01 2.29679680e-02 1.67735378e+02] [ 4.58070910e-02 -2.83853113e-04 9.98950264e-01 1.07309561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.09, Y:167.70, Z:107.31 [[ 8.66825117e-01 4.97035088e-01 -3.96274898e-02 3.85087814e+02] [-4.96503681e-01 8.67730409e-01 2.29789479e-02 1.67704587e+02] [ 4.58073213e-02 -2.43534611e-04 9.98950264e-01 1.07312843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.14, Y:167.67, Z:107.31 [[ 8.66327664e-01 4.97902141e-01 -3.96211632e-02 3.85141658e+02] [-4.97371142e-01 8.67233195e-01 2.29898513e-02 1.67673977e+02] [ 4.58074841e-02 -2.10320950e-04 9.98950264e-01 1.07314604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.19, Y:167.64, Z:107.32 [[ 8.65597629e-01 4.99170682e-01 -3.96153342e-02 3.85194484e+02] [-4.98640551e-01 8.66503668e-01 2.29998913e-02 1.67641399e+02] [ 4.58077038e-02 -1.54839323e-04 9.98950264e-01 1.07317811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.25, Y:167.61, Z:107.32 [[ 8.65308258e-01 4.99672588e-01 -3.96096396e-02 3.85248323e+02] [-4.99142534e-01 8.66214341e-01 2.30096941e-02 1.67608987e+02] [ 4.58077513e-02 -1.39622479e-04 9.98950264e-01 1.07321539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.30, Y:167.58, Z:107.33 [[ 8.64910841e-01 5.00360660e-01 -3.96036146e-02 3.85302024e+02] [-4.99830852e-01 8.65817069e-01 2.30200596e-02 1.67577196e+02] [ 4.58078177e-02 -1.15190660e-04 9.98950264e-01 1.07325589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.36, Y:167.55, Z:107.33 [[ 8.64639172e-01 5.00830463e-01 -3.95973381e-02 3.85355662e+02] [-5.00300652e-01 8.65545399e-01 2.30308509e-02 1.67545196e+02] [ 4.58078455e-02 -1.02801744e-04 9.98950264e-01 1.07329057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.41, Y:167.51, Z:107.33 [[ 8.64067958e-01 5.01815818e-01 -3.95910258e-02 3.85409324e+02] [-5.01286544e-01 8.64974497e-01 2.30416968e-02 1.67513030e+02] [ 4.58079156e-02 -6.31434074e-05 9.98950264e-01 1.07330859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.46, Y:167.48, Z:107.33 [[ 8.63907828e-01 5.02091948e-01 -3.95845944e-02 3.85462707e+02] [-5.01562458e-01 8.64814241e-01 2.30527404e-02 1.67480738e+02] [ 4.58079163e-02 -6.12964341e-05 9.98950265e-01 1.07331715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.51, Y:167.45, Z:107.33 [[ 8.64013915e-01 5.01909838e-01 -3.95786497e-02 3.85514737e+02] [-5.01379689e-01 8.64919943e-01 2.30629422e-02 1.67448862e+02] [ 4.58078810e-02 -8.27718419e-05 9.98950265e-01 1.07329519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.57, Y:167.42, Z:107.34 [[ 8.64088650e-01 5.01781598e-01 -3.95731300e-02 3.85567415e+02] [-5.01250881e-01 8.64994346e-01 2.30724095e-02 1.67416834e+02] [ 4.58078442e-02 -1.00540853e-04 9.98950265e-01 1.07337822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.62, Y:167.38, Z:107.34 [[ 8.64053428e-01 5.01842712e-01 -3.95672309e-02 3.85620261e+02] [-5.01311597e-01 8.64958889e-01 2.30825215e-02 1.67384989e+02] [ 4.58078233e-02 -1.09020162e-04 9.98950265e-01 1.07339671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.67, Y:167.35, Z:107.34 [[ 8.63556281e-01 5.02698153e-01 -3.95615399e-02 3.85673327e+02] [-5.02167488e-01 8.64462007e-01 2.30922713e-02 1.67351835e+02] [ 4.58078903e-02 -7.49568688e-05 9.98950265e-01 1.07344017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.73, Y:167.32, Z:107.35 [[ 8.62551728e-01 5.04420362e-01 -3.95552055e-02 3.85726555e+02] [-5.03891008e-01 8.63458220e-01 2.31031165e-02 1.67319569e+02] [ 4.58079497e-02 3.87934312e-06 9.98950265e-01 1.07346905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.78, Y:167.29, Z:107.35 [[ 8.61759614e-01 5.05772892e-01 -3.95493286e-02 3.85781257e+02] [-5.05244499e-01 8.62666667e-01 2.31131725e-02 1.67287540e+02] [ 4.58079036e-02 6.40820851e-05 9.98950265e-01 1.07348297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.84, Y:167.26, Z:107.35 [[ 8.61186808e-01 5.06747822e-01 -3.95465118e-02 3.85835405e+02] [-5.06220234e-01 8.62094330e-01 2.31179911e-02 1.67255706e+02] [ 4.58078152e-02 1.10335516e-04 9.98950265e-01 1.07351632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.89, Y:167.22, Z:107.36 [[ 8.60320861e-01 5.08217094e-01 -3.95398768e-02 3.85888737e+02] [-5.07690535e-01 8.61228979e-01 2.31293336e-02 1.67223244e+02] [ 4.58076105e-02 1.75373009e-04 9.98950265e-01 1.07355526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.94, Y:167.19, Z:107.36 [[ 8.59715693e-01 5.09240488e-01 -3.95354588e-02 3.85942912e+02] [-5.08714663e-01 8.60624236e-01 2.31368830e-02 1.67192279e+02] [ 4.58074117e-02 2.21126159e-04 9.98950265e-01 1.07357491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.00, Y:167.16, Z:107.36 [[ 8.59748054e-01 5.09186360e-01 -3.95288960e-02 3.85995516e+02] [-5.08659963e-01 8.60656266e-01 2.31480901e-02 1.67160603e+02] [ 4.58074837e-02 2.05241358e-04 9.98950265e-01 1.07360846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.05, Y:167.13, Z:107.36 [[ 8.60318766e-01 5.08221959e-01 -3.95229175e-02 3.86049644e+02] [-5.07694075e-01 8.61226114e-01 2.31582932e-02 1.67128489e+02] [ 4.58077218e-02 1.42036830e-04 9.98950265e-01 1.07364101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.10, Y:167.10, Z:107.37 [[ 8.62153987e-01 5.05102915e-01 -3.95164206e-02 3.86103097e+02] [-5.04571240e-01 8.63059120e-01 2.31693740e-02 1.67097065e+02] [ 4.58079255e-02 -3.67188656e-05 9.98950265e-01 1.07366482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.16, Y:167.07, Z:107.37 [[ 8.64215042e-01 5.01568671e-01 -3.95123968e-02 3.86157012e+02] [-5.01032980e-01 8.65117804e-01 2.31762340e-02 1.67065341e+02] [ 4.58073508e-02 -2.32236112e-04 9.98950265e-01 1.07369841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.21, Y:167.03, Z:107.37 [[ 8.65650152e-01 4.99088257e-01 -3.95060228e-02 3.86211110e+02] [-4.98549485e-01 8.66551078e-01 2.31870941e-02 1.67033832e+02] [ 4.58063930e-02 -3.76204198e-04 9.98950265e-01 1.07372687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.27, Y:167.00, Z:107.37 [[ 8.66470313e-01 4.97663513e-01 -3.94996738e-02 3.86266384e+02] [-4.97122766e-01 8.67370055e-01 2.31979046e-02 1.67004122e+02] [ 4.58055849e-02 -4.64108599e-04 9.98950266e-01 1.07374493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.32, Y:166.97, Z:107.38 [[ 8.66849730e-01 4.97002841e-01 -3.94933218e-02 3.86320500e+02] [-4.96460916e-01 8.67748762e-01 2.32087135e-02 1.66973555e+02] [ 4.58050777e-02 -5.11576281e-04 9.98950266e-01 1.07376894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.110385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:386.37, Y:166.94, Z:107.38 [[ 8.67174117e-01 4.96437097e-01 -3.94874600e-02 3.86374523e+02] [-4.95894132e-01 8.68072521e-01 2.32186826e-02 1.66942499e+02] [ 4.58045944e-02 -5.53040822e-04 9.98950266e-01 1.07381926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.43, Y:166.92, Z:107.38 [[ 8.68841398e-01 4.93513811e-01 -3.94809374e-02 3.86431696e+02] [-4.92967319e-01 8.69737662e-01 2.32297683e-02 1.66916878e+02] [ 4.58022696e-02 -7.20172484e-04 9.98950266e-01 1.07384583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.230385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:386.48, Y:166.88, Z:107.39 [[ 8.66505500e-01 4.97604203e-01 -3.94750008e-02 3.86484216e+02] [-4.97061484e-01 8.67404053e-01 2.32398521e-02 1.66884718e+02] [ 4.58050238e-02 -5.15957229e-04 9.98950266e-01 1.07389483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.290385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:386.54, Y:166.85, Z:107.39 [[ 8.65757995e-01 4.98903946e-01 -3.94708379e-02 3.86538482e+02] [-4.98362253e-01 8.66657167e-01 2.32469203e-02 1.66854182e+02] [ 4.58056648e-02 -4.55431377e-04 9.98950266e-01 1.07392338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.350385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:386.59, Y:166.83, Z:107.40 [[ 8.65311898e-01 4.99677731e-01 -3.94649789e-02 3.86594289e+02] [-4.99136389e-01 8.66211281e-01 2.32568626e-02 1.66826436e+02] [ 4.58059463e-02 -4.26032847e-04 9.98950266e-01 1.07397472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.410385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:386.65, Y:166.80, Z:107.40 [[ 8.64588012e-01 5.00929688e-01 -3.94590492e-02 3.86647978e+02] [-5.00389190e-01 8.65487902e-01 2.32669190e-02 1.66796698e+02] [ 4.58064202e-02 -3.71417621e-04 9.98950266e-01 1.07399030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4703857229999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:386.70, Y:166.77, Z:107.40 [[ 8.66067249e-01 4.98368275e-01 -3.94535467e-02 3.86701973e+02] [-4.97824690e-01 8.66965279e-01 2.32762457e-02 1.66766475e+02] [ 4.58049976e-02 -5.17844482e-04 9.98950266e-01 1.07402100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.530385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:386.76, Y:166.74, Z:107.41 [[ 8.67150489e-01 4.96481544e-01 -3.94475193e-02 3.86756393e+02] [-4.95935541e-01 8.68047050e-01 2.32864562e-02 1.66735662e+02] [ 4.58035985e-02 -6.29435050e-04 9.98950266e-01 1.07405948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5903857229999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:386.81, Y:166.71, Z:107.41 [[ 8.69004542e-01 4.93229675e-01 -3.94410157e-02 3.86811884e+02] [-4.92679818e-01 8.69898744e-01 2.32974663e-02 1.66707730e+02] [ 4.58006918e-02 -8.13811613e-04 9.98950266e-01 1.07414957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.650385723 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:386.87, Y:166.68, Z:107.42 [[ 8.69195739e-01 4.92893122e-01 -3.94352337e-02 3.86865055e+02] [-4.92342474e-01 8.70089455e-01 2.33072494e-02 1.66677478e+02] [ 4.58001639e-02 -8.42921273e-04 9.98950266e-01 1.07422150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.710385723 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:386.92, Y:166.65, Z:107.42 [[ 8.69388714e-01 4.92552731e-01 -3.94343930e-02 3.86920422e+02] [-4.92001669e-01 8.70282175e-01 2.33086716e-02 1.66649568e+02] [ 4.57997992e-02 -8.62508878e-04 9.98950266e-01 1.07421277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.770385723 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:386.97, Y:166.62, Z:107.42 [[ 8.68360834e-01 4.94363081e-01 -3.94284966e-02 3.86974716e+02] [-4.93813429e-01 8.69255163e-01 2.33186417e-02 1.66620340e+02] [ 4.58012998e-02 -7.78674102e-04 9.98950266e-01 1.07418526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.830385723 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:387.03, Y:166.59, Z:107.42 [[ 8.68022184e-01 4.94957885e-01 -3.94230848e-02 3.87030550e+02] [-4.94408431e-01 8.68916634e-01 2.33277875e-02 1.66593141e+02] [ 4.58016465e-02 -7.57931579e-04 9.98950266e-01 1.07421311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.890385723 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:387.09, Y:166.57, Z:107.43 [[ 8.68922610e-01 4.93375871e-01 -3.94176158e-02 3.87087502e+02] [-4.92824370e-01 8.69815799e-01 2.33370248e-02 1.66565536e+02] [ 4.57999900e-02 -8.52106825e-04 9.98950266e-01 1.07425301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.950385723 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:387.14, Y:166.54, Z:107.43 [[ 8.70100564e-01 4.91296001e-01 -3.94112658e-02 3.87143354e+02] [-4.90741879e-01 8.70992130e-01 2.33477438e-02 1.66537094e+02] [ 4.57975555e-02 -9.74126437e-04 9.98950267e-01 1.07428643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.010385723 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:387.20, Y:166.52, Z:107.43 [[ 8.74383799e-01 4.83631973e-01 -3.94092368e-02 3.87203524e+02] [-4.83069885e-01 8.75270364e-01 2.33511681e-02 1.66517497e+02] [ 4.57871085e-02 -1.38046758e-03 9.98950267e-01 1.07429198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.070385723 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:387.26, Y:166.49, Z:107.43 [[ 8.72115264e-01 4.87711334e-01 -3.94033078e-02 3.87255619e+02] [-4.87152942e-01 8.73004162e-01 2.33611686e-02 1.66486377e+02] [ 4.57927584e-02 -1.17819445e-03 9.98950267e-01 1.07433388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.130385723 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:387.31, Y:166.46, Z:107.44 [[ 8.72955792e-01 4.86205705e-01 -3.93979300e-02 3.87312191e+02] [-4.85645372e-01 8.73843467e-01 2.33702345e-02 1.66459354e+02] [ 4.57903651e-02 -1.26775917e-03 9.98950267e-01 1.07435387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.190385723 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:387.37, Y:166.43, Z:107.44 [[ 8.70666407e-01 4.90293765e-01 -3.93958263e-02 3.87366196e+02] [-4.89737440e-01 8.71556600e-01 2.33737802e-02 1.66429567e+02] [ 4.57957111e-02 -1.05715410e-03 9.98950267e-01 1.07439666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.250385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:387.42, Y:166.40, Z:107.44 [[ 8.68690470e-01 4.93786697e-01 -3.93899134e-02 3.87422084e+02] [-4.93233501e-01 8.69582609e-01 2.33837405e-02 1.66403122e+02] [ 4.57993637e-02 -8.84807691e-04 9.98950267e-01 1.07440851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.310385723 meters Centerline goodness : 0.993744 with order 1 Centerline is valid? [True, True] Translation: X:387.48, Y:166.37, Z:107.44 [[ 8.66227513e-01 4.98095183e-01 -3.93838016e-02 3.87477925e+02] [-4.97545957e-01 8.67122102e-01 2.33940297e-02 1.66374223e+02] [ 4.58030184e-02 -6.69300954e-04 9.98950267e-01 1.07437320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.370385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:387.53, Y:166.35, Z:107.44 [[ 8.66237599e-01 4.98077860e-01 -3.93810690e-02 3.87534662e+02] [-4.97528406e-01 8.67132048e-01 2.33986288e-02 1.66347297e+02] [ 4.58029260e-02 -6.75571500e-04 9.98950267e-01 1.07437868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.430385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:387.59, Y:166.32, Z:107.44 [[ 8.66176704e-01 4.98184443e-01 -3.93723010e-02 3.87590182e+02] [-4.97634429e-01 8.67070810e-01 2.34133732e-02 1.66318456e+02] [ 4.58027512e-02 -6.87105894e-04 9.98950267e-01 1.07442369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.64, Y:166.28, Z:107.45 [[ 8.64152906e-01 5.01687327e-01 -3.93647221e-02 3.87641288e+02] [-5.01140358e-01 8.65048877e-01 2.34261087e-02 1.66284366e+02] [ 4.58049905e-02 -5.16489010e-04 9.98950267e-01 1.07448528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.70, Y:166.25, Z:107.45 [[ 8.64642600e-01 5.00843403e-01 -3.93581035e-02 3.87695895e+02] [-5.00295054e-01 8.65537726e-01 2.34372233e-02 1.66252489e+02] [ 4.58043021e-02 -5.74157197e-04 9.98950267e-01 1.07450542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.75, Y:166.22, Z:107.45 [[ 8.64769686e-01 5.00624456e-01 -3.93515475e-02 3.87749963e+02] [-5.00075380e-01 8.65664366e-01 2.34482258e-02 1.66220435e+02] [ 4.58039877e-02 -5.98574807e-04 9.98950267e-01 1.07451816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.670385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:387.80, Y:166.19, Z:107.45 [[ 8.64390093e-01 5.01280095e-01 -3.93450561e-02 3.87803536e+02] [-5.00731202e-01 8.65284886e-01 2.34591130e-02 1.66186502e+02] [ 4.58042688e-02 -5.76527625e-04 9.98950267e-01 1.07452892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.730385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:387.86, Y:166.15, Z:107.46 [[ 8.65950489e-01 4.98579941e-01 -3.93419934e-02 3.87856418e+02] [-4.98028025e-01 8.66843421e-01 2.34642482e-02 1.66153630e+02] [ 4.58021516e-02 -7.25461957e-04 9.98950267e-01 1.07455879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:387.91, Y:166.12, Z:107.46 [[ 8.65996936e-01 4.98499780e-01 -3.93354443e-02 3.87909668e+02] [-4.97947282e-01 8.66889508e-01 2.34752220e-02 1.66120052e+02] [ 4.58018769e-02 -7.42492725e-04 9.98950267e-01 1.07456673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.850385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:387.96, Y:166.09, Z:107.46 [[ 8.67859123e-01 4.95251080e-01 -3.93307803e-02 3.87963744e+02] [-4.94694887e-01 8.68749397e-01 2.34830335e-02 1.66088702e+02] [ 4.57985894e-02 -9.23228877e-04 9.98950267e-01 1.07456796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.910385723 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:388.02, Y:166.05, Z:107.46 [[ 8.68274572e-01 4.94522940e-01 -3.93233894e-02 3.88015467e+02] [-4.93965441e-01 8.69164029e-01 2.34954034e-02 1.66054418e+02] [ 4.57974915e-02 -9.76065919e-04 9.98950268e-01 1.07458865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.07, Y:166.02, Z:107.46 [[ 8.68185720e-01 4.94679425e-01 -3.93169505e-02 3.88068076e+02] [-4.94121598e-01 8.69074971e-01 2.35061733e-02 1.66019835e+02] [ 4.57973979e-02 -9.80369544e-04 9.98950268e-01 1.07463334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.12, Y:165.99, Z:107.47 [[ 8.68326632e-01 4.94432601e-01 -3.93098359e-02 3.88120135e+02] [-4.93873984e-01 8.69215386e-01 2.35180652e-02 1.65986264e+02] [ 4.57968123e-02 -1.00725709e-03 9.98950268e-01 1.07466895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.17, Y:165.95, Z:107.47 [[ 8.69653459e-01 4.92095634e-01 -3.93032980e-02 3.88172197e+02] [-4.91534136e-01 8.70540396e-01 2.35289862e-02 1.65953705e+02] [ 4.57936200e-02 -1.14315164e-03 9.98950268e-01 1.07468073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.23, Y:165.92, Z:107.47 [[ 8.69569616e-01 4.92244216e-01 -3.92977731e-02 3.88225280e+02] [-4.91682453e-01 8.70456385e-01 2.35382101e-02 1.65919399e+02] [ 4.57935453e-02 -1.14608686e-03 9.98950268e-01 1.07470162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.28, Y:165.89, Z:107.47 [[ 8.68498526e-01 4.94132076e-01 -3.92912543e-02 3.88278404e+02] [-4.93571748e-01 8.69386203e-01 2.35490867e-02 1.65885359e+02] [ 4.57956335e-02 -1.05929395e-03 9.98950268e-01 1.07473855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.33, Y:165.85, Z:107.48 [[ 8.67856095e-01 4.95260086e-01 -3.92841519e-02 3.88331276e+02] [-4.94700377e-01 8.68744162e-01 2.35609289e-02 1.65853391e+02] [ 4.57966653e-02 -1.01361106e-03 9.98950268e-01 1.07476491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:388.38, Y:165.82, Z:107.48 [[ 8.67031840e-01 4.96702182e-01 -3.92776097e-02 3.88383911e+02] [-4.96143456e-01 8.67920526e-01 2.35718301e-02 1.65819372e+02] [ 4.57980231e-02 -9.50198198e-04 9.98950268e-01 1.07480617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.44, Y:165.79, Z:107.48 [[ 8.66667964e-01 4.97337361e-01 -3.92707106e-02 3.88436209e+02] [-4.96778767e-01 8.67556733e-01 2.35833184e-02 1.65786479e+02] [ 4.57984347e-02 -9.30051381e-04 9.98950268e-01 1.07482986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.49, Y:165.75, Z:107.49 [[ 8.66346581e-01 4.97897493e-01 -3.92643422e-02 3.88488500e+02] [-4.97338993e-01 8.67235408e-01 2.35939166e-02 1.65752753e+02] [ 4.57987797e-02 -9.12820546e-04 9.98950268e-01 1.07485969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:388.54, Y:165.72, Z:107.49 [[ 8.65821084e-01 4.98811240e-01 -3.92580842e-02 3.88541734e+02] [-4.98253206e-01 8.66710204e-01 2.36043247e-02 1.65719999e+02] [ 4.57994846e-02 -8.76655702e-04 9.98950268e-01 1.07487782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.59, Y:165.69, Z:107.49 [[ 8.65634945e-01 4.99134737e-01 -3.92512105e-02 3.88594128e+02] [-4.98576517e-01 8.66523948e-01 2.36157494e-02 1.65685035e+02] [ 4.57995547e-02 -8.72886112e-04 9.98950268e-01 1.07492105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.64, Y:165.65, Z:107.50 [[ 8.66285786e-01 4.98004849e-01 -3.92441988e-02 3.88644658e+02] [-4.97444943e-01 8.67173728e-01 2.36273954e-02 1.65649420e+02] [ 4.57980957e-02 -9.46248575e-04 9.98950269e-01 1.07497495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.70, Y:165.61, Z:107.50 [[ 8.66545217e-01 4.97553804e-01 -3.92377371e-02 3.88696089e+02] [-4.96992950e-01 8.67432560e-01 2.36381216e-02 1.65614210e+02] [ 4.57973280e-02 -9.82622475e-04 9.98950269e-01 1.07495949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.75, Y:165.58, Z:107.50 [[ 8.66792981e-01 4.97122546e-01 -3.92313918e-02 3.88748772e+02] [-4.96560775e-01 8.67679744e-01 2.36486480e-02 1.65579715e+02] [ 4.57965601e-02 -1.01771177e-03 9.98950269e-01 1.07502542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.80, Y:165.54, Z:107.50 [[ 8.65503512e-01 4.99364710e-01 -3.92244490e-02 3.88800198e+02] [-4.98804714e-01 8.66391398e-01 2.36601578e-02 1.65544682e+02] [ 4.57987731e-02 -9.12609562e-04 9.98950269e-01 1.07502816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.85, Y:165.51, Z:107.51 [[ 8.64796672e-01 5.00588314e-01 -3.92180423e-02 3.88852390e+02] [-5.00029094e-01 8.65685046e-01 2.36707726e-02 1.65510559e+02] [ 4.57997849e-02 -8.60243225e-04 9.98950269e-01 1.07509428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.90, Y:165.48, Z:107.51 [[ 8.64240278e-01 5.01548461e-01 -3.92158482e-02 3.88903504e+02] [-5.00990063e-01 8.65129169e-01 2.36744070e-02 1.65475036e+02] [ 4.58006366e-02 -8.13625813e-04 9.98950269e-01 1.07508275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.95, Y:165.44, Z:107.51 [[ 8.64564107e-01 5.00990558e-01 -3.92092592e-02 3.88954422e+02] [-5.00431092e-01 8.65452326e-01 2.36853146e-02 1.65439249e+02] [ 4.57998636e-02 -8.55940460e-04 9.98950269e-01 1.07510071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.01, Y:165.41, Z:107.51 [[ 8.65947008e-01 4.98596754e-01 -3.92053132e-02 3.89009463e+02] [-4.98034538e-01 8.66833488e-01 2.36918444e-02 1.65408061e+02] [ 4.57971552e-02 -9.90281716e-04 9.98950269e-01 1.07512721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.06, Y:165.37, Z:107.52 [[ 8.65460881e-01 4.99440586e-01 -3.91990334e-02 3.89058726e+02] [-4.98878763e-01 8.66347612e-01 2.37022301e-02 1.65370248e+02] [ 4.57978446e-02 -9.57787700e-04 9.98950269e-01 1.07515360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.170385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:389.11, Y:165.33, Z:107.52 [[ 8.65964899e-01 4.98566627e-01 -3.91932583e-02 3.89109173e+02] [-4.98003478e-01 8.66850788e-01 2.37117758e-02 1.65334583e+02] [ 4.57966069e-02 -1.01518659e-03 9.98950269e-01 1.07517566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.16, Y:165.30, Z:107.52 [[ 8.68008745e-01 4.95000152e-01 -3.91875900e-02 3.89164240e+02] [-4.94432941e-01 8.68892038e-01 2.37211399e-02 1.65304455e+02] [ 4.57917528e-02 -1.21452149e-03 9.98950269e-01 1.07516483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.22, Y:165.27, Z:107.52 [[ 8.66901241e-01 4.96937734e-01 -3.91806989e-02 3.89215043e+02] [-4.96371984e-01 8.67785470e-01 2.37325167e-02 1.65268675e+02] [ 4.57940242e-02 -1.12554693e-03 9.98950269e-01 1.07520469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.26, Y:165.23, Z:107.53 [[ 8.63361361e-01 5.03062983e-01 -3.91764536e-02 3.89264317e+02] [-5.02503189e-01 8.64249374e-01 2.37395225e-02 1.65231620e+02] [ 4.58007005e-02 -8.09493632e-04 9.98950269e-01 1.07525733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:389.32, Y:165.20, Z:107.53 [[ 8.62416184e-01 5.04682089e-01 -3.91703196e-02 3.89319973e+02] [-5.04123503e-01 8.63304957e-01 2.37496393e-02 1.65201164e+02] [ 4.58019486e-02 -7.35394517e-04 9.98950269e-01 1.07526394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.37, Y:165.17, Z:107.53 [[ 8.60585585e-01 5.07797871e-01 -3.91634054e-02 3.89373761e+02] [-5.07241985e-01 8.61476049e-01 2.37610355e-02 1.65168784e+02] [ 4.58041389e-02 -5.83081173e-04 9.98950269e-01 1.07530021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.43, Y:165.14, Z:107.53 [[ 8.60024094e-01 5.08748784e-01 -3.91565165e-02 3.89426787e+02] [-5.08193366e-01 8.60914849e-01 2.37723825e-02 1.65137139e+02] [ 4.58045971e-02 -5.45739782e-04 9.98950270e-01 1.07532732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.48, Y:165.11, Z:107.54 [[ 8.61355468e-01 5.06491881e-01 -3.91501219e-02 3.89481397e+02] [-5.05933651e-01 8.62244463e-01 2.37829089e-02 1.65105411e+02] [ 4.58028261e-02 -6.78174569e-04 9.98950270e-01 1.07535379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.54, Y:165.07, Z:107.54 [[ 8.62863963e-01 5.03918200e-01 -3.91437058e-02 3.89535809e+02] [-5.03356840e-01 8.63750984e-01 2.37934643e-02 1.65074924e+02] [ 4.58003741e-02 -8.27270874e-04 9.98950270e-01 1.07539323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.59, Y:165.05, Z:107.54 [[ 8.63653200e-01 5.02564853e-01 -3.91371722e-02 3.89591882e+02] [-5.02001616e-01 8.64539032e-01 2.38042063e-02 1.65045793e+02] [ 4.57987704e-02 -9.11655265e-04 9.98950270e-01 1.07540368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.65, Y:165.02, Z:107.54 [[ 8.64580238e-01 5.00968870e-01 -3.91305879e-02 3.89646968e+02] [-5.00403508e-01 8.65464715e-01 2.38150251e-02 1.65015596e+02] [ 4.57967293e-02 -1.00891663e-03 9.98950270e-01 1.07542890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:389.70, Y:164.98, Z:107.55 [[ 8.64884480e-01 5.00443941e-01 -3.91241383e-02 3.89699587e+02] [-4.99877564e-01 8.65768307e-01 2.38256161e-02 1.64983174e+02] [ 4.57958241e-02 -1.04912665e-03 9.98950270e-01 1.07547422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.75, Y:164.95, Z:107.55 [[ 8.64169000e-01 5.01678594e-01 -3.91219496e-02 3.89751633e+02] [-5.01113317e-01 8.65053531e-01 2.38292093e-02 1.64949863e+02] [ 4.57971849e-02 -9.87934050e-04 9.98950270e-01 1.07550931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.81, Y:164.92, Z:107.55 [[ 8.64457487e-01 5.01181510e-01 -3.91196531e-02 3.89806702e+02] [-5.00615554e-01 8.65341584e-01 2.38329788e-02 1.64922217e+02] [ 4.57965109e-02 -1.01869014e-03 9.98950270e-01 1.07551688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.010385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:389.86, Y:164.89, Z:107.56 [[ 8.62514345e-01 5.04518706e-01 -3.91136868e-02 3.89860231e+02] [-5.03955727e-01 8.63400340e-01 2.38427664e-02 1.64890531e+02] [ 4.57998922e-02 -8.53161556e-04 9.98950270e-01 1.07555441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.91, Y:164.86, Z:107.56 [[ 8.61056549e-01 5.07003173e-01 -3.91075758e-02 3.89912984e+02] [-5.06442296e-01 8.61943876e-01 2.38527856e-02 1.64856900e+02] [ 4.58019735e-02 -7.32866792e-04 9.98950270e-01 1.07557195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.97, Y:164.82, Z:107.56 [[ 8.59466637e-01 5.09693904e-01 -3.91052952e-02 3.89965268e+02] [-5.09135635e-01 8.60355607e-01 2.38565241e-02 1.64824337e+02] [ 4.58039849e-02 -5.93987234e-04 9.98950270e-01 1.07561390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.02, Y:164.79, Z:107.56 [[ 8.58757217e-01 5.10888788e-01 -3.90984485e-02 3.90018875e+02] [-5.10331246e-01 8.59646643e-01 2.38677398e-02 1.64790985e+02] [ 4.58046107e-02 -5.43433870e-04 9.98950270e-01 1.07564611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.250385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:390.07, Y:164.76, Z:107.57 [[ 8.58036820e-01 5.12098269e-01 -3.90919187e-02 3.90071592e+02] [-5.11541494e-01 8.58926726e-01 2.38784299e-02 1.64757654e+02] [ 4.58051964e-02 -4.91433624e-04 9.98950270e-01 1.07567693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.310385723 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:390.12, Y:164.72, Z:107.57 [[ 8.58988087e-01 5.10501527e-01 -3.90852539e-02 3.90123833e+02] [-5.09942601e-01 8.59876644e-01 2.38893342e-02 1.64722547e+02] [ 4.58040385e-02 -5.89417487e-04 9.98950270e-01 1.07570580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:390.18, Y:164.69, Z:107.57 [[ 8.60252032e-01 5.08369260e-01 -3.90786021e-02 3.90176534e+02] [-5.07807637e-01 8.61138887e-01 2.39002104e-02 1.64688985e+02] [ 4.58022362e-02 -7.15791939e-04 9.98950270e-01 1.07573910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.430385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:390.23, Y:164.66, Z:107.58 [[ 8.61024477e-01 5.07060376e-01 -3.90720447e-02 3.90230421e+02] [-5.06496919e-01 8.61910169e-01 2.39109256e-02 1.64656864e+02] [ 4.58008755e-02 -7.98021955e-04 9.98950271e-01 1.07578275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.490385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:390.28, Y:164.62, Z:107.58 [[ 8.61482977e-01 5.06281510e-01 -3.90654945e-02 3.90283573e+02] [-5.05716768e-01 8.62367849e-01 2.39216225e-02 1.64623271e+02] [ 4.57999016e-02 -8.51994927e-04 9.98950271e-01 1.07581681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.34, Y:164.59, Z:107.58 [[ 8.62876962e-01 5.03902524e-01 -3.90588754e-02 3.90335656e+02] [-5.03334853e-01 8.63759958e-01 2.39324252e-02 1.64591665e+02] [ 4.57971020e-02 -9.91045090e-04 9.98950271e-01 1.07578613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:390.39, Y:164.56, Z:107.59 [[ 8.63225210e-01 5.03306177e-01 -3.90528954e-02 3.90387865e+02] [-5.02737455e-01 8.64107530e-01 2.39421794e-02 1.64560513e+02] [ 4.57961477e-02 -1.03413956e-03 9.98950271e-01 1.07587593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.44, Y:164.53, Z:107.59 [[ 8.63547873e-01 5.02752797e-01 -3.90473465e-02 3.90442897e+02] [-5.02183102e-01 8.64429564e-01 2.39512256e-02 1.64530692e+02] [ 4.57952264e-02 -1.07411237e-03 9.98950271e-01 1.07590689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:390.50, Y:164.50, Z:107.59 [[ 8.63060692e-01 5.03589162e-01 -3.90409899e-02 3.90498075e+02] [-5.03019853e-01 8.63942632e-01 2.39615826e-02 1.64500395e+02] [ 4.57959688e-02 -1.04190705e-03 9.98950271e-01 1.07594007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.55, Y:164.47, Z:107.60 [[ 8.62469881e-01 5.04600850e-01 -3.90344360e-02 3.90553560e+02] [-5.04032093e-01 8.63352177e-01 2.39722545e-02 1.64469783e+02] [ 4.57968852e-02 -1.00073900e-03 9.98950271e-01 1.07596246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.61, Y:164.44, Z:107.60 [[ 8.62197925e-01 5.05065895e-01 -3.90279537e-02 3.90608297e+02] [-5.04497136e-01 8.63080219e-01 2.39828033e-02 1.64441438e+02] [ 4.57971508e-02 -9.88432365e-04 9.98950271e-01 1.07597282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:390.66, Y:164.41, Z:107.60 [[ 8.62122123e-01 5.05195582e-01 -3.90239531e-02 3.90662655e+02] [-5.04626661e-01 8.63004314e-01 2.39893111e-02 1.64409391e+02] [ 4.57971339e-02 -9.89188696e-04 9.98950271e-01 1.07599795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.72, Y:164.38, Z:107.60 [[ 8.61940380e-01 5.05506100e-01 -3.90174912e-02 3.90717702e+02] [-5.04937022e-01 8.62822469e-01 2.39998165e-02 1.64378452e+02] [ 4.57972217e-02 -9.85035154e-04 9.98950271e-01 1.07601704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:390.77, Y:164.35, Z:107.60 [[ 8.62142600e-01 5.05161644e-01 -3.90108963e-02 3.90772028e+02] [-5.04591729e-01 8.63024149e-01 2.40105315e-02 1.64346335e+02] [ 4.57965452e-02 -1.01592648e-03 9.98950271e-01 1.07603915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0903857229999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:390.82, Y:164.31, Z:107.61 [[ 8.62639220e-01 5.04313637e-01 -3.90042565e-02 3.90824810e+02] [-5.03742368e-01 8.63519891e-01 2.40213128e-02 1.64313366e+02] [ 4.57952270e-02 -1.07363000e-03 9.98950271e-01 1.07605039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.150385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:390.88, Y:164.28, Z:107.61 [[ 8.62636601e-01 5.04318591e-01 -3.89981224e-02 3.90879103e+02] [-5.03746877e-01 8.63516984e-01 2.40312673e-02 1.64280720e+02] [ 4.57949559e-02 -1.08506840e-03 9.98950271e-01 1.07607593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.210385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:390.93, Y:164.25, Z:107.61 [[ 8.62222791e-01 5.05026245e-01 -3.89916756e-02 3.90933067e+02] [-5.04454781e-01 8.63103336e-01 2.40417230e-02 1.64247999e+02] [ 4.57955463e-02 -1.05978433e-03 9.98950271e-01 1.07611205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.270385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:390.99, Y:164.22, Z:107.61 [[ 8.61431008e-01 5.06376130e-01 -3.89850447e-02 3.90985894e+02] [-5.05805560e-01 8.62312132e-01 2.40524706e-02 1.64215931e+02] [ 4.57968740e-02 -1.00069164e-03 9.98950272e-01 1.07612442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.330385723 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:391.04, Y:164.18, Z:107.61 [[ 8.61233705e-01 5.06712096e-01 -3.89789213e-02 3.91038797e+02] [-5.06141422e-01 8.62114762e-01 2.40623900e-02 1.64182815e+02] [ 4.57970075e-02 -9.94494631e-04 9.98950272e-01 1.07611139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.390385723 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:391.09, Y:164.15, Z:107.61 [[ 8.60137063e-01 5.08571576e-01 -3.89767161e-02 3.91092288e+02] [-5.08002645e-01 8.61019246e-01 2.40659614e-02 1.64149503e+02] [ 4.57989666e-02 -8.99750466e-04 9.98950272e-01 1.07614009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.450385723 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:391.15, Y:164.12, Z:107.62 [[ 8.60177981e-01 5.08502776e-01 -3.89713724e-02 3.91145000e+02] [-5.07933382e-01 8.61059866e-01 2.40746116e-02 1.64116748e+02] [ 4.57986915e-02 -9.13589860e-04 9.98950272e-01 1.07618415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.510385723 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:391.19, Y:164.08, Z:107.63 [[ 8.60012400e-01 5.08783138e-01 -3.89665231e-02 3.91194691e+02] [-5.08213677e-01 8.60894241e-01 2.40824581e-02 1.64081197e+02] [ 4.57988039e-02 -9.07892611e-04 9.98950272e-01 1.07630227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.570385723 meters Centerline goodness : 0.995022 with order 1 Centerline is valid? [True, True] Translation: X:391.25, Y:164.05, Z:107.62 [[ 8.61528302e-01 5.06212072e-01 -3.89656517e-02 3.91248813e+02] [-5.05639916e-01 8.62408397e-01 2.40838679e-02 1.64049493e+02] [ 4.57958499e-02 -1.04634503e-03 9.98950272e-01 1.07624382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.630385723 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:391.30, Y:164.02, Z:107.62 [[ 8.62969832e-01 5.03750903e-01 -3.89627555e-02 3.91302496e+02] [-5.03176026e-01 8.63848152e-01 2.40885524e-02 1.64018420e+02] [ 4.57925344e-02 -1.18256954e-03 9.98950272e-01 1.07622393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.690385723 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:391.35, Y:163.98, Z:107.63 [[ 8.59564959e-01 5.09539657e-01 -3.89540556e-02 3.91351833e+02] [-5.08970059e-01 8.60446711e-01 2.41026130e-02 1.63980912e+02] [ 4.57991262e-02 -8.91313619e-04 9.98950272e-01 1.07629600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.750385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:391.41, Y:163.95, Z:107.63 [[ 8.60380632e-01 5.08161651e-01 -3.89474711e-02 3.91407751e+02] [-5.07590159e-01 8.61261158e-01 2.41132483e-02 1.63953579e+02] [ 4.57973721e-02 -9.77218761e-04 9.98950272e-01 1.07631712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:391.46, Y:163.92, Z:107.63 [[ 8.56961376e-01 5.13907036e-01 -3.89455806e-02 3.91462053e+02] [-5.13341310e-01 8.57845618e-01 2.41163013e-02 1.63922150e+02] [ 4.58028325e-02 -6.74363427e-04 9.98950272e-01 1.07633491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.870385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:391.52, Y:163.89, Z:107.63 [[ 8.55760931e-01 5.15903936e-01 -3.89404417e-02 3.91515598e+02] [-5.15339895e-01 8.56646249e-01 2.41245962e-02 1.63889045e+02] [ 4.58041574e-02 -5.77323756e-04 9.98950272e-01 1.07634619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:391.57, Y:163.86, Z:107.64 [[ 8.55086465e-01 5.17021626e-01 -3.89329563e-02 3.91568506e+02] [-5.16458194e-01 8.55972170e-01 2.41366703e-02 1.63856297e+02] [ 4.58047076e-02 -5.31695813e-04 9.98950272e-01 1.07639894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.990385723 meters Centerline goodness : 0.995779 with order 1 Centerline is valid? [True, True] Translation: X:391.62, Y:163.82, Z:107.64 [[ 8.53883915e-01 5.19005802e-01 -3.89260411e-02 3.91617512e+02] [-5.18443919e-01 8.54770604e-01 2.41478174e-02 1.63817745e+02] [ 4.58056930e-02 -4.38463555e-04 9.98950272e-01 1.07644651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.050385723 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:391.67, Y:163.79, Z:107.65 [[ 8.54578683e-01 5.17861215e-01 -3.89234724e-02 3.91671886e+02] [-5.17297957e-01 8.55464498e-01 2.41519572e-02 1.63785723e+02] [ 4.58050107e-02 -5.04714991e-04 9.98950272e-01 1.07648856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.110385723 meters Centerline goodness : 0.998667 with order 1 Centerline is valid? [True, True] Translation: X:391.73, Y:163.76, Z:107.65 [[ 8.55091781e-01 5.17014179e-01 -3.89151099e-02 3.91728938e+02] [-5.16449430e-01 8.55976646e-01 2.41654239e-02 1.63758288e+02] [ 4.58042920e-02 -5.65968982e-04 9.98950272e-01 1.07648889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.78, Y:163.73, Z:107.65 [[ 8.54349757e-01 5.18240068e-01 -3.89066165e-02 3.91782373e+02] [-5.17675966e-01 8.55235035e-01 2.41790906e-02 1.63728166e+02] [ 4.58048751e-02 -5.16379922e-04 9.98950272e-01 1.07653077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.230385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:391.84, Y:163.70, Z:107.65 [[ 8.53807745e-01 5.19133107e-01 -3.88992603e-02 3.91838192e+02] [-5.18569392e-01 8.54693269e-01 2.41909195e-02 1.63698354e+02] [ 4.58052432e-02 -4.82428628e-04 9.98950273e-01 1.07654412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:391.89, Y:163.67, Z:107.66 [[ 8.53784026e-01 5.19172600e-01 -3.88927744e-02 3.91892857e+02] [-5.18608452e-01 8.54669275e-01 2.42013426e-02 1.63669273e+02] [ 4.58051333e-02 -4.92598212e-04 9.98950273e-01 1.07657813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.95, Y:163.64, Z:107.66 [[ 8.54486055e-01 5.18016795e-01 -3.88867737e-02 3.91947457e+02] [-5.17451011e-01 8.55370259e-01 2.42109808e-02 1.63637350e+02] [ 4.58042844e-02 -5.65945128e-04 9.98950273e-01 1.07661005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.00, Y:163.61, Z:107.66 [[ 8.55196735e-01 5.16843201e-01 -3.88799358e-02 3.92001225e+02] [-5.16275705e-01 8.56079841e-01 2.42219566e-02 1.63606970e+02] [ 4.58032829e-02 -6.41771941e-04 9.98950273e-01 1.07661849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:392.06, Y:163.58, Z:107.66 [[ 8.54414123e-01 5.18136485e-01 -3.88727295e-02 3.92056996e+02] [-5.17569799e-01 8.55297749e-01 2.42335161e-02 1.63578044e+02] [ 4.58040270e-02 -5.86107612e-04 9.98950273e-01 1.07663180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.530385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:392.11, Y:163.55, Z:107.67 [[ 8.53715077e-01 5.19288013e-01 -3.88655021e-02 3.92112257e+02] [-5.18721992e-01 8.54599128e-01 2.42451020e-02 1.63547870e+02] [ 4.58046150e-02 -5.38018469e-04 9.98950273e-01 1.07666035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.17, Y:163.52, Z:107.67 [[ 8.53193229e-01 5.20145462e-01 -3.88588777e-02 3.92167511e+02] [-5.19579846e-01 8.54077540e-01 2.42557146e-02 1.63517204e+02] [ 4.58049945e-02 -5.04521761e-04 9.98950273e-01 1.07667842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.650385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:392.22, Y:163.49, Z:107.67 [[ 8.53764229e-01 5.19208194e-01 -3.88521806e-02 3.92224346e+02] [-5.18641120e-01 8.54647605e-01 2.42664371e-02 1.63488566e+02] [ 4.58042561e-02 -5.67477496e-04 9.98950273e-01 1.07666435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.28, Y:163.46, Z:107.67 [[ 8.53465799e-01 5.19698832e-01 -3.88491259e-02 3.92279141e+02] [-5.19132043e-01 8.54349358e-01 2.42713265e-02 1.63457468e+02] [ 4.58045058e-02 -5.46920942e-04 9.98950273e-01 1.07670794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.33, Y:163.43, Z:107.68 [[ 8.54296543e-01 5.18332631e-01 -3.88419923e-02 3.92334840e+02] [-5.17763910e-01 8.55178860e-01 2.42827371e-02 1.63427600e+02] [ 4.58033857e-02 -6.33676547e-04 9.98950273e-01 1.07675685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.39, Y:163.40, Z:107.67 [[ 8.55221546e-01 5.16805540e-01 -3.88347884e-02 3.92390091e+02] [-5.16234721e-01 8.56102507e-01 2.42942527e-02 1.63398080e+02] [ 4.58019641e-02 -7.29102207e-04 9.98950273e-01 1.07674864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.45, Y:163.37, Z:107.68 [[ 8.56345934e-01 5.14940788e-01 -3.88281676e-02 3.92445107e+02] [-5.14367571e-01 8.57225336e-01 2.43048297e-02 1.63366671e+02] [ 4.58000372e-02 -8.41391822e-04 9.98950273e-01 1.07676868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.50, Y:163.34, Z:107.68 [[ 8.58492974e-01 5.11353798e-01 -3.88214818e-02 3.92499359e+02] [-5.10776425e-01 8.59369653e-01 2.43155042e-02 1.63336230e+02] [ 4.57958288e-02 -1.04559182e-03 9.98950273e-01 1.07679018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.55, Y:163.30, Z:107.68 [[ 8.58708601e-01 5.10991929e-01 -3.88173628e-02 3.92553341e+02] [-5.10413889e-01 8.59584840e-01 2.43220780e-02 1.63304538e+02] [ 4.57952022e-02 -1.07265643e-03 9.98950273e-01 1.07679722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.61, Y:163.27, Z:107.68 [[ 8.57078377e-01 5.13721820e-01 -3.88142740e-02 3.92607364e+02] [-5.13146349e-01 8.57956305e-01 2.43270062e-02 1.63274783e+02] [ 4.57982650e-02 -9.32747986e-04 9.98950273e-01 1.07680694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.66, Y:163.24, Z:107.68 [[ 8.54455227e-01 5.18073576e-01 -3.88076702e-02 3.92660517e+02] [-5.17502099e-01 8.55335760e-01 2.43375364e-02 1.63241735e+02] [ 4.58022226e-02 -7.12284415e-04 9.98950274e-01 1.07683147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.190385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:392.71, Y:163.21, Z:107.69 [[ 8.53010411e-01 5.20449416e-01 -3.88026330e-02 3.92712665e+02] [-5.19880026e-01 8.53892296e-01 2.43455648e-02 1.63208511e+02] [ 4.58039044e-02 -5.94306402e-04 9.98950274e-01 1.07688267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.250385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:392.76, Y:163.17, Z:107.69 [[ 8.53347487e-01 5.19896891e-01 -3.87980596e-02 3.92764482e+02] [-5.19326598e-01 8.54228788e-01 2.43528511e-02 1.63172968e+02] [ 4.58033910e-02 -6.32579952e-04 9.98950274e-01 1.07688327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.310385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:392.82, Y:163.14, Z:107.69 [[ 8.53800016e-01 5.19153630e-01 -3.87948578e-02 3.92815476e+02] [-5.18582339e-01 8.54680670e-01 2.43579505e-02 1.63137241e+02] [ 4.58027335e-02 -6.78490450e-04 9.98950274e-01 1.07692700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.370385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:392.87, Y:163.10, Z:107.69 [[ 8.53300436e-01 5.19974860e-01 -3.87880155e-02 3.92866724e+02] [-5.19403922e-01 8.54181319e-01 2.43688415e-02 1.63100544e+02] [ 4.58031832e-02 -6.47295770e-04 9.98950274e-01 1.07694319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.92, Y:163.06, Z:107.70 [[ 8.52105190e-01 5.21931782e-01 -3.87809247e-02 3.92916540e+02] [-5.21362353e-01 8.52987050e-01 2.43801207e-02 1.63062640e+02] [ 4.58043863e-02 -5.55513274e-04 9.98950274e-01 1.07699192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.490385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:392.97, Y:163.03, Z:107.70 [[ 8.51233090e-01 5.23353082e-01 -3.87785833e-02 3.92966306e+02] [-5.22784956e-01 8.52115789e-01 2.43838442e-02 1.63026198e+02] [ 4.58052032e-02 -4.83475116e-04 9.98950274e-01 1.07700875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.02, Y:162.99, Z:107.71 [[ 8.50404678e-01 5.24698628e-01 -3.87715546e-02 3.93016433e+02] [-5.24131389e-01 8.51287948e-01 2.43950151e-02 1.62988646e+02] [ 4.58057881e-02 -4.24246153e-04 9.98950274e-01 1.07706708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.610385723 meters Centerline goodness : 0.994855 with order 1 Centerline is valid? [True, True] Translation: X:393.07, Y:162.95, Z:107.71 [[ 8.50461936e-01 5.24606317e-01 -3.87647778e-02 3.93067153e+02] [-5.24038492e-01 8.51344829e-01 2.44057791e-02 1.62950059e+02] [ 4.58056190e-02 -4.41950492e-04 9.98950274e-01 1.07705935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.670385723 meters Centerline goodness : 0.994913 with order 1 Centerline is valid? [True, True] Translation: X:393.12, Y:162.91, Z:107.71 [[ 8.51555300e-01 5.22829939e-01 -3.87611534e-02 3.93116819e+02] [-5.22260010e-01 8.52436836e-01 2.44115339e-02 1.62911459e+02] [ 4.58045158e-02 -5.44370704e-04 9.98950274e-01 1.07708295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.730385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:393.17, Y:162.87, Z:107.71 [[ 8.51307506e-01 5.23233935e-01 -3.87528063e-02 3.93167060e+02] [-5.22663822e-01 8.52188923e-01 2.44247776e-02 1.62873030e+02] [ 4.58045848e-02 -5.38306601e-04 9.98950274e-01 1.07714266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:393.22, Y:162.83, Z:107.72 [[ 8.50791104e-01 5.24073824e-01 -3.87443494e-02 3.93216130e+02] [-5.23503970e-01 8.51672688e-01 2.44381852e-02 1.62834221e+02] [ 4.58049174e-02 -5.08969763e-04 9.98950274e-01 1.07717398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.850385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:393.27, Y:162.80, Z:107.72 [[ 8.50663939e-01 5.24280651e-01 -3.87383655e-02 3.93265878e+02] [-5.23710580e-01 8.51545383e-01 2.44476671e-02 1.62796507e+02] [ 4.58049151e-02 -5.09056911e-04 9.98950274e-01 1.07722872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.31, Y:162.76, Z:107.73 [[ 8.50720187e-01 5.24189816e-01 -3.87324319e-02 3.93313549e+02] [-5.23619223e-01 8.51601293e-01 2.44570640e-02 1.62757946e+02] [ 4.58047329e-02 -5.25072107e-04 9.98950274e-01 1.07725264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:393.36, Y:162.72, Z:107.73 [[ 8.49464384e-01 5.26222842e-01 -3.87270084e-02 3.93362634e+02] [-5.25653967e-01 8.50346599e-01 2.44656489e-02 1.62719922e+02] [ 4.58057632e-02 -4.25691745e-04 9.98950274e-01 1.07730751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.41, Y:162.68, Z:107.73 [[ 8.47683300e-01 5.29087597e-01 -3.87212753e-02 3.93411157e+02] [-5.28521289e-01 8.48567166e-01 2.44747192e-02 1.62681838e+02] [ 4.58068732e-02 -2.81792376e-04 9.98950275e-01 1.07732678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.46, Y:162.65, Z:107.74 [[ 8.47830962e-01 5.28851330e-01 -3.87160322e-02 3.93461616e+02] [-5.28284397e-01 8.48714427e-01 2.44830103e-02 1.62645016e+02] [ 4.58067277e-02 -3.04378467e-04 9.98950275e-01 1.07736174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.51, Y:162.61, Z:107.74 [[ 8.48275745e-01 5.28138014e-01 -3.87104565e-02 3.93510489e+02] [-5.27569936e-01 8.49158474e-01 2.44918230e-02 1.62606282e+02] [ 4.58063749e-02 -3.53346353e-04 9.98950275e-01 1.07739744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.56, Y:162.57, Z:107.75 [[ 8.46366323e-01 5.31192974e-01 -3.87049325e-02 3.93561789e+02] [-5.30627683e-01 8.47250839e-01 2.45005496e-02 1.62573153e+02] [ 4.58073064e-02 -1.98531384e-04 9.98950275e-01 1.07746246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.270385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:393.62, Y:162.55, Z:107.73 [[ 8.48085119e-01 5.28444842e-01 -3.86998643e-02 3.93617021e+02] [-5.27876320e-01 8.48967562e-01 2.45085524e-02 1.62545443e+02] [ 4.58063476e-02 -3.56596652e-04 9.98950275e-01 1.07734228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:393.67, Y:162.51, Z:107.75 [[ 8.47411080e-01 5.29525414e-01 -3.86949421e-02 3.93668682e+02] [-5.28957662e-01 8.48294019e-01 2.45163214e-02 1.62513325e+02] [ 4.58067031e-02 -3.07416322e-04 9.98950275e-01 1.07750911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.72, Y:162.48, Z:107.75 [[ 8.50519317e-01 5.24518502e-01 -3.86940969e-02 3.93720533e+02] [-5.23945492e-01 8.51398853e-01 2.45176553e-02 1.62481146e+02] [ 4.58040735e-02 -5.79141818e-04 9.98950275e-01 1.07752358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.77, Y:162.45, Z:107.75 [[ 8.52106163e-01 5.21936860e-01 -3.86911150e-02 3.93773879e+02] [-5.21360972e-01 8.52983816e-01 2.45223600e-02 1.62449635e+02] [ 4.58020185e-02 -7.23616802e-04 9.98950275e-01 1.07753893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.510385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:393.83, Y:162.42, Z:107.76 [[ 8.52643753e-01 5.21058619e-01 -3.86852257e-02 3.93826775e+02] [-5.20481406e-01 8.53520536e-01 2.45316472e-02 1.62418156e+02] [ 4.58010608e-02 -7.81815117e-04 9.98950275e-01 1.07755049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.570385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:393.88, Y:162.39, Z:107.75 [[ 8.52191642e-01 5.21798179e-01 -3.86790098e-02 3.93881715e+02] [-5.21221282e-01 8.53068633e-01 2.45414440e-02 1.62388268e+02] [ 4.58015307e-02 -7.53690353e-04 9.98950275e-01 1.07748371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.630385723 meters Centerline goodness : 0.995001 with order 1 Centerline is valid? [True, True] Translation: X:393.93, Y:162.36, Z:107.75 [[ 8.50590675e-01 5.24404120e-01 -3.86758499e-02 3.93934017e+02] [-5.23829684e-01 8.51469280e-01 2.45464227e-02 1.62355140e+02] [ 4.58035433e-02 -6.19400010e-04 9.98950275e-01 1.07747370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:393.99, Y:162.32, Z:107.76 [[ 8.48667090e-01 5.27512032e-01 -3.86681659e-02 3.93985344e+02] [-5.26940263e-01 8.49547432e-01 2.45585215e-02 1.62320236e+02] [ 4.58053566e-02 -4.66195468e-04 9.98950275e-01 1.07761366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.750385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:394.04, Y:162.29, Z:107.76 [[ 8.47722985e-01 5.29028085e-01 -3.86655637e-02 3.94038719e+02] [-5.28457703e-01 8.48604227e-01 2.45626178e-02 1.62286445e+02] [ 4.58060754e-02 -3.89180688e-04 9.98950275e-01 1.07764559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.09, Y:162.26, Z:107.76 [[ 8.49413794e-01 5.26309510e-01 -3.86588438e-02 3.94091128e+02] [-5.25735827e-01 8.50292890e-01 2.45731895e-02 1.62255140e+02] [ 4.58044434e-02 -5.48466867e-04 9.98950275e-01 1.07759538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.14, Y:162.22, Z:107.77 [[ 8.49368244e-01 5.26383438e-01 -3.86530940e-02 3.94140738e+02] [-5.25809420e-01 8.50247122e-01 2.45822305e-02 1.62219911e+02] [ 4.58043609e-02 -5.55204998e-04 9.98950275e-01 1.07772885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.930385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:394.19, Y:162.19, Z:107.77 [[ 8.50718450e-01 5.24198563e-01 -3.86521008e-02 3.94193040e+02] [-5.23622217e-01 8.51595803e-01 2.45837920e-02 1.62188279e+02] [ 4.58027553e-02 -6.74786719e-04 9.98950275e-01 1.07765542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.25, Y:162.16, Z:107.77 [[ 8.53647118e-01 5.19416111e-01 -3.86458506e-02 3.94246834e+02] [-5.18834405e-01 8.54520927e-01 2.45936136e-02 1.62156998e+02] [ 4.57980071e-02 -9.43470441e-04 9.98950275e-01 1.07765919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.30, Y:162.12, Z:107.77 [[ 8.53684126e-01 5.19355752e-01 -3.86395729e-02 3.94298669e+02] [-5.18773539e-01 8.54557596e-01 2.46034726e-02 1.62123724e+02] [ 4.57976955e-02 -9.58405961e-04 9.98950275e-01 1.07771764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.35, Y:162.09, Z:107.77 [[ 8.52578377e-01 5.21169092e-01 -3.86379159e-02 3.94350432e+02] [-5.20588619e-01 8.53453005e-01 2.46060745e-02 1.62090484e+02] [ 4.57995709e-02 -8.64147813e-04 9.98950275e-01 1.07773009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:394.41, Y:162.06, Z:107.77 [[ 8.52441605e-01 5.21393167e-01 -3.86325786e-02 3.94406217e+02] [-5.20812545e-01 8.53316133e-01 2.46144515e-02 1.62063004e+02] [ 4.57996094e-02 -8.62050979e-04 9.98950275e-01 1.07773577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.46, Y:162.04, Z:107.77 [[ 8.52994653e-01 5.20488357e-01 -3.86263217e-02 3.94462754e+02] [-5.19906362e-01 8.53868269e-01 2.46242661e-02 1.62035954e+02] [ 4.57984343e-02 -9.22296926e-04 9.98950275e-01 1.07769618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.290385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:394.51, Y:162.00, Z:107.78 [[ 8.51053336e-01 5.23657056e-01 -3.86200319e-02 3.94513811e+02] [-5.23077868e-01 8.51928814e-01 2.46341270e-02 1.62001013e+02] [ 4.58013524e-02 -7.63671971e-04 9.98950276e-01 1.07776390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:394.56, Y:161.96, Z:107.79 [[ 8.46857463e-01 5.30416288e-01 -3.86134701e-02 3.94561416e+02] [-5.29843619e-01 8.47737219e-01 2.46444082e-02 1.61962765e+02] [ 4.58058713e-02 -4.11200310e-04 9.98950276e-01 1.07788248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.410385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:394.62, Y:161.93, Z:107.79 [[ 8.48010402e-01 5.28571307e-01 -3.86099963e-02 3.94616511e+02] [-5.27996476e-01 8.48888748e-01 2.46498493e-02 1.61933745e+02] [ 4.58047945e-02 -5.17386597e-04 9.98950276e-01 1.07789468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.67, Y:161.90, Z:107.80 [[ 8.45467700e-01 5.32629225e-01 -3.86067002e-02 3.94666783e+02] [-5.32058375e-01 8.46348637e-01 2.46550107e-02 1.61900028e+02] [ 4.58067073e-02 -3.03997010e-04 9.98950276e-01 1.07796291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.72, Y:161.87, Z:107.80 [[ 8.45570893e-01 5.32465645e-01 -3.86031387e-02 3.94721368e+02] [-5.31894370e-01 8.46451555e-01 2.46605857e-02 1.61868559e+02] [ 4.58066015e-02 -3.19481329e-04 9.98950276e-01 1.07799214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.77, Y:161.84, Z:107.80 [[ 8.44915866e-01 5.33504905e-01 -3.85965857e-02 3.94774148e+02] [-5.32934245e-01 8.45796926e-01 2.46708377e-02 1.61837117e+02] [ 4.58068865e-02 -2.75339992e-04 9.98950276e-01 1.07802270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:394.83, Y:161.80, Z:107.81 [[ 8.44270974e-01 5.34525298e-01 -3.85905248e-02 3.94827906e+02] [-5.33955270e-01 8.45152443e-01 2.46803147e-02 1.61804786e+02] [ 4.58071288e-02 -2.31259237e-04 9.98950276e-01 1.07805484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:394.88, Y:161.78, Z:107.81 [[ 8.43635925e-01 5.35527492e-01 -3.85840903e-02 3.94883301e+02] [-5.34958051e-01 8.44517773e-01 2.46903699e-02 1.61775457e+02] [ 4.58073219e-02 -1.88813335e-04 9.98950276e-01 1.07809499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.94, Y:161.74, Z:107.81 [[ 8.43726279e-01 5.35385601e-01 -3.85775159e-02 3.94937796e+02] [-5.34815542e-01 8.44607729e-01 2.47006378e-02 1.61744449e+02] [ 4.58072339e-02 -2.08722198e-04 9.98950276e-01 1.07812852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.830385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:394.99, Y:161.71, Z:107.82 [[ 8.45402196e-01 5.32735783e-01 -3.85708726e-02 3.94992282e+02] [-5.32162488e-01 8.46281545e-01 2.47110072e-02 1.61713041e+02] [ 4.58062554e-02 -3.64768225e-04 9.98950276e-01 1.07815657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:395.05, Y:161.68, Z:107.82 [[ 8.46822776e-01 5.30475256e-01 -3.85640913e-02 3.95047732e+02] [-5.29899133e-01 8.47700273e-01 2.47215857e-02 1.61683500e+02] [ 4.58049802e-02 -4.99723261e-04 9.98950276e-01 1.07819707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:395.10, Y:161.66, Z:107.82 [[ 8.47613010e-01 5.29212165e-01 -3.85573631e-02 3.95103846e+02] [-5.28634256e-01 8.48489333e-01 2.47320749e-02 1.61655420e+02] [ 4.58040262e-02 -5.80485463e-04 9.98950276e-01 1.07821438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.010385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:395.16, Y:161.63, Z:107.82 [[ 8.47521496e-01 5.29359141e-01 -3.85514429e-02 3.95161055e+02] [-5.28780965e-01 8.48397642e-01 2.47412998e-02 1.61627705e+02] [ 4.58039864e-02 -5.83514247e-04 9.98950276e-01 1.07823723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.22, Y:161.60, Z:107.83 [[ 8.47485067e-01 5.29417951e-01 -3.85447093e-02 3.95217029e+02] [-5.28839359e-01 8.48360938e-01 2.47517856e-02 1.61598982e+02] [ 4.58038654e-02 -5.92809255e-04 9.98950276e-01 1.07826898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.28, Y:161.58, Z:107.83 [[ 8.50181444e-01 5.25077454e-01 -3.85380266e-02 3.95275252e+02] [-5.24493920e-01 8.51054030e-01 2.47621861e-02 1.61575064e+02] [ 4.58000085e-02 -8.39390503e-04 9.98950276e-01 1.07827032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.33, Y:161.55, Z:107.83 [[ 8.49626353e-01 5.25975638e-01 -3.85316706e-02 3.95328613e+02] [-5.25392577e-01 8.50499256e-01 2.47720725e-02 1.61545768e+02] [ 4.58006638e-02 -8.02751945e-04 9.98950276e-01 1.07833183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.39, Y:161.52, Z:107.83 [[ 8.53813588e-01 5.19151339e-01 -3.85258846e-02 3.95387445e+02] [-5.18560898e-01 8.54681516e-01 2.47810676e-02 1.61521675e+02] [ 4.57924859e-02 -1.18039493e-03 9.98950277e-01 1.07831252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.44, Y:161.49, Z:107.84 [[ 8.53533589e-01 5.19612015e-01 -3.85196843e-02 3.95441306e+02] [-5.19021608e-01 8.54401540e-01 2.47907017e-02 1.61492908e+02] [ 4.57928240e-02 -1.16714807e-03 9.98950277e-01 1.07838096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.370385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:395.50, Y:161.47, Z:107.84 [[ 8.54280102e-01 5.18384197e-01 -3.85140387e-02 3.95498229e+02] [-5.17792148e-01 8.55146934e-01 2.47994694e-02 1.61465418e+02] [ 4.57908151e-02 -1.24342641e-03 9.98950277e-01 1.07841338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.56, Y:161.44, Z:107.85 [[ 8.54567417e-01 5.17910922e-01 -3.85072396e-02 3.95555441e+02] [-5.17317917e-01 8.55433595e-01 2.48100221e-02 1.61437537e+02] [ 4.57897679e-02 -1.28135150e-03 9.98950277e-01 1.07846650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.490385723 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:395.61, Y:161.41, Z:107.85 [[ 8.54773680e-01 5.17570929e-01 -3.85004994e-02 3.95611234e+02] [-5.16977110e-01 8.55639300e-01 2.48204774e-02 1.61409309e+02] [ 4.57888979e-02 -1.31201389e-03 9.98950277e-01 1.07847016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.67, Y:161.38, Z:107.85 [[ 8.53265429e-01 5.20054131e-01 -3.84942707e-02 3.95667851e+02] [-5.19462395e-01 8.54132475e-01 2.48301337e-02 1.61380403e+02] [ 4.57922203e-02 -1.19036856e-03 9.98950277e-01 1.07852023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.72, Y:161.35, Z:107.85 [[ 8.51332789e-01 5.23212260e-01 -3.84891316e-02 3.95723924e+02] [-5.22623382e-01 8.52201778e-01 2.48380972e-02 1.61352522e+02] [ 4.57961034e-02 -1.03016642e-03 9.98950277e-01 1.07854967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.78, Y:161.32, Z:107.86 [[ 8.50428619e-01 5.24680960e-01 -3.84844657e-02 3.95777306e+02] [-5.24093256e-01 8.51298402e-01 2.48453245e-02 1.61319877e+02] [ 4.57976329e-02 -9.59726116e-04 9.98950277e-01 1.07858355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.83, Y:161.29, Z:107.86 [[ 8.47398891e-01 5.29560765e-01 -3.84774694e-02 3.95831050e+02] [-5.28977579e-01 8.48271709e-01 2.48561549e-02 1.61289057e+02] [ 4.58021931e-02 -7.09359459e-04 9.98950277e-01 1.07860994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.790385723 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:395.89, Y:161.26, Z:107.86 [[ 8.45653973e-01 5.32343253e-01 -3.84710046e-02 3.95885420e+02] [-5.31762484e-01 8.46528402e-01 2.48661567e-02 1.61257862e+02] [ 4.58041288e-02 -5.70727244e-04 9.98950277e-01 1.07864298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.94, Y:161.22, Z:107.87 [[ 8.45463459e-01 5.32646288e-01 -3.84638957e-02 3.95936104e+02] [-5.32065332e-01 8.46337763e-01 2.48771482e-02 1.61224947e+02] [ 4.58041681e-02 -5.67414366e-04 9.98950277e-01 1.07869761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.99, Y:161.19, Z:107.87 [[ 8.47698653e-01 5.29082124e-01 -3.84590658e-02 3.95989273e+02] [-5.28497154e-01 8.48570277e-01 2.48846128e-02 1.61191307e+02] [ 4.58012239e-02 -7.69145881e-04 9.98950277e-01 1.07873313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9703857229999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:396.04, Y:161.16, Z:107.87 [[ 8.50236002e-01 5.24995414e-01 -3.84519884e-02 3.96043085e+02] [-5.24405761e-01 8.51104465e-01 2.48955440e-02 1.61158507e+02] [ 4.57967055e-02 -1.00264356e-03 9.98950277e-01 1.07874323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.10, Y:161.13, Z:107.88 [[ 8.50628262e-01 5.24360127e-01 -3.84449985e-02 3.96096718e+02] [-5.23769338e-01 8.51495952e-01 2.49063336e-02 1.61125422e+02] [ 4.57956488e-02 -1.04971984e-03 9.98950277e-01 1.07878097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.15, Y:161.09, Z:107.88 [[ 8.48482858e-01 5.27825114e-01 -3.84381095e-02 3.96149247e+02] [-5.27237387e-01 8.49352625e-01 2.49169609e-02 1.61093411e+02] [ 4.57993069e-02 -8.75605806e-04 9.98950277e-01 1.07878857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.20, Y:161.06, Z:107.88 [[ 8.46211865e-01 5.31458760e-01 -3.84326044e-02 3.96201702e+02] [-5.30874384e-01 8.47083887e-01 2.49254492e-02 1.61060959e+02] [ 4.58024883e-02 -6.89325638e-04 9.98950278e-01 1.07880383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:396.25, Y:161.03, Z:107.88 [[ 8.46014042e-01 5.31774047e-01 -3.84266079e-02 3.96253029e+02] [-5.31189575e-01 8.46886000e-01 2.49346904e-02 1.61025671e+02] [ 4.58025774e-02 -6.83284640e-04 9.98950278e-01 1.07882946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.30, Y:160.99, Z:107.89 [[ 8.46733583e-01 5.30627893e-01 -3.84223731e-02 3.96304929e+02] [-5.30041945e-01 8.47604549e-01 2.49412141e-02 1.60990502e+02] [ 4.58014822e-02 -7.53094236e-04 9.98950278e-01 1.07887546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.36, Y:160.96, Z:107.89 [[ 8.47273343e-01 5.29766114e-01 -3.84154471e-02 3.96356538e+02] [-5.29178797e-01 8.48143387e-01 2.49518773e-02 1.60956375e+02] [ 4.58004665e-02 -8.12420385e-04 9.98950278e-01 1.07890547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.41, Y:160.92, Z:107.90 [[ 8.46672695e-01 5.30726005e-01 -3.84090437e-02 3.96408954e+02] [-5.30139228e-01 8.47543103e-01 2.49617304e-02 1.60921517e+02] [ 4.58011595e-02 -7.72274782e-04 9.98950278e-01 1.07895119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.450385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:396.46, Y:160.89, Z:107.90 [[ 8.44878553e-01 5.33578020e-01 -3.84021682e-02 3.96462466e+02] [-5.32993701e-01 8.45750613e-01 2.49723034e-02 1.60888457e+02] [ 4.58033295e-02 -6.30449801e-04 9.98950278e-01 1.07896845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.52, Y:160.85, Z:107.90 [[ 8.43511525e-01 5.35736984e-01 -3.83951890e-02 3.96515712e+02] [-5.35154409e-01 8.44384751e-01 2.49830294e-02 1.60854248e+02] [ 4.58046449e-02 -5.26118601e-04 9.98950278e-01 1.07900346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.570385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:396.57, Y:160.82, Z:107.90 [[ 8.43975437e-01 5.35006358e-01 -3.83882513e-02 3.96566900e+02] [-5.34422543e-01 8.44847833e-01 2.49936851e-02 1.60818195e+02] [ 4.58040114e-02 -5.78509480e-04 9.98950278e-01 1.07899293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.62, Y:160.78, Z:107.90 [[ 8.44570071e-01 5.34067600e-01 -3.83821987e-02 3.96618544e+02] [-5.33482392e-01 8.45441535e-01 2.50029766e-02 1.60783690e+02] [ 4.58031846e-02 -6.40538537e-04 9.98950278e-01 1.07903320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.690385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:396.67, Y:160.75, Z:107.90 [[ 8.44908139e-01 5.33533050e-01 -3.83760450e-02 3.96668463e+02] [-5.32946862e-01 8.45778943e-01 2.50124181e-02 1.60746816e+02] [ 4.58026025e-02 -6.80802876e-04 9.98950278e-01 1.07904399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.72, Y:160.71, Z:107.91 [[ 8.44493698e-01 5.34189110e-01 -3.83717185e-02 3.96718141e+02] [-5.33603298e-01 8.45364754e-01 2.50190536e-02 1.60710380e+02] [ 4.58030044e-02 -6.53157627e-04 9.98950278e-01 1.07909595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.77, Y:160.67, Z:107.91 [[ 8.44442065e-01 5.34271166e-01 -3.83656005e-02 3.96769495e+02] [-5.33685012e-01 8.45312892e-01 2.50284318e-02 1.60674693e+02] [ 4.58029061e-02 -6.59914687e-04 9.98950278e-01 1.07914719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.82, Y:160.64, Z:107.92 [[ 8.44268682e-01 5.34545629e-01 -3.83583506e-02 3.96817667e+02] [-5.33959253e-01 8.45139360e-01 2.50395379e-02 1.60637609e+02] [ 4.58029274e-02 -6.58301400e-04 9.98950278e-01 1.07918887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.930385723 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:396.87, Y:160.60, Z:107.92 [[ 8.44293726e-01 5.34506487e-01 -3.83525712e-02 3.96868932e+02] [-5.33919669e-01 8.45164105e-01 2.50483871e-02 1.60601326e+02] [ 4.58027419e-02 -6.71003979e-04 9.98950278e-01 1.07917673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.92, Y:160.56, Z:107.92 [[ 8.42780842e-01 5.36889248e-01 -3.83456279e-02 3.96917841e+02] [-5.36304408e-01 8.43652552e-01 2.50590118e-02 1.60564102e+02] [ 4.58043008e-02 -5.54325768e-04 9.98950278e-01 1.07921353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.050385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:396.97, Y:160.53, Z:107.92 [[ 8.42049822e-01 5.38035287e-01 -3.83422464e-02 3.96968663e+02] [-5.37451397e-01 8.42922168e-01 2.50641848e-02 1.60526327e+02] [ 4.58049453e-02 -4.98198422e-04 9.98950278e-01 1.07923615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.02, Y:160.49, Z:107.93 [[ 8.41149904e-01 5.39441596e-01 -3.83354161e-02 3.97018350e+02] [-5.38858689e-01 8.42022907e-01 2.50746272e-02 1.60488662e+02] [ 4.58055954e-02 -4.34148149e-04 9.98950279e-01 1.07931196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.07, Y:160.45, Z:107.93 [[ 8.41178696e-01 5.39397202e-01 -3.83283267e-02 3.97066543e+02] [-5.38813755e-01 8.42051339e-01 2.50854591e-02 1.60451314e+02] [ 4.58054453e-02 -4.49524140e-04 9.98950279e-01 1.07932409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.12, Y:160.41, Z:107.93 [[ 8.42773083e-01 5.36902909e-01 -3.83248807e-02 3.97116867e+02] [-5.36316641e-01 8.43643833e-01 2.50907228e-02 1.60414336e+02] [ 4.58038313e-02 -5.91514504e-04 9.98950279e-01 1.07934423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.16, Y:160.38, Z:107.94 [[ 8.42984678e-01 5.36571081e-01 -3.83185088e-02 3.97164682e+02] [-5.35984028e-01 8.43854898e-01 2.51004502e-02 1.60375413e+02] [ 4.58034370e-02 -6.21186258e-04 9.98950279e-01 1.07939272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.21, Y:160.34, Z:107.94 [[ 8.43668124e-01 5.35496250e-01 -3.83126995e-02 3.97213551e+02] [-5.34907686e-01 8.44537323e-01 2.51093142e-02 1.60335418e+02] [ 4.58024483e-02 -6.90170571e-04 9.98950279e-01 1.07942627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.27, Y:160.30, Z:107.94 [[ 8.42943014e-01 5.36637445e-01 -3.83057209e-02 3.97265452e+02] [-5.36049574e-01 8.43812682e-01 2.51199560e-02 1.60299486e+02] [ 4.58031621e-02 -6.40925998e-04 9.98950279e-01 1.07944015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.31, Y:160.26, Z:107.95 [[ 8.39405790e-01 5.42154163e-01 -3.82986091e-02 3.97313001e+02] [-5.41571514e-01 8.40278965e-01 2.51307941e-02 1.60261413e+02] [ 4.58062803e-02 -3.53498384e-04 9.98950279e-01 1.07947140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.530385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:397.36, Y:160.23, Z:107.95 [[ 8.39037449e-01 5.42724436e-01 -3.82928938e-02 3.97364884e+02] [-5.42141983e-01 8.39910754e-01 2.51394999e-02 1.60225717e+02] [ 4.58064342e-02 -3.32796450e-04 9.98950279e-01 1.07951209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5903857229999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:397.41, Y:160.19, Z:107.95 [[ 8.38628148e-01 5.43357168e-01 -3.82859875e-02 3.97414041e+02] [-5.42774894e-01 8.39501573e-01 2.51500133e-02 1.60187005e+02] [ 4.58065867e-02 -3.10836223e-04 9.98950279e-01 1.07954453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.650385723 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:397.46, Y:160.15, Z:107.96 [[ 8.39467799e-01 5.42059462e-01 -3.82799396e-02 3.97463291e+02] [-5.41475418e-01 8.40340041e-01 2.51592152e-02 1.60147373e+02] [ 4.58059567e-02 -3.92704692e-04 9.98950279e-01 1.07956097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.710385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:397.51, Y:160.11, Z:107.96 [[ 8.37557177e-01 5.45007221e-01 -3.82766768e-02 3.97510680e+02] [-5.44426020e-01 8.38431317e-01 2.51641782e-02 1.60107561e+02] [ 4.58070234e-02 -2.37619253e-04 9.98950279e-01 1.07959364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.770385723 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:397.56, Y:160.07, Z:107.96 [[ 8.35486265e-01 5.48177033e-01 -3.82706421e-02 3.97558828e+02] [-5.47598729e-01 8.36362323e-01 2.51733526e-02 1.60067294e+02] [ 4.58075769e-02 -7.50353838e-05 9.98950279e-01 1.07964474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.830385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:397.61, Y:160.03, Z:107.96 [[ 8.34188241e-01 5.50150774e-01 -3.82636161e-02 3.97606369e+02] [-5.49574053e-01 8.35065342e-01 2.51840277e-02 1.60027184e+02] [ 4.58076320e-02 2.04708304e-05 9.98950279e-01 1.07964958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.890385723 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:397.65, Y:159.99, Z:107.97 [[ 8.34440304e-01 5.49768547e-01 -3.82612520e-02 3.97653870e+02] [-5.49191259e-01 8.35317033e-01 2.51876189e-02 1.59987598e+02] [ 4.58076361e-02 -4.81928430e-06 9.98950279e-01 1.07971045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.950385723 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:397.70, Y:159.95, Z:107.98 [[ 8.34582489e-01 5.49553144e-01 -3.82545573e-02 3.97703556e+02] [-5.48975164e-01 8.35458761e-01 2.51977826e-02 1.59948351e+02] [ 4.58076257e-02 -2.88261831e-05 9.98950279e-01 1.07975485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.010385723 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:397.75, Y:159.91, Z:107.98 [[ 8.35195345e-01 5.48621784e-01 -3.82475449e-02 3.97751672e+02] [-5.48042339e-01 8.36070649e-01 2.52084222e-02 1.59907844e+02] [ 4.58075392e-02 -9.26829149e-05 9.98950279e-01 1.07979482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.80, Y:159.87, Z:107.98 [[ 8.36762084e-01 5.46229689e-01 -3.82405699e-02 3.97799705e+02] [-5.45647259e-01 8.37635404e-01 2.52189987e-02 1.59867000e+02] [ 4.58070210e-02 -2.36439725e-04 9.98950280e-01 1.07983255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.130385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:397.85, Y:159.83, Z:107.98 [[ 8.38123023e-01 5.44139673e-01 -3.82336942e-02 3.97847329e+02] [-5.43554590e-01 8.38994568e-01 2.52294183e-02 1.59827148e+02] [ 4.58061892e-02 -3.63256363e-04 9.98950280e-01 1.07983455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.190385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:397.90, Y:159.79, Z:107.99 [[ 8.38916022e-01 5.42916732e-01 -3.82273535e-02 3.97895646e+02] [-5.42329941e-01 8.39786418e-01 2.52390221e-02 1.59787425e+02] [ 4.58054996e-02 -4.41581628e-04 9.98950280e-01 1.07985895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:397.94, Y:159.75, Z:107.99 [[ 8.38488509e-01 5.43577167e-01 -3.82214967e-02 3.97943416e+02] [-5.42990658e-01 8.39359095e-01 2.52478885e-02 1.59746858e+02] [ 4.58057365e-02 -4.16148775e-04 9.98950280e-01 1.07989534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.99, Y:159.71, Z:107.99 [[ 8.37186368e-01 5.45580949e-01 -3.82153636e-02 3.97991876e+02] [-5.44996099e-01 8.38058069e-01 2.52571681e-02 1.59706930e+02] [ 4.58065236e-02 -3.17732683e-04 9.98950280e-01 1.07991620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.04, Y:159.67, Z:108.00 [[ 8.36448119e-01 5.46712536e-01 -3.82092607e-02 3.98041673e+02] [-5.46128444e-01 8.37320328e-01 2.52663973e-02 1.59667771e+02] [ 4.58068468e-02 -2.66866450e-04 9.98950280e-01 1.07995115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:398.09, Y:159.63, Z:108.00 [[ 8.34780580e-01 5.49255837e-01 -3.82022164e-02 3.98089006e+02] [-5.48673915e-01 8.35654238e-01 2.52770437e-02 1.59628444e+02] [ 4.58074078e-02 -1.40225573e-04 9.98950280e-01 1.07999547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.490385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:398.14, Y:159.59, Z:108.00 [[ 8.31890323e-01 5.53623979e-01 -3.81965880e-02 3.98140042e+02] [-5.53046255e-01 8.32766763e-01 2.52855459e-02 1.59594406e+02] [ 4.58075335e-02 8.96789499e-05 9.98950280e-01 1.08002851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.19, Y:159.56, Z:108.01 [[ 8.31343931e-01 5.54444505e-01 -3.81910883e-02 3.98192923e+02] [-5.53867264e-01 8.32220689e-01 2.52938500e-02 1.59559879e+02] [ 4.58074499e-02 1.24904896e-04 9.98950280e-01 1.08005925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:398.24, Y:159.52, Z:108.01 [[ 8.32618826e-01 5.52528611e-01 -3.81841013e-02 3.98244567e+02] [-5.51948868e-01 8.33493932e-01 2.53043932e-02 1.59524860e+02] [ 4.58076180e-02 6.75739904e-06 9.98950280e-01 1.08009807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.30, Y:159.49, Z:108.01 [[ 8.35105639e-01 5.48763228e-01 -3.81770906e-02 3.98296240e+02] [-5.48179057e-01 8.35977795e-01 2.53149660e-02 1.59492347e+02] [ 4.58071225e-02 -2.12789354e-04 9.98950280e-01 1.08010758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.35, Y:159.46, Z:108.01 [[ 8.37753688e-01 5.44712338e-01 -3.81736365e-02 3.98348878e+02] [-5.44123713e-01 8.38622844e-01 2.53201735e-02 1.59459132e+02] [ 4.58054945e-02 -4.40887918e-04 9.98950280e-01 1.08012802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.40, Y:159.43, Z:108.02 [[ 8.38394044e-01 5.43726648e-01 -3.81675277e-02 3.98402052e+02] [-5.43136581e-01 8.39262222e-01 2.53293785e-02 1.59426093e+02] [ 4.58048222e-02 -5.05819579e-04 9.98950280e-01 1.08015727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:398.46, Y:159.39, Z:108.02 [[ 8.38501676e-01 5.43561132e-01 -3.81606464e-02 3.98456616e+02] [-5.42970423e-01 8.39369417e-01 2.53397415e-02 1.59393850e+02] [ 4.58045781e-02 -5.27313399e-04 9.98950280e-01 1.08017597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.51, Y:159.36, Z:108.02 [[ 8.38206228e-01 5.44017099e-01 -3.81538330e-02 3.98508934e+02] [-5.43426395e-01 8.39073973e-01 2.53499963e-02 1.59359522e+02] [ 4.58047196e-02 -5.14724912e-04 9.98950280e-01 1.08019491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.56, Y:159.32, Z:108.03 [[ 8.36807340e-01 5.46166897e-01 -3.81470468e-02 3.98559939e+02] [-5.45577957e-01 8.37676282e-01 2.53602042e-02 1.59324713e+02] [ 4.58057803e-02 -4.09417140e-04 9.98950280e-01 1.08026176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.61, Y:159.29, Z:108.03 [[ 8.35449740e-01 5.48241733e-01 -3.81409762e-02 3.98612035e+02] [-5.47654534e-01 8.36319860e-01 2.53693308e-02 1.59291579e+02] [ 4.58065818e-02 -3.06722235e-04 9.98950281e-01 1.08029433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:398.66, Y:159.26, Z:108.03 [[ 8.32212540e-01 5.53143767e-01 -3.81347781e-02 3.98663510e+02] [-5.52561267e-01 8.33085813e-01 2.53786443e-02 1.59255720e+02] [ 4.58075815e-02 -4.86247287e-05 9.98950281e-01 1.08031248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.150385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:398.71, Y:159.22, Z:108.03 [[ 8.29423014e-01 5.57318343e-01 -3.81277821e-02 3.98713896e+02] [-5.56739755e-01 8.30298883e-01 2.53891505e-02 1.59221087e+02] [ 4.58072942e-02 1.68906335e-04 9.98950281e-01 1.08031649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.210385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:398.77, Y:159.19, Z:108.03 [[ 8.28318209e-01 5.58959429e-01 -3.81221884e-02 3.98766074e+02] [-5.58382190e-01 8.29194968e-01 2.53975467e-02 1.59185089e+02] [ 4.58069250e-02 2.49500632e-04 9.98950281e-01 1.08032731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.82, Y:159.15, Z:108.04 [[ 8.28576551e-01 5.58576865e-01 -3.81154115e-02 3.98816097e+02] [-5.57998754e-01 8.29452734e-01 2.54077130e-02 1.59146300e+02] [ 4.58070930e-02 2.16116935e-04 9.98950281e-01 1.08038364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.330385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:398.87, Y:159.11, Z:108.04 [[ 8.29179653e-01 5.57681682e-01 -3.81083354e-02 3.98865891e+02] [-5.57102137e-01 8.30054889e-01 2.54183218e-02 1.59110556e+02] [ 4.58073426e-02 1.53879817e-04 9.98950281e-01 1.08041809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.92, Y:159.07, Z:108.05 [[ 8.29549493e-01 5.57131787e-01 -3.81026309e-02 3.98917465e+02] [-5.56551269e-01 8.30424084e-01 2.54268702e-02 1.59074055e+02] [ 4.58074600e-02 1.13220278e-04 9.98950281e-01 1.08045188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.97, Y:159.04, Z:108.05 [[ 8.29514782e-01 5.57183929e-01 -3.80958673e-02 3.98969731e+02] [-5.56603001e-01 8.30389101e-01 2.54369997e-02 1.59038418e+02] [ 4.58074805e-02 1.03906775e-04 9.98950281e-01 1.08048958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.02, Y:159.00, Z:108.05 [[ 8.29848902e-01 5.56686670e-01 -3.80887184e-02 3.99020893e+02] [-5.56104727e-01 8.30722545e-01 2.54476998e-02 1.59003208e+02] [ 4.58075524e-02 6.35706310e-05 9.98950281e-01 1.08053455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.07, Y:158.97, Z:108.06 [[ 8.30303916e-01 5.56008239e-01 -3.80820926e-02 3.99073924e+02] [-5.55425127e-01 8.31176779e-01 2.54576113e-02 1.58969785e+02] [ 4.58075927e-02 1.41967610e-05 9.98950281e-01 1.08056881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.13, Y:158.94, Z:108.06 [[ 8.30970895e-01 5.55011411e-01 -3.80750045e-02 3.99126680e+02] [-5.54426766e-01 8.31842732e-01 2.54682081e-02 1.58935438e+02] [ 4.58075619e-02 -5.35381050e-05 9.98950281e-01 1.08061035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.18, Y:158.90, Z:108.06 [[ 8.32664596e-01 5.52467653e-01 -3.80678825e-02 3.99178976e+02] [-5.51879859e-01 8.33534312e-01 2.54788491e-02 1.58901536e+02] [ 4.58071262e-02 -2.06438028e-04 9.98950281e-01 1.08064550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.23, Y:158.87, Z:108.07 [[ 8.35091826e-01 5.48792140e-01 -3.80634927e-02 3.99231709e+02] [-5.48200219e-01 8.35958740e-01 2.54854054e-02 1.58867520e+02] [ 4.58056996e-02 -4.16238741e-04 9.98950281e-01 1.08068742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.29, Y:158.84, Z:108.07 [[ 8.38133004e-01 5.44136714e-01 -3.80565959e-02 3.99285482e+02] [-5.43539511e-01 8.38996287e-01 2.54957001e-02 1.58835161e+02] [ 4.58024891e-02 -6.83524228e-04 9.98950281e-01 1.08072848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.34, Y:158.80, Z:108.08 [[ 8.41301955e-01 5.39224666e-01 -3.80497051e-02 3.99339049e+02] [-5.38621959e-01 8.42161404e-01 2.55059797e-02 1.58802298e+02] [ 4.57974465e-02 -9.63823837e-04 9.98950282e-01 1.08075947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.39, Y:158.77, Z:108.08 [[ 8.43770355e-01 5.35354397e-01 -3.80428406e-02 3.99392792e+02] [-5.34747287e-01 8.44626700e-01 2.55162143e-02 1.58770476e+02] [ 4.57922164e-02 -1.18651942e-03 9.98950282e-01 1.08079922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.45, Y:158.74, Z:108.08 [[ 8.44518183e-01 5.34174423e-01 -3.80358359e-02 3.99447836e+02] [-5.33565647e-01 8.45373344e-01 2.55266515e-02 1.58740265e+02] [ 4.57901661e-02 -1.26310591e-03 9.98950282e-01 1.08082637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:399.50, Y:158.71, Z:108.08 [[ 8.44992929e-01 5.33423632e-01 -3.80286593e-02 3.99504374e+02] [-5.32813615e-01 8.45847206e-01 2.55373385e-02 1.58711150e+02] [ 4.57886551e-02 -1.31668302e-03 9.98950282e-01 1.08083781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.56, Y:158.69, Z:108.07 [[ 8.48107212e-01 5.28458623e-01 -3.80215772e-02 3.99563309e+02] [-5.27843135e-01 8.48957555e-01 2.55478785e-02 1.58687128e+02] [ 4.57797019e-02 -1.59791152e-03 9.98950282e-01 1.08074509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.61, Y:158.65, Z:108.08 [[ 8.42431492e-01 5.37460370e-01 -3.80201534e-02 3.99613892e+02] [-5.36853877e-01 8.43288273e-01 2.55499972e-02 1.58653861e+02] [ 4.57940604e-02 -1.11285545e-03 9.98950282e-01 1.08083011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.67, Y:158.62, Z:108.09 [[ 8.38391703e-01 5.43741006e-01 -3.80141016e-02 3.99666562e+02] [-5.43140525e-01 8.39252708e-01 2.55589980e-02 1.58620593e+02] [ 4.58009130e-02 -7.81452783e-04 9.98950282e-01 1.08090200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.290385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:399.72, Y:158.59, Z:108.08 [[ 8.40710216e-01 5.40149459e-01 -3.80117701e-02 3.99722458e+02] [-5.39545143e-01 8.41568535e-01 2.55624650e-02 1.58592768e+02] [ 4.57970613e-02 -9.81559540e-04 9.98950282e-01 1.08084147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.350385723 meters Centerline goodness : 0.995555 with order 1 Centerline is valid? [True, True] Translation: X:399.77, Y:158.56, Z:108.09 [[ 8.37704502e-01 5.44799770e-01 -3.80049714e-02 3.99773920e+02] [-5.44199762e-01 8.38565837e-01 2.55725689e-02 1.58560229e+02] [ 4.58016004e-02 -7.39959710e-04 9.98950282e-01 1.08093019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:399.83, Y:158.53, Z:108.09 [[ 8.39435676e-01 5.42129085e-01 -3.79973755e-02 3.99828607e+02] [-5.41525827e-01 8.40294737e-01 2.55838506e-02 1.58529825e+02] [ 4.57987441e-02 -8.99436754e-04 9.98950282e-01 1.08090264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4703857229999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:399.88, Y:158.50, Z:108.09 [[ 8.37805777e-01 5.44645076e-01 -3.79897527e-02 3.99884364e+02] [-5.44043884e-01 8.38666286e-01 2.55951647e-02 1.58499903e+02] [ 4.58010052e-02 -7.75684215e-04 9.98950282e-01 1.08089504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:399.94, Y:158.47, Z:108.09 [[ 8.38656864e-01 5.43334179e-01 -3.79820224e-02 3.99938935e+02] [-5.42731123e-01 8.39516068e-01 2.56066309e-02 1.58469307e+02] [ 4.57994759e-02 -8.61151129e-04 9.98950282e-01 1.08094346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:399.99, Y:158.43, Z:108.11 [[ 8.34755926e-01 5.49309142e-01 -3.79738101e-02 3.99988652e+02] [-5.48711683e-01 8.35619031e-01 2.56188037e-02 1.58433806e+02] [ 4.58042815e-02 -5.48774973e-04 9.98950282e-01 1.08105575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.650385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:400.04, Y:158.40, Z:108.11 [[ 8.33843937e-01 5.50692980e-01 -3.79674908e-02 4.00042716e+02] [-5.50096528e-01 8.34707738e-01 2.56281657e-02 1.58401589e+02] [ 4.58050093e-02 -4.84105751e-04 9.98950282e-01 1.08106747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.10, Y:158.37, Z:108.10 [[ 8.33858348e-01 5.50671653e-01 -3.79603319e-02 4.00095442e+02] [-5.50074696e-01 8.34721800e-01 2.56387651e-02 1.58368101e+02] [ 4.58048577e-02 -4.98080304e-04 9.98950283e-01 1.08104187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.770385723 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:400.15, Y:158.33, Z:108.11 [[ 8.32653148e-01 5.52492476e-01 -3.79578649e-02 4.00145601e+02] [-5.51897241e-01 8.33517787e-01 2.56424168e-02 1.58330589e+02] [ 4.58057979e-02 -4.02398130e-04 9.98950283e-01 1.08111087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.20, Y:158.30, Z:108.12 [[ 8.32587574e-01 5.52591548e-01 -3.79540876e-02 4.00196674e+02] [-5.51996161e-01 8.33452109e-01 2.56480065e-02 1.58296599e+02] [ 4.58057860e-02 -4.03700913e-04 9.98950283e-01 1.08122068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.25, Y:158.26, Z:108.13 [[ 8.31894171e-01 5.53635429e-01 -3.79460181e-02 4.00247298e+02] [-5.53040582e-01 8.32759078e-01 2.56599397e-02 1.58259321e+02] [ 4.58061428e-02 -3.60666296e-04 9.98950283e-01 1.08125973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.30, Y:158.22, Z:108.13 [[ 8.30755588e-01 5.55342948e-01 -3.79389395e-02 4.00297535e+02] [-5.54749401e-01 8.31621388e-01 2.56704014e-02 1.58221222e+02] [ 4.58067099e-02 -2.79225465e-04 9.98950283e-01 1.08130389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.35, Y:158.18, Z:108.13 [[ 8.29364129e-01 5.57419342e-01 -3.79317557e-02 4.00345863e+02] [-5.56827478e-01 8.30231080e-01 2.56810121e-02 1.58181963e+02] [ 4.58072154e-02 -1.77466408e-04 9.98950283e-01 1.08134853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.39, Y:158.14, Z:108.13 [[ 8.29343997e-01 5.57449746e-01 -3.79251147e-02 4.00394957e+02] [-5.56857465e-01 8.30210663e-01 2.56908156e-02 1.58142636e+02] [ 4.58071733e-02 -1.87640472e-04 9.98950283e-01 1.08133141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.44, Y:158.10, Z:108.14 [[ 8.28981063e-01 5.57989769e-01 -3.79185297e-02 4.00443989e+02] [-5.57397608e-01 8.29847811e-01 2.57005312e-02 1.58102443e+02] [ 4.58072423e-02 -1.69555916e-04 9.98950283e-01 1.08137527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.49, Y:158.06, Z:108.14 [[ 8.29555270e-01 5.57136275e-01 -3.79107472e-02 4.00490337e+02] [-5.56542698e-01 8.30421049e-01 2.57120059e-02 1.58060004e+02] [ 4.58069737e-02 -2.30580485e-04 9.98950283e-01 1.08142103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.53, Y:158.01, Z:108.15 [[ 8.30501752e-01 5.55724897e-01 -3.79035592e-02 4.00532452e+02] [-5.55129365e-01 8.31366186e-01 2.57225979e-02 1.58013818e+02] [ 4.58064255e-02 -3.21283865e-04 9.98950283e-01 1.08148800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:400.58, Y:157.98, Z:108.15 [[ 8.34280178e-01 5.50036720e-01 -3.78971073e-02 4.00582631e+02] [-5.49434864e-01 8.35140222e-01 2.57321000e-02 1.57977168e+02] [ 4.58029984e-02 -6.45789016e-04 9.98950283e-01 1.08145510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.63, Y:157.94, Z:108.15 [[ 8.33290125e-01 5.51535898e-01 -3.78909005e-02 4.00629647e+02] [-5.50935174e-01 8.34150959e-01 2.57412363e-02 1.57935260e+02] [ 4.58039469e-02 -5.74488194e-04 9.98950283e-01 1.08151544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.68, Y:157.90, Z:108.15 [[ 8.36528091e-01 5.46612570e-01 -3.78873618e-02 4.00679716e+02] [-5.46006544e-01 8.37385201e-01 2.57464438e-02 1.57899909e+02] [ 4.57996458e-02 -8.50875981e-04 9.98950283e-01 1.08149472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.72, Y:157.86, Z:108.15 [[ 8.33313862e-01 5.51500678e-01 -3.78815298e-02 4.00724330e+02] [-5.50899291e-01 8.34174233e-01 2.57550216e-02 1.57857423e+02] [ 4.58037080e-02 -5.93108594e-04 9.98950283e-01 1.08149987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.78, Y:157.82, Z:108.15 [[ 8.29749030e-01 5.56850033e-01 -3.78759636e-02 4.00777971e+02] [-5.56253819e-01 8.30612994e-01 2.57632049e-02 1.57823649e+02] [ 4.58065090e-02 -3.08344866e-04 9.98950283e-01 1.08152544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.83, Y:157.79, Z:108.15 [[ 8.28328261e-01 5.58961733e-01 -3.78691554e-02 4.00830033e+02] [-5.58367265e-01 8.29193427e-01 2.57732084e-02 1.57789648e+02] [ 4.58070919e-02 -2.03780130e-04 9.98950283e-01 1.08150271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.88, Y:157.76, Z:108.15 [[ 8.27669573e-01 5.59936838e-01 -3.78657550e-02 4.00882562e+02] [-5.59343160e-01 8.28535282e-01 2.57782031e-02 1.57756082e+02] [ 4.58072796e-02 -1.55883268e-04 9.98950283e-01 1.08153292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.94, Y:157.73, Z:108.15 [[ 8.28999744e-01 5.57965777e-01 -3.78631183e-02 4.00937979e+02] [-5.57369865e-01 8.29863916e-01 2.57820754e-02 1.57728602e+02] [ 4.58067514e-02 -2.69572746e-04 9.98950283e-01 1.08152054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.790385723 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:400.99, Y:157.70, Z:108.15 [[ 8.29894616e-01 5.56634377e-01 -3.78562703e-02 4.00990746e+02] [-5.56036620e-01 8.30757512e-01 2.57921265e-02 1.57696382e+02] [ 4.58061652e-02 -3.55274319e-04 9.98950284e-01 1.08148616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.05, Y:157.67, Z:108.15 [[ 8.32222319e-01 5.53148669e-01 -3.78491858e-02 4.01045758e+02] [-5.52546825e-01 8.33082370e-01 2.58025186e-02 1.57666538e+02] [ 4.58041183e-02 -5.59984413e-04 9.98950284e-01 1.08153693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.10, Y:157.64, Z:108.15 [[ 8.33377436e-01 5.51407310e-01 -3.78421302e-02 4.01100000e+02] [-5.50803199e-01 8.34235897e-01 2.58128623e-02 1.57635102e+02] [ 4.58026644e-02 -6.68290667e-04 9.98950284e-01 1.08152958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9703857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:401.15, Y:157.60, Z:108.16 [[ 8.33543798e-01 5.51156224e-01 -3.78358710e-02 4.01151594e+02] [-5.50551438e-01 8.34401784e-01 2.58220336e-02 1.57602107e+02] [ 4.58022928e-02 -6.93202776e-04 9.98950284e-01 1.08157306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:401.20, Y:157.57, Z:108.16 [[ 8.34453563e-01 5.49778257e-01 -3.78301524e-02 4.01204835e+02] [-5.49171675e-01 8.35310279e-01 2.58304088e-02 1.57569777e+02] [ 4.58009123e-02 -7.79028525e-04 9.98950284e-01 1.08159003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.26, Y:157.53, Z:108.16 [[ 8.31694522e-01 5.53943687e-01 -3.78234615e-02 4.01255150e+02] [-5.53340950e-01 8.32553948e-01 2.58402026e-02 1.57534516e+02] [ 4.58040893e-02 -5.61884785e-04 9.98950284e-01 1.08163099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.150385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:401.31, Y:157.50, Z:108.16 [[ 8.28753453e-01 5.58334664e-01 -3.78169009e-02 4.01307698e+02] [-5.57736043e-01 8.29615751e-01 2.58498005e-02 1.57500913e+02] [ 4.58063363e-02 -3.31262722e-04 9.98950284e-01 1.08160586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.36, Y:157.47, Z:108.17 [[ 8.27765105e-01 5.59799147e-01 -3.78132905e-02 4.01359609e+02] [-5.59201812e-01 8.28628293e-01 2.58550806e-02 1.57466683e+02] [ 4.58068145e-02 -2.56672951e-04 9.98950284e-01 1.08167213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.270385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:401.41, Y:157.43, Z:108.17 [[ 8.26772234e-01 5.61264977e-01 -3.78060692e-02 4.01410043e+02] [-5.60668689e-01 8.27636146e-01 2.58656356e-02 1.57430921e+02] [ 4.58071448e-02 -1.88310029e-04 9.98950284e-01 1.08171377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.46, Y:157.40, Z:108.18 [[ 8.25996708e-01 5.62406083e-01 -3.77999404e-02 4.01460184e+02] [-5.61810579e-01 8.26861161e-01 2.58745891e-02 1.57395395e+02] [ 4.58073289e-02 -1.35919050e-04 9.98950284e-01 1.08176810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:401.51, Y:157.36, Z:108.18 [[ 8.25414605e-01 5.63260281e-01 -3.77966274e-02 4.01510031e+02] [-5.62665450e-01 8.26279521e-01 2.58794277e-02 1.57358533e+02] [ 4.58074329e-02 -9.44011788e-05 9.98950284e-01 1.08182753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.450385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:401.56, Y:157.32, Z:108.19 [[ 8.23979705e-01 5.65357700e-01 -3.77904286e-02 4.01560183e+02] [-5.64764656e-01 8.24845846e-01 2.58884763e-02 1.57321951e+02] [ 4.58075275e-02 1.11192918e-05 9.98950284e-01 1.08187639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.510385723 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:401.61, Y:157.29, Z:108.19 [[ 8.22940141e-01 5.66870243e-01 -3.77842758e-02 4.01611318e+02] [-5.66278378e-01 8.23807090e-01 2.58974533e-02 1.57285004e+02] [ 4.58074499e-02 8.43645574e-05 9.98950284e-01 1.08190779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.570385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:401.66, Y:157.25, Z:108.19 [[ 8.23217720e-01 5.66467528e-01 -3.77773108e-02 4.01661907e+02] [-5.65874773e-01 8.24084060e-01 2.59076093e-02 1.57247279e+02] [ 4.58074990e-02 4.96241595e-05 9.98950284e-01 1.08193683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.630385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:401.71, Y:157.21, Z:108.20 [[ 8.24118231e-01 5.65157090e-01 -3.77704227e-02 4.01711371e+02] [-5.64562497e-01 8.24983310e-01 2.59176476e-02 1.57209176e+02] [ 4.58075106e-02 -3.54417295e-05 9.98950284e-01 1.08199156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.690385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:401.76, Y:157.17, Z:108.20 [[ 8.24916242e-01 5.63992064e-01 -3.77643469e-02 4.01761699e+02] [-5.63395844e-01 8.25780201e-01 2.59264975e-02 1.57172321e+02] [ 4.58073888e-02 -1.10912747e-04 9.98950284e-01 1.08203345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.750385723 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:401.81, Y:157.13, Z:108.21 [[ 8.26186801e-01 5.62129593e-01 -3.77583217e-02 4.01811738e+02] [-5.61531025e-01 8.27049134e-01 2.59352694e-02 1.57133629e+02] [ 4.58069697e-02 -2.24908125e-04 9.98950285e-01 1.08206603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.810385723 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:401.86, Y:157.10, Z:108.21 [[ 8.26332070e-01 5.61916484e-01 -3.77514907e-02 4.01862019e+02] [-5.61317240e-01 8.27193933e-01 2.59452087e-02 1.57097326e+02] [ 4.58068446e-02 -2.48795472e-04 9.98950285e-01 1.08211339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.870385723 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:401.91, Y:157.06, Z:108.21 [[ 8.25134799e-01 5.63673541e-01 -3.77452299e-02 4.01912259e+02] [-5.63075715e-01 8.25997647e-01 2.59543139e-02 1.57059792e+02] [ 4.58072311e-02 -1.62385329e-04 9.98950285e-01 1.08213821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.930385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:401.96, Y:157.02, Z:108.21 [[ 8.24958171e-01 5.63932489e-01 -3.77380923e-02 4.01961674e+02] [-5.63334459e-01 8.25820878e-01 2.59646880e-02 1.57024450e+02] [ 4.58072356e-02 -1.60613710e-04 9.98950285e-01 1.08213285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.01, Y:156.99, Z:108.22 [[ 8.24630264e-01 5.64412296e-01 -3.77317935e-02 4.02012583e+02] [-5.63814349e-01 8.25493028e-01 2.59738380e-02 1.56988798e+02] [ 4.58072861e-02 -1.45086298e-04 9.98950285e-01 1.08220140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.06, Y:156.95, Z:108.22 [[ 8.24722490e-01 5.64277973e-01 -3.77251127e-02 4.02062458e+02] [-5.63679442e-01 8.25584849e-01 2.59835379e-02 1.56954029e+02] [ 4.58072195e-02 -1.64337551e-04 9.98950285e-01 1.08222697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.11, Y:156.92, Z:108.23 [[ 8.23752027e-01 5.65693977e-01 -3.77216550e-02 4.02114408e+02] [-5.65096699e-01 8.24615253e-01 2.59885566e-02 1.56918348e+02] [ 4.58074220e-02 -9.17433969e-05 9.98950285e-01 1.08225698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.170385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:402.17, Y:156.88, Z:108.23 [[ 8.22803678e-01 5.67072948e-01 -3.77144513e-02 4.02166880e+02] [-5.66476637e-01 8.23667573e-01 2.59990063e-02 1.56884898e+02] [ 4.58075038e-02 -2.77224640e-05 9.98950285e-01 1.08225382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.22, Y:156.85, Z:108.23 [[ 8.21786239e-01 5.68546808e-01 -3.77081554e-02 4.02218656e+02] [-5.67951628e-01 8.22650914e-01 2.60081346e-02 1.56848681e+02] [ 4.58074904e-02 4.32811136e-05 9.98950285e-01 1.08230129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:402.27, Y:156.81, Z:108.23 [[ 8.22053172e-01 5.68161261e-01 -3.77009717e-02 4.02270945e+02] [-5.67565198e-01 8.22917239e-01 2.60185437e-02 1.56813920e+02] [ 4.58075082e-02 9.13307172e-06 9.98950285e-01 1.08234063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.350385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:402.32, Y:156.78, Z:108.24 [[ 8.23418317e-01 5.66181464e-01 -3.76938293e-02 4.02324696e+02] [-5.65582850e-01 8.24280618e-01 2.60288871e-02 1.56780341e+02] [ 4.58073663e-02 -1.13679023e-04 9.98950285e-01 1.08235178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.38, Y:156.75, Z:108.24 [[ 8.23818400e-01 5.65599645e-01 -3.76866695e-02 4.02376413e+02] [-5.64999948e-01 8.24679948e-01 2.60392495e-02 1.56745275e+02] [ 4.58072309e-02 -1.58646578e-04 9.98950285e-01 1.08238233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.43, Y:156.71, Z:108.24 [[ 8.24095619e-01 5.65196129e-01 -3.76795332e-02 4.02428234e+02] [-5.64595538e-01 8.24956543e-01 2.60495718e-02 1.56710452e+02] [ 4.58070946e-02 -1.93641682e-04 9.98950285e-01 1.08241967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.48, Y:156.68, Z:108.25 [[ 8.24085730e-01 5.65211017e-01 -3.76724953e-02 4.02481839e+02] [-5.64609976e-01 8.24946341e-01 2.60597460e-02 1.56676821e+02] [ 4.58070426e-02 -2.05198104e-04 9.98950285e-01 1.08246911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.53, Y:156.64, Z:108.25 [[ 8.23708651e-01 5.65760896e-01 -3.76651849e-02 4.02534123e+02] [-5.65159947e-01 8.24569326e-01 2.60703077e-02 1.56644036e+02] [ 4.58071168e-02 -1.87484106e-04 9.98950286e-01 1.08250502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.59, Y:156.61, Z:108.25 [[ 8.22825696e-01 5.67044722e-01 -3.76584166e-02 4.02587383e+02] [-5.66444669e-01 8.23686996e-01 2.60800808e-02 1.56609761e+02] [ 4.58073202e-02 -1.27951359e-04 9.98950286e-01 1.08253207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.64, Y:156.58, Z:108.25 [[ 8.22483674e-01 5.67541188e-01 -3.76511085e-02 4.02640636e+02] [-5.66941171e-01 8.23344999e-01 2.60906271e-02 1.56578341e+02] [ 4.58073574e-02 -1.13151325e-04 9.98950286e-01 1.08254967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.69, Y:156.55, Z:108.26 [[ 8.22621797e-01 5.67341419e-01 -3.76443048e-02 4.02693707e+02] [-5.66740744e-01 8.23482663e-01 2.61004400e-02 1.56547055e+02] [ 4.58072930e-02 -1.36229522e-04 9.98950286e-01 1.08257521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.75, Y:156.52, Z:108.26 [[ 8.21846507e-01 5.68464356e-01 -3.76376674e-02 4.02748071e+02] [-5.67864420e-01 8.22707888e-01 2.61100078e-02 1.56515642e+02] [ 4.58074146e-02 -8.53265405e-05 9.98950286e-01 1.08261022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.890385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:402.80, Y:156.49, Z:108.26 [[ 8.21948502e-01 5.68317339e-01 -3.76306000e-02 4.02804826e+02] [-5.67716782e-01 8.22809450e-01 2.61201896e-02 1.56486107e+02] [ 4.58073699e-02 -1.05927611e-04 9.98950286e-01 1.08261090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:402.86, Y:156.46, Z:108.27 [[ 8.21735395e-01 5.68625924e-01 -3.76231161e-02 4.02859122e+02] [-5.68025197e-01 8.22596224e-01 2.61309649e-02 1.56456167e+02] [ 4.58073773e-02 -1.01860839e-04 9.98950286e-01 1.08265304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.91, Y:156.42, Z:108.27 [[ 8.23309854e-01 5.66344337e-01 -3.76161652e-02 4.02912321e+02] [-5.65740767e-01 8.24168693e-01 2.61409671e-02 1.56423030e+02] [ 4.58068543e-02 -2.41117673e-04 9.98950286e-01 1.08270104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.97, Y:156.40, Z:108.27 [[ 8.30994549e-01 5.55007777e-01 -3.76088595e-02 4.02971098e+02] [-5.54392019e-01 8.31844691e-01 2.61514735e-02 1.56399011e+02] [ 4.57990013e-02 -8.81680368e-04 9.98950286e-01 1.08270330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.02, Y:156.37, Z:108.27 [[ 8.33011059e-01 5.51977038e-01 -3.76021814e-02 4.03024991e+02] [-5.51357754e-01 8.33858636e-01 2.61610722e-02 1.56368477e+02] [ 4.57952148e-02 -1.06020818e-03 9.98950286e-01 1.08274401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.08, Y:156.34, Z:108.28 [[ 8.32408254e-01 5.52886157e-01 -3.75951655e-02 4.03078505e+02] [-5.52267343e-01 8.33256174e-01 2.61711506e-02 1.56338040e+02] [ 4.57960706e-02 -1.02249961e-03 9.98950286e-01 1.08278712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.14, Y:156.31, Z:108.28 [[ 8.32190472e-01 5.53214333e-01 -3.75888201e-02 4.03136672e+02] [-5.52595443e-01 8.33038336e-01 2.61802612e-02 1.56312076e+02] [ 4.57962239e-02 -1.01555321e-03 9.98950286e-01 1.08279837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.310385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:403.19, Y:156.29, Z:108.29 [[ 8.33471226e-01 5.51283367e-01 -3.75814463e-02 4.03194462e+02] [-5.50662036e-01 8.34317303e-01 2.61908419e-02 1.56286134e+02] [ 4.57934264e-02 -1.13463736e-03 9.98950286e-01 1.08287494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.25, Y:156.26, Z:108.29 [[ 8.36479953e-01 5.46707510e-01 -3.75790661e-02 4.03253717e+02] [-5.46081399e-01 8.37322499e-01 2.61942566e-02 1.56261920e+02] [ 4.57863943e-02 -1.38974156e-03 9.98950286e-01 1.08286426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.31, Y:156.24, Z:108.29 [[ 8.36462427e-01 5.46734800e-01 -3.75721491e-02 4.03310541e+02] [-5.46108271e-01 8.37304663e-01 2.62041743e-02 1.56236987e+02] [ 4.57860696e-02 -1.40034586e-03 9.98950286e-01 1.08285018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.37, Y:156.21, Z:108.29 [[ 8.35030262e-01 5.48920089e-01 -3.75659004e-02 4.03370024e+02] [-5.48295362e-01 8.35873835e-01 2.62131294e-02 1.56212432e+02] [ 4.57892665e-02 -1.29154733e-03 9.98950287e-01 1.08286224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.43, Y:156.19, Z:108.29 [[ 8.32009694e-01 5.53488236e-01 -3.75585092e-02 4.03427850e+02] [-5.52867664e-01 8.32856328e-01 2.62237152e-02 1.56186463e+02] [ 4.57953599e-02 -1.05350007e-03 9.98950287e-01 1.08287337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.48, Y:156.16, Z:108.29 [[ 8.29082479e-01 5.57863854e-01 -3.75521448e-02 4.03484582e+02] [-5.57247339e-01 8.29932071e-01 2.62328258e-02 1.56157158e+02] [ 4.58000746e-02 -8.23343444e-04 9.98950287e-01 1.08288624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.54, Y:156.13, Z:108.29 [[ 8.25143537e-01 5.63674132e-01 -3.75448560e-02 4.03540760e+02] [-5.63063126e-01 8.25997099e-01 2.62432536e-02 1.56127996e+02] [ 4.58045853e-02 -5.14327155e-04 9.98950287e-01 1.08290758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.60, Y:156.10, Z:108.29 [[ 8.22685286e-01 5.67256433e-01 -3.75374482e-02 4.03595549e+02] [-5.66648660e-01 8.23541154e-01 2.62538452e-02 1.56096411e+02] [ 4.58062959e-02 -3.28107415e-04 9.98950287e-01 1.08293758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.65, Y:156.06, Z:108.30 [[ 8.20586128e-01 5.70289318e-01 -3.75299954e-02 4.03649298e+02] [-5.69684221e-01 8.21443890e-01 2.62644946e-02 1.56064581e+02] [ 4.58071461e-02 -1.72033718e-04 9.98950287e-01 1.08297245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.70, Y:156.03, Z:108.30 [[ 8.18521824e-01 5.73248671e-01 -3.75231147e-02 4.03700502e+02] [-5.72646226e-01 8.19381450e-01 2.62743212e-02 1.56031996e+02] [ 4.58074638e-02 -1.86352949e-05 9.98950287e-01 1.08300575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.910385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:403.75, Y:156.00, Z:108.30 [[ 8.17341489e-01 5.74930726e-01 -3.75173410e-02 4.03752470e+02] [-5.74329671e-01 8.18202087e-01 2.62825629e-02 1.55996320e+02] [ 4.58074197e-02 6.54930739e-05 9.98950287e-01 1.08304636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.80, Y:155.96, Z:108.31 [[ 8.15525170e-01 5.77504712e-01 -3.75100690e-02 4.03803505e+02] [-5.76905896e-01 8.16387328e-01 2.62929373e-02 1.55959389e+02] [ 4.58070402e-02 1.97227839e-04 9.98950287e-01 1.08307448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.85, Y:155.92, Z:108.31 [[ 8.13791456e-01 5.79945702e-01 -3.75026454e-02 4.03852937e+02] [-5.79348984e-01 8.14655068e-01 2.63035216e-02 1.55922813e+02] [ 4.58063344e-02 3.21538326e-04 9.98950287e-01 1.08310858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.90, Y:155.88, Z:108.32 [[ 8.12188303e-01 5.82189167e-01 -3.74957819e-02 4.03901716e+02] [-5.81594383e-01 8.13053248e-01 2.63133020e-02 1.55882765e+02] [ 4.58053866e-02 4.35980080e-04 9.98950287e-01 1.08315508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.95, Y:155.85, Z:108.32 [[ 8.11639512e-01 5.82954469e-01 -3.74885135e-02 4.03951652e+02] [-5.82360023e-01 8.12504689e-01 2.63236531e-02 1.55845366e+02] [ 4.58050842e-02 4.66494645e-04 9.98950287e-01 1.08319128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.00, Y:155.81, Z:108.32 [[ 8.11341793e-01 5.83369227e-01 -3.74811977e-02 4.04000725e+02] [-5.82774742e-01 8.12206942e-01 2.63340658e-02 1.55807559e+02] [ 4.58049725e-02 4.77167164e-04 9.98950287e-01 1.08323704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.05, Y:155.77, Z:108.32 [[ 8.11303698e-01 5.83422625e-01 -3.74746683e-02 4.04046784e+02] [-5.82827768e-01 8.12168591e-01 2.63433541e-02 1.55766981e+02] [ 4.58050574e-02 4.68816738e-04 9.98950288e-01 1.08323201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.09, Y:155.73, Z:108.33 [[ 8.14236453e-01 5.79322961e-01 -3.74687195e-02 4.04093824e+02] [-5.78723360e-01 8.15098065e-01 2.63518125e-02 1.55725217e+02] [ 4.58068908e-02 2.27416915e-04 9.98950288e-01 1.08327093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.14, Y:155.69, Z:108.33 [[ 8.16862780e-01 5.75614310e-01 -3.74615165e-02 4.04141637e+02] [-5.75010328e-01 8.17721325e-01 2.63620483e-02 1.55685287e+02] [ 4.58074531e-02 6.58279336e-06 9.98950288e-01 1.08330413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.19, Y:155.64, Z:108.33 [[ 8.18764694e-01 5.72906166e-01 -3.74553234e-02 4.04189137e+02] [-5.72298941e-01 8.19620949e-01 2.63708445e-02 1.55643623e+02] [ 4.58071871e-02 -1.55874530e-04 9.98950288e-01 1.08333798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.510385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:404.24, Y:155.60, Z:108.34 [[ 8.20151107e-01 5.70920147e-01 -3.74479221e-02 4.04237820e+02] [-5.70310369e-01 8.21005546e-01 2.63813505e-02 1.55603371e+02] [ 4.58065963e-02 -2.79755525e-04 9.98950288e-01 1.08336763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.29, Y:155.56, Z:108.34 [[ 8.20001976e-01 5.71134811e-01 -3.74404415e-02 4.04287306e+02] [-5.70524772e-01 8.20856229e-01 2.63919628e-02 1.55564102e+02] [ 4.58065883e-02 -2.80762322e-04 9.98950288e-01 1.08337310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.33, Y:155.52, Z:108.34 [[ 8.19145610e-01 5.72362866e-01 -3.74328675e-02 4.04334269e+02] [-5.71753617e-01 8.20000426e-01 2.64027009e-02 1.55523368e+02] [ 4.58068929e-02 -2.25279174e-04 9.98950288e-01 1.08341833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.38, Y:155.49, Z:108.34 [[ 8.19745893e-01 5.71503263e-01 -3.74258236e-02 4.04382781e+02] [-5.70892662e-01 8.20599744e-01 2.64126819e-02 1.55485095e+02] [ 4.58065551e-02 -2.85559432e-04 9.98950288e-01 1.08343562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.43, Y:155.44, Z:108.35 [[ 8.21211450e-01 5.69395795e-01 -3.74190173e-02 4.04430153e+02] [-5.68782563e-01 8.22063414e-01 2.64223210e-02 1.55442528e+02] [ 4.58055635e-02 -4.15027965e-04 9.98950288e-01 1.08346596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.48, Y:155.40, Z:108.35 [[ 8.20617786e-01 5.70251539e-01 -3.74116384e-02 4.04480677e+02] [-5.69638720e-01 8.21470047e-01 2.64327646e-02 1.55404730e+02] [ 4.58058651e-02 -3.80078910e-04 9.98950288e-01 1.08348385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.53, Y:155.37, Z:108.35 [[ 8.20351674e-01 5.70634773e-01 -3.74043694e-02 4.04530593e+02] [-5.70021883e-01 8.21203883e-01 2.64430469e-02 1.55365834e+02] [ 4.58059354e-02 -3.71288736e-04 9.98950288e-01 1.08350811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.58, Y:155.33, Z:108.35 [[ 8.20021778e-01 5.71109224e-01 -3.73970336e-02 4.04580745e+02] [-5.70496355e-01 8.20874001e-01 2.64534174e-02 1.55328182e+02] [ 4.58060433e-02 -3.57507028e-04 9.98950288e-01 1.08354510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.63, Y:155.29, Z:108.36 [[ 8.20713372e-01 5.70115419e-01 -3.73894231e-02 4.04631378e+02] [-5.69501028e-01 8.21564500e-01 2.64641698e-02 1.55291252e+02] [ 4.58054539e-02 -4.26183188e-04 9.98950288e-01 1.08356896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.68, Y:155.26, Z:108.36 [[ 8.23320383e-01 5.66344546e-01 -3.73818350e-02 4.04682091e+02] [-5.65725770e-01 8.24168328e-01 2.64748840e-02 1.55255513e+02] [ 4.58028306e-02 -6.49444289e-04 9.98950289e-01 1.08361489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.73, Y:155.22, Z:108.37 [[ 8.24176385e-01 5.65098613e-01 -3.73743754e-02 4.04731422e+02] [-5.64478079e-01 8.25023043e-01 2.64854105e-02 1.55217903e+02] [ 4.58015897e-02 -7.31634258e-04 9.98950289e-01 1.08365734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.78, Y:155.18, Z:108.36 [[ 8.24025826e-01 5.65318595e-01 -3.73674283e-02 4.04781963e+02] [-5.64697842e-01 8.24872325e-01 2.64952083e-02 1.55182402e+02] [ 4.58015914e-02 -7.31429844e-04 9.98950289e-01 1.08364524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.83, Y:155.15, Z:108.37 [[ 8.23989505e-01 5.65372007e-01 -3.73602560e-02 4.04832156e+02] [-5.64750851e-01 8.24835708e-01 2.65053179e-02 1.55145396e+02] [ 4.58014380e-02 -7.40867382e-04 9.98950289e-01 1.08369617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.290385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:404.88, Y:155.11, Z:108.37 [[ 8.24703895e-01 5.64329866e-01 -3.73535606e-02 4.04882974e+02] [-5.63707213e-01 8.25548996e-01 2.65147503e-02 1.55107859e+02] [ 4.58002600e-02 -8.10346277e-04 9.98950289e-01 1.08374320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.93, Y:155.07, Z:108.38 [[ 8.24597033e-01 5.64486503e-01 -3.73459580e-02 4.04932878e+02] [-5.63863527e-01 8.25441896e-01 2.65254542e-02 1.55072532e+02] [ 4.58001793e-02 -8.14787275e-04 9.98950289e-01 1.08375840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.98, Y:155.04, Z:108.38 [[ 8.24323075e-01 5.64886892e-01 -3.73398851e-02 4.04984880e+02] [-5.64263939e-01 8.25167955e-01 2.65340003e-02 1.55038245e+02] [ 4.58003856e-02 -8.03038087e-04 9.98950289e-01 1.08380209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.04, Y:155.00, Z:108.38 [[ 8.23054001e-01 5.66734789e-01 -3.73335129e-02 4.05035648e+02] [-5.66113326e-01 8.23899978e-01 2.65429630e-02 1.55002396e+02] [ 4.58019010e-02 -7.11292734e-04 9.98950289e-01 1.08379552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.09, Y:154.97, Z:108.39 [[ 8.22255339e-01 5.67893344e-01 -3.73270239e-02 4.05086453e+02] [-5.67272659e-01 8.23101887e-01 2.65520853e-02 1.54966309e+02] [ 4.58026963e-02 -6.57993764e-04 9.98950289e-01 1.08385439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.14, Y:154.93, Z:108.39 [[ 8.20142918e-01 5.70940267e-01 -3.73203074e-02 4.05136629e+02] [-5.70322298e-01 8.20991451e-01 2.65615223e-02 1.54930386e+02] [ 4.58046959e-02 -4.99640891e-04 9.98950289e-01 1.08390002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.19, Y:154.89, Z:108.39 [[ 8.17480650e-01 5.74746126e-01 -3.73132325e-02 4.05187090e+02] [-5.74131654e-01 8.18331718e-01 2.65714574e-02 1.54893683e+02] [ 4.58064438e-02 -2.98944347e-04 9.98950289e-01 1.08392552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.24, Y:154.86, Z:108.39 [[ 8.17218977e-01 5.75118432e-01 -3.73086181e-02 4.05236455e+02] [-5.74504053e-01 8.18070111e-01 2.65779347e-02 1.54856158e+02] [ 4.58065255e-02 -2.86040292e-04 9.98950289e-01 1.08391410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.29, Y:154.82, Z:108.39 [[ 8.18425478e-01 5.73400629e-01 -3.73022102e-02 4.05285775e+02] [-5.72784053e-01 8.19275023e-01 2.65869252e-02 1.54817327e+02] [ 4.58057288e-02 -3.93305783e-04 9.98950289e-01 1.08393440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:405.34, Y:154.78, Z:108.40 [[ 8.18874895e-01 5.72759131e-01 -3.72945469e-02 4.05335365e+02] [-5.72141400e-01 8.19723601e-01 2.65976704e-02 1.54780337e+02] [ 4.58052789e-02 -4.42410278e-04 9.98950289e-01 1.08399682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.38, Y:154.74, Z:108.40 [[ 8.18935872e-01 5.72672381e-01 -3.72878189e-02 4.05384539e+02] [-5.72054131e-01 8.19784199e-01 2.66070992e-02 1.54744295e+02] [ 4.58051157e-02 -4.58857135e-04 9.98950289e-01 1.08401234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.43, Y:154.70, Z:108.40 [[ 8.17500431e-01 5.74720036e-01 -3.72817065e-02 4.05430802e+02] [-5.74103520e-01 8.18350020e-01 2.66156612e-02 1.54702451e+02] [ 4.58060390e-02 -3.54755531e-04 9.98950290e-01 1.08401317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.48, Y:154.66, Z:108.40 [[ 8.17155738e-01 5.75210446e-01 -3.72752299e-02 4.05481114e+02] [-5.74594027e-01 8.18005396e-01 2.66247285e-02 1.54664277e+02] [ 4.58061612e-02 -3.38425201e-04 9.98950290e-01 1.08404414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.53, Y:154.63, Z:108.41 [[ 8.17223024e-01 5.75115324e-01 -3.72678500e-02 4.05530945e+02] [-5.74498335e-01 8.18072269e-01 2.66350546e-02 1.54625082e+02] [ 4.58060226e-02 -3.56462056e-04 9.98950290e-01 1.08406807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.58, Y:154.59, Z:108.41 [[ 8.16983387e-01 5.75456167e-01 -3.72605139e-02 4.05579836e+02] [-5.74839064e-01 8.17832548e-01 2.66453133e-02 1.54588803e+02] [ 4.58060709e-02 -3.49979281e-04 9.98950290e-01 1.08412856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.63, Y:154.55, Z:108.41 [[ 8.15015272e-01 5.78240287e-01 -3.72595913e-02 4.05627474e+02] [-5.77626027e-01 8.15866491e-01 2.66466033e-02 1.54549023e+02] [ 4.58069916e-02 -1.95278917e-04 9.98950290e-01 1.08410857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.250385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:405.67, Y:154.51, Z:108.41 [[ 8.14546951e-01 5.78900186e-01 -3.72537283e-02 4.05674983e+02] [-5.78286240e-01 8.15398397e-01 2.66547977e-02 1.54509300e+02] [ 4.58070977e-02 -1.68265659e-04 9.98950290e-01 1.08413193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.72, Y:154.47, Z:108.42 [[ 8.16445691e-01 5.76219659e-01 -3.72470053e-02 4.05724544e+02] [-5.75602489e-01 8.17294803e-01 2.66641890e-02 1.54471440e+02] [ 4.58062138e-02 -3.30393254e-04 9.98950290e-01 1.08420372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.77, Y:154.43, Z:108.42 [[ 8.17065009e-01 5.75341299e-01 -3.72446051e-02 4.05771798e+02] [-5.74723063e-01 8.17913347e-01 2.66675411e-02 1.54432826e+02] [ 4.58057974e-02 -3.83781197e-04 9.98950290e-01 1.08421839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.82, Y:154.39, Z:108.42 [[ 8.16099687e-01 5.76710148e-01 -3.72385079e-02 4.05818136e+02] [-5.76092947e-01 8.16948777e-01 2.66760526e-02 1.54390315e+02] [ 4.58063037e-02 -3.17476403e-04 9.98950290e-01 1.08422638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.490385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:405.87, Y:154.35, Z:108.43 [[ 8.16024769e-01 5.76816561e-01 -3.72321239e-02 4.05867483e+02] [-5.76199065e-01 8.16873644e-01 2.66849598e-02 1.54351935e+02] [ 4.58062675e-02 -3.22473190e-04 9.98950290e-01 1.08425508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.92, Y:154.31, Z:108.43 [[ 8.15438836e-01 5.77645073e-01 -3.72246501e-02 4.05915649e+02] [-5.77027963e-01 8.16287992e-01 2.66953816e-02 1.54312778e+02] [ 4.58064905e-02 -2.88786853e-04 9.98950290e-01 1.08426697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:405.96, Y:154.27, Z:108.43 [[ 8.15631352e-01 5.77373625e-01 -3.72182139e-02 4.05963410e+02] [-5.76755823e-01 8.16480005e-01 2.67043518e-02 1.54271534e+02] [ 4.58063158e-02 -3.15084957e-04 9.98950290e-01 1.08429739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.01, Y:154.23, Z:108.43 [[ 8.14549723e-01 5.78899037e-01 -3.72109430e-02 4.06011567e+02] [-5.78282362e-01 8.15399195e-01 2.67144795e-02 1.54232376e+02] [ 4.58067594e-02 -2.41839939e-04 9.98950290e-01 1.08429168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:406.06, Y:154.19, Z:108.43 [[ 8.12991579e-01 5.81085656e-01 -3.72042221e-02 4.06059091e+02] [-5.80470837e-01 8.13842395e-01 2.67238361e-02 1.54190350e+02] [ 4.58072111e-02 -1.30287755e-04 9.98950290e-01 1.08434924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.790385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:406.11, Y:154.15, Z:108.44 [[ 8.11494742e-01 5.83174671e-01 -3.71965974e-02 4.06106444e+02] [-5.82561557e-01 8.12346787e-01 2.67344447e-02 1.54149638e+02] [ 4.58073874e-02 -2.55536198e-05 9.98950290e-01 1.08437197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.15, Y:154.11, Z:108.44 [[ 8.10561405e-01 5.84471681e-01 -3.71895606e-02 4.06154249e+02] [-5.83859480e-01 8.11414107e-01 2.67442299e-02 1.54108296e+02] [ 4.58073791e-02 3.56369659e-05 9.98950290e-01 1.08440578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.20, Y:154.07, Z:108.45 [[ 8.10236598e-01 5.84922343e-01 -3.71820819e-02 4.06201238e+02] [-5.84310140e-01 8.11089299e-01 2.67546233e-02 1.54066107e+02] [ 4.58073657e-02 4.82925613e-05 9.98950291e-01 1.08446087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:406.25, Y:154.03, Z:108.45 [[ 8.10707070e-01 5.84270566e-01 -3.71746031e-02 4.06248598e+02] [-5.83657202e-01 8.11558935e-01 2.67650109e-02 1.54025088e+02] [ 4.58073893e-02 -1.35874809e-06 9.98950291e-01 1.08448412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:406.30, Y:153.99, Z:108.45 [[ 8.12511362e-01 5.81759125e-01 -3.71699735e-02 4.06297246e+02] [-5.81142833e-01 8.13361111e-01 2.67714386e-02 1.53986415e+02] [ 4.58071397e-02 -1.51034316e-04 9.98950291e-01 1.08448764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:406.34, Y:153.95, Z:108.45 [[ 8.13093067e-01 5.80946251e-01 -3.71633833e-02 4.06344485e+02] [-5.80328692e-01 8.13941896e-01 2.67805838e-02 1.53945230e+02] [ 4.58069144e-02 -2.08129399e-04 9.98950291e-01 1.08453114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.39, Y:153.90, Z:108.45 [[ 8.12263994e-01 5.82105374e-01 -3.71555824e-02 4.06388827e+02] [-5.81488531e-01 8.13113343e-01 2.67914025e-02 1.53902925e+02] [ 4.58071192e-02 -1.56146595e-04 9.98950291e-01 1.08454999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:406.44, Y:153.86, Z:108.46 [[ 8.14130881e-01 5.79491870e-01 -3.71494486e-02 4.06437742e+02] [-5.78871912e-01 8.14977959e-01 2.67999050e-02 1.53864082e+02] [ 4.58063089e-02 -3.13857924e-04 9.98950291e-01 1.08459008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.48, Y:153.82, Z:108.46 [[ 8.11729809e-01 5.82850867e-01 -3.71427677e-02 4.06482692e+02] [-5.82233991e-01 8.12579134e-01 2.68091611e-02 1.53821879e+02] [ 4.58071808e-02 -1.36013326e-04 9.98950291e-01 1.08460233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.53, Y:153.78, Z:108.47 [[ 8.11496346e-01 5.83176256e-01 -3.71367032e-02 4.06530678e+02] [-5.82559336e-01 8.12345640e-01 2.68175591e-02 1.53781115e+02] [ 4.58072027e-02 -1.28018055e-04 9.98950291e-01 1.08465080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.58, Y:153.74, Z:108.47 [[ 8.11588078e-01 5.83049044e-01 -3.71295501e-02 4.06578303e+02] [-5.82431539e-01 8.12436945e-01 2.68274591e-02 1.53741810e+02] [ 4.58071427e-02 -1.47424951e-04 9.98950291e-01 1.08469969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.63, Y:153.70, Z:108.47 [[ 8.10927393e-01 5.83968002e-01 -3.71232438e-02 4.06626986e+02] [-5.83351059e-01 8.11776670e-01 2.68361829e-02 1.53703011e+02] [ 4.58072553e-02 -1.06312272e-04 9.98950291e-01 1.08473733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.68, Y:153.67, Z:108.48 [[ 8.09604508e-01 5.85800935e-01 -3.71187901e-02 4.06678509e+02] [-5.85185633e-01 8.10454973e-01 2.68423417e-02 1.53666837e+02] [ 4.58073769e-02 -1.02981817e-05 9.98950291e-01 1.08476578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.73, Y:153.63, Z:108.48 [[ 8.09797658e-01 5.85534351e-01 -3.71116936e-02 4.06730911e+02] [-5.84918318e-01 8.10647595e-01 2.68521496e-02 1.53633408e+02] [ 4.58073611e-02 -3.74984425e-05 9.98950291e-01 1.08478228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:406.78, Y:153.60, Z:108.48 [[ 8.12958915e-01 5.81137664e-01 -3.71055108e-02 4.06782900e+02] [-5.80516645e-01 8.13805215e-01 2.68606905e-02 1.53600421e+02] [ 4.58064171e-02 -2.96271166e-04 9.98950291e-01 1.08483087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.83, Y:153.56, Z:108.49 [[ 8.13781880e-01 5.79985118e-01 -3.70987116e-02 4.06832721e+02] [-5.79362473e-01 8.14626984e-01 2.68700780e-02 1.53563494e+02] [ 4.58058569e-02 -3.72781301e-04 9.98950291e-01 1.08485782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.88, Y:153.53, Z:108.49 [[ 8.17393997e-01 5.74883549e-01 -3.70939248e-02 4.06884819e+02] [-5.74255330e-01 8.18234966e-01 2.68766844e-02 1.53529119e+02] [ 4.58025100e-02 -6.67456441e-04 9.98950291e-01 1.08486885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.93, Y:153.49, Z:108.49 [[ 8.18928011e-01 5.72696372e-01 -3.70914834e-02 4.06934151e+02] [-5.72065755e-01 8.19767183e-01 2.68800534e-02 1.53493134e+02] [ 4.58004899e-02 -7.94061191e-04 9.98950291e-01 1.08491854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:406.99, Y:153.46, Z:108.50 [[ 8.19001224e-01 5.72592078e-01 -3.70851432e-02 4.06985497e+02] [-5.71960958e-01 8.19840018e-01 2.68887978e-02 1.53456949e+02] [ 4.58001970e-02 -8.10704294e-04 9.98950291e-01 1.08495808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.04, Y:153.42, Z:108.50 [[ 8.18234875e-01 5.73687137e-01 -3.70777408e-02 4.07036171e+02] [-5.73056678e-01 8.19074165e-01 2.68990013e-02 1.53422252e+02] [ 4.58010306e-02 -7.62053984e-04 9.98950292e-01 1.08499475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.09, Y:153.39, Z:108.50 [[ 8.18237228e-01 5.73684222e-01 -3.70709020e-02 4.07087897e+02] [-5.73053333e-01 8.19076196e-01 2.69084229e-02 1.53386902e+02] [ 4.58008310e-02 -7.73869410e-04 9.98950292e-01 1.08502518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:407.14, Y:153.35, Z:108.51 [[ 8.18543874e-01 5.73247080e-01 -3.70636186e-02 4.07139047e+02] [-5.72615289e-01 8.19382162e-01 2.69184513e-02 1.53350163e+02] [ 4.58001916e-02 -8.10738764e-04 9.98950292e-01 1.08508194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:407.19, Y:153.31, Z:108.51 [[ 8.17733311e-01 5.74403236e-01 -3.70560976e-02 4.07190817e+02] [-5.73772162e-01 8.18572139e-01 2.69288007e-02 1.53314900e+02] [ 4.58010794e-02 -7.58820157e-04 9.98950292e-01 1.08510469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.24, Y:153.28, Z:108.51 [[ 8.15667612e-01 5.77333303e-01 -3.70486745e-02 4.07244591e+02] [-5.76704778e-01 8.16508352e-01 2.69390096e-02 1.53281043e+02] [ 4.58033396e-02 -6.07130010e-04 9.98950292e-01 1.08511395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:407.30, Y:153.25, Z:108.52 [[ 8.13730555e-01 5.80060797e-01 -3.70412791e-02 4.07295900e+02] [-5.79434628e-01 8.14573050e-01 2.69491745e-02 1.53245010e+02] [ 4.58049873e-02 -4.66366888e-04 9.98950292e-01 1.08515509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.35, Y:153.21, Z:108.52 [[ 8.13003348e-01 5.81080072e-01 -3.70338602e-02 4.07346641e+02] [-5.80454494e-01 8.13846283e-01 2.69593658e-02 1.53208198e+02] [ 4.58054197e-02 -4.21584097e-04 9.98950292e-01 1.08521607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:407.40, Y:153.17, Z:108.52 [[ 8.12669119e-01 5.81547894e-01 -3.70263509e-02 4.07398253e+02] [-5.80922332e-01 8.13512065e-01 2.69696753e-02 1.53174273e+02] [ 4.58055410e-02 -4.07988141e-04 9.98950292e-01 1.08523046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.45, Y:153.14, Z:108.52 [[ 8.16053138e-01 5.76790117e-01 -3.70194149e-02 4.07452974e+02] [-5.76159209e-01 8.16892091e-01 2.69791924e-02 1.53143719e+02] [ 4.58021988e-02 -6.87377783e-04 9.98950292e-01 1.08519216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.50, Y:153.10, Z:108.53 [[ 8.12840964e-01 5.81308271e-01 -3.70170271e-02 4.07499234e+02] [-5.80681878e-01 8.13683294e-01 2.69824683e-02 1.53103573e+02] [ 4.58052685e-02 -4.37338762e-04 9.98950292e-01 1.08531090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.55, Y:153.07, Z:108.53 [[ 8.13475696e-01 5.80420099e-01 -3.70108258e-02 4.07552299e+02] [-5.79792399e-01 8.14317052e-01 2.69909716e-02 1.53070539e+02] [ 4.58046490e-02 -4.97903888e-04 9.98950292e-01 1.08534494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.60, Y:153.03, Z:108.54 [[ 8.14455388e-01 5.79044991e-01 -3.70043127e-02 4.07604027e+02] [-5.78415466e-01 8.15295379e-01 2.69998980e-02 1.53034005e+02] [ 4.58036009e-02 -5.86345637e-04 9.98950292e-01 1.08537311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.66, Y:153.00, Z:108.53 [[ 8.19044442e-01 5.72535967e-01 -3.69968896e-02 4.07658941e+02] [-5.71899308e-01 8.19879039e-01 2.70100659e-02 1.53003405e+02] [ 4.57972084e-02 -9.63948797e-04 9.98950292e-01 1.08531952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.710385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:407.71, Y:152.97, Z:108.54 [[ 8.16317358e-01 5.76417998e-01 -3.69900479e-02 4.07708210e+02] [-5.75784884e-01 8.17154647e-01 2.70194323e-02 1.52967785e+02] [ 4.58010766e-02 -7.58121162e-04 9.98950292e-01 1.08538587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.76, Y:152.93, Z:108.54 [[ 8.16371025e-01 5.76342234e-01 -3.69862033e-02 4.07760286e+02] [-5.75708804e-01 8.17208075e-01 2.70246941e-02 1.52932824e+02] [ 4.58008965e-02 -7.68894331e-04 9.98950292e-01 1.08541817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.81, Y:152.90, Z:108.55 [[ 8.16391138e-01 5.76314200e-01 -3.69790871e-02 4.07813957e+02] [-5.75680301e-01 8.17227833e-01 2.70344279e-02 1.52899991e+02] [ 4.58006639e-02 -7.82535323e-04 9.98950292e-01 1.08545870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.87, Y:152.87, Z:108.55 [[ 8.15321593e-01 5.77826794e-01 -3.69715539e-02 4.07866858e+02] [-5.77193980e-01 8.16159109e-01 2.70447262e-02 1.52867610e+02] [ 4.58018379e-02 -7.10390946e-04 9.98950293e-01 1.08549306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.92, Y:152.83, Z:108.55 [[ 8.14501623e-01 5.78982490e-01 -3.69645971e-02 4.07920353e+02] [-5.78350434e-01 8.15339711e-01 2.70542314e-02 1.52833755e+02] [ 4.58026302e-02 -6.57224659e-04 9.98950293e-01 1.08553660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.010385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:407.97, Y:152.80, Z:108.56 [[ 8.14576502e-01 5.78877624e-01 -3.69569912e-02 4.07974163e+02] [-5.78244989e-01 8.15414152e-01 2.70646173e-02 1.52801266e+02] [ 4.58023550e-02 -6.76006313e-04 9.98950293e-01 1.08557352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.070385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:408.03, Y:152.77, Z:108.56 [[ 8.15644313e-01 5.77372586e-01 -3.69493046e-02 4.08027131e+02] [-5.76737930e-01 8.16480434e-01 2.70751072e-02 1.52768461e+02] [ 4.58008089e-02 -7.73591692e-04 9.98950293e-01 1.08559612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.08, Y:152.73, Z:108.56 [[ 8.16312051e-01 5.76428580e-01 -3.69422084e-02 4.08079225e+02] [-5.75792520e-01 8.17147104e-01 2.70847861e-02 1.52734785e+02] [ 4.57996634e-02 -8.38590064e-04 9.98950293e-01 1.08564554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.190385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:408.13, Y:152.70, Z:108.57 [[ 8.15206139e-01 5.77991956e-01 -3.69357379e-02 4.08133509e+02] [-5.77357098e-01 8.16042106e-01 2.70936071e-02 1.52702459e+02] [ 4.58010043e-02 -7.61764434e-04 9.98950293e-01 1.08567624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.19, Y:152.67, Z:108.57 [[ 8.13618764e-01 5.80224794e-01 -3.69282362e-02 4.08187650e+02] [-5.79591766e-01 8.14456117e-01 2.71038280e-02 1.52670133e+02] [ 4.58027409e-02 -6.48881434e-04 9.98950293e-01 1.08568625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.24, Y:152.64, Z:108.57 [[ 8.13891787e-01 5.79842232e-01 -3.69207986e-02 4.08239813e+02] [-5.79208351e-01 8.14728495e-01 2.71139557e-02 1.52635457e+02] [ 4.58022432e-02 -6.82991019e-04 9.98950293e-01 1.08572650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.29, Y:152.60, Z:108.58 [[ 8.14103429e-01 5.79545524e-01 -3.69133146e-02 4.08293550e+02] [-5.78910877e-01 8.14939555e-01 2.71241406e-02 1.52602989e+02] [ 4.58017945e-02 -7.12336579e-04 9.98950293e-01 1.08575932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.35, Y:152.57, Z:108.58 [[ 8.13878531e-01 5.79861797e-01 -3.69057344e-02 4.08347642e+02] [-5.79227007e-01 8.14714549e-01 2.71344506e-02 1.52571015e+02] [ 4.58018700e-02 -7.07348719e-04 9.98950293e-01 1.08579034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.40, Y:152.54, Z:108.58 [[ 8.14013785e-01 5.79672391e-01 -3.68982051e-02 4.08399989e+02] [-5.79036942e-01 8.14849302e-01 2.71446853e-02 1.52535647e+02] [ 4.58015013e-02 -7.30724123e-04 9.98950293e-01 1.08581886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.45, Y:152.50, Z:108.58 [[ 8.13538286e-01 5.80340016e-01 -3.68906829e-02 4.08454321e+02] [-5.79704790e-01 8.14373973e-01 2.71549043e-02 1.52503777e+02] [ 4.58018896e-02 -7.05848684e-04 9.98950293e-01 1.08581757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.51, Y:152.47, Z:108.58 [[ 8.13111845e-01 5.80937830e-01 -3.68831325e-02 4.08505200e+02] [-5.80302754e-01 8.13947645e-01 2.71651558e-02 1.52468177e+02] [ 4.58022055e-02 -6.84926583e-04 9.98950293e-01 1.08583052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.56, Y:152.43, Z:108.59 [[ 8.13149847e-01 5.80884932e-01 -3.68784768e-02 4.08556799e+02] [-5.80249514e-01 8.13985388e-01 2.71714748e-02 1.52431548e+02] [ 4.58020415e-02 -6.95762288e-04 9.98950294e-01 1.08586104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.730385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:408.61, Y:152.40, Z:108.59 [[ 8.13015492e-01 5.81073436e-01 -3.68710163e-02 4.08607480e+02] [-5.80437753e-01 8.13850831e-01 2.71815948e-02 1.52395194e+02] [ 4.58020099e-02 -6.97727788e-04 9.98950294e-01 1.08589443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.790385723 meters Centerline goodness : 0.995570 with order 1 Centerline is valid? [True, True] Translation: X:408.66, Y:152.36, Z:108.59 [[ 8.12714499e-01 5.81494821e-01 -3.68634884e-02 4.08658398e+02] [-5.80859108e-01 8.13549815e-01 2.71918002e-02 1.52357539e+02] [ 4.58021751e-02 -6.86677287e-04 9.98950294e-01 1.08587325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.71, Y:152.32, Z:108.60 [[ 8.12608433e-01 5.81643642e-01 -3.68538706e-02 4.08705507e+02] [-5.81007492e-01 8.13443416e-01 2.72048292e-02 1.52322311e+02] [ 4.58020544e-02 -6.94498738e-04 9.98950294e-01 1.08595150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.910385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:408.76, Y:152.28, Z:108.60 [[ 8.12992357e-01 5.81106801e-01 -3.68553019e-02 4.08755015e+02] [-5.80470188e-01 8.13826987e-01 2.72028901e-02 1.52283926e+02] [ 4.58016237e-02 -7.22337686e-04 9.98950294e-01 1.08598211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.80, Y:152.24, Z:108.60 [[ 8.12716119e-01 5.81493554e-01 -3.68477500e-02 4.08804445e+02] [-5.80856874e-01 8.13550698e-01 2.72131157e-02 1.52244641e+02] [ 4.58017641e-02 -7.13268861e-04 9.98950294e-01 1.08601257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.85, Y:152.21, Z:108.60 [[ 8.11427748e-01 5.83290510e-01 -3.68400686e-02 4.08853434e+02] [-5.82655207e-01 8.12263375e-01 2.72235105e-02 1.52206267e+02] [ 4.58030538e-02 -6.24853991e-04 9.98950294e-01 1.08602419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.90, Y:152.17, Z:108.60 [[ 8.11150636e-01 5.83676261e-01 -3.68329713e-02 4.08902647e+02] [-5.83040920e-01 8.11986234e-01 2.72331096e-02 1.52166688e+02] [ 4.58031853e-02 -6.15024723e-04 9.98950294e-01 1.08603578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.95, Y:152.13, Z:108.61 [[ 8.11196367e-01 5.83613172e-01 -3.68255372e-02 4.08951124e+02] [-5.82977309e-01 8.12031568e-01 2.72431586e-02 1.52126762e+02] [ 4.58029649e-02 -6.31098664e-04 9.98950294e-01 1.08606881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.00, Y:152.09, Z:108.61 [[ 8.11902755e-01 5.82630546e-01 -3.68179860e-02 4.08998925e+02] [-5.81993210e-01 8.12736832e-01 2.72533600e-02 1.52085171e+02] [ 4.58019733e-02 -6.99260226e-04 9.98950294e-01 1.08606329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.05, Y:152.05, Z:108.61 [[ 8.11814312e-01 5.82754286e-01 -3.68098490e-02 4.09048049e+02] [-5.82116580e-01 8.12648105e-01 2.72643458e-02 1.52045422e+02] [ 4.58018684e-02 -7.05962744e-04 9.98950294e-01 1.08608823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.09, Y:152.00, Z:108.61 [[ 8.11929897e-01 5.82593749e-01 -3.68017129e-02 4.09094675e+02] [-5.81955380e-01 8.12763184e-01 2.72753235e-02 1.52003073e+02] [ 4.58015103e-02 -7.28695743e-04 9.98950294e-01 1.08613576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:409.14, Y:151.96, Z:108.62 [[ 8.11364854e-01 5.83380923e-01 -3.67936384e-02 4.09140789e+02] [-5.82742869e-01 8.12198382e-01 2.72862115e-02 1.51961631e+02] [ 4.58019888e-02 -6.97842573e-04 9.98950294e-01 1.08619968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.450385723 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:409.19, Y:151.92, Z:108.62 [[ 8.11757683e-01 5.82834661e-01 -3.67861699e-02 4.09188287e+02] [-5.82195590e-01 8.12590431e-01 2.72962765e-02 1.51921538e+02] [ 4.58013057e-02 -7.41216323e-04 9.98950295e-01 1.08618885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.510385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:409.23, Y:151.88, Z:108.62 [[ 8.12489362e-01 5.81814718e-01 -3.67786538e-02 4.09233630e+02] [-5.81174144e-01 8.13320955e-01 2.73063999e-02 1.51878183e+02] [ 4.58001152e-02 -8.11356849e-04 9.98950295e-01 1.08624022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.28, Y:151.84, Z:108.63 [[ 8.12794916e-01 5.81388312e-01 -3.67703058e-02 4.09281912e+02] [-5.80746793e-01 8.13625780e-01 2.73176366e-02 1.51838228e+02] [ 4.57994233e-02 -8.49398985e-04 9.98950295e-01 1.08627329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.33, Y:151.80, Z:108.63 [[ 8.11643451e-01 5.82995211e-01 -3.67626464e-02 4.09331552e+02] [-5.82354871e-01 8.12475223e-01 2.73279402e-02 1.51799294e+02] [ 4.58007976e-02 -7.71637465e-04 9.98950295e-01 1.08629858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.38, Y:151.76, Z:108.63 [[ 8.10369922e-01 5.84764617e-01 -3.67550351e-02 4.09378717e+02] [-5.84125628e-01 8.11202733e-01 2.73381733e-02 1.51758767e+02] [ 4.58021814e-02 -6.84475340e-04 9.98950295e-01 1.08630753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.43, Y:151.72, Z:108.63 [[ 8.11860529e-01 5.82693583e-01 -3.67514546e-02 4.09428677e+02] [-5.82052252e-01 8.12691538e-01 2.73429859e-02 1.51721578e+02] [ 4.58001786e-02 -8.07424051e-04 9.98950295e-01 1.08630982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.48, Y:151.68, Z:108.63 [[ 8.10344134e-01 5.84801020e-01 -3.67444234e-02 4.09478174e+02] [-5.84161422e-01 8.11176477e-01 2.73524313e-02 1.51684096e+02] [ 4.58019417e-02 -7.00207622e-04 9.98950295e-01 1.08633381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.870385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:409.52, Y:151.64, Z:108.64 [[ 8.07828381e-01 5.88271782e-01 -3.67371396e-02 4.09522650e+02] [-5.87635316e-01 8.08663122e-01 2.73622107e-02 1.51639941e+02] [ 4.58043865e-02 -5.15929721e-04 9.98950295e-01 1.08640414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.930385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:409.57, Y:151.60, Z:108.64 [[ 8.10364028e-01 5.84774071e-01 -3.67345634e-02 4.09574943e+02] [-5.84133847e-01 8.11195889e-01 2.73656690e-02 1.51604032e+02] [ 4.58016604e-02 -7.18251904e-04 9.98950295e-01 1.08640894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.62, Y:151.56, Z:108.64 [[ 8.11513613e-01 5.83178252e-01 -3.67257800e-02 4.09622952e+02] [-5.82535858e-01 8.12343800e-01 2.73774516e-02 1.51562879e+02] [ 4.57998940e-02 -8.23090909e-04 9.98950295e-01 1.08643451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.67, Y:151.52, Z:108.65 [[ 8.10942250e-01 5.83972997e-01 -3.67179360e-02 4.09667823e+02] [-5.83330941e-01 8.11772698e-01 2.73879676e-02 1.51520497e+02] [ 4.58004515e-02 -7.91351909e-04 9.98950295e-01 1.08650372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.110385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:409.72, Y:151.48, Z:108.66 [[ 8.11008935e-01 5.83880836e-01 -3.67107210e-02 4.09716030e+02] [-5.83238248e-01 8.11838971e-01 2.73976352e-02 1.51480900e+02] [ 4.58001481e-02 -8.08630338e-04 9.98950295e-01 1.08655267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.76, Y:151.44, Z:108.66 [[ 8.10509041e-01 5.84574997e-01 -3.67037780e-02 4.09764656e+02] [-5.83932699e-01 8.11339302e-01 2.74069335e-02 1.51441568e+02] [ 4.58006256e-02 -7.81031216e-04 9.98950295e-01 1.08657988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.81, Y:151.40, Z:108.66 [[ 8.10648109e-01 5.84382631e-01 -3.66958278e-02 4.09812082e+02] [-5.83739655e-01 8.11477844e-01 2.74175740e-02 1.51403613e+02] [ 4.58002053e-02 -8.05194643e-04 9.98950296e-01 1.08657336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.290385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:409.86, Y:151.37, Z:108.66 [[ 8.10624212e-01 5.84416119e-01 -3.66904333e-02 4.09860726e+02] [-5.83772850e-01 8.11453720e-01 2.74247910e-02 1.51365508e+02] [ 4.58000786e-02 -8.12320742e-04 9.98950296e-01 1.08659224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.350385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:409.91, Y:151.33, Z:108.67 [[ 8.10166529e-01 5.85050864e-01 -3.66835324e-02 4.09908785e+02] [-5.84407827e-01 8.10996218e-01 2.74340187e-02 1.51326334e+02] [ 4.58005023e-02 -7.87980267e-04 9.98950296e-01 1.08666486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.96, Y:151.29, Z:108.67 [[ 8.10466038e-01 5.84636338e-01 -3.66763417e-02 4.09956776e+02] [-5.83992443e-01 8.11295060e-01 2.74436285e-02 1.51287463e+02] [ 4.57998773e-02 -8.23422488e-04 9.98950296e-01 1.08669342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4703857229999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:410.01, Y:151.25, Z:108.67 [[ 8.12834098e-01 5.81339784e-01 -3.66712879e-02 4.10007336e+02] [-5.80692223e-01 8.13660260e-01 2.74503799e-02 1.51250863e+02] [ 4.57959676e-02 -1.01787307e-03 9.98950296e-01 1.08666782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:410.06, Y:151.21, Z:108.67 [[ 8.14404274e-01 5.79138222e-01 -3.66687710e-02 4.10056297e+02] [-5.78488276e-01 8.15228561e-01 2.74537416e-02 1.51211009e+02] [ 4.57929405e-02 -1.14599042e-03 9.98950296e-01 1.08670899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.10, Y:151.17, Z:108.67 [[ 8.12990886e-01 5.81121177e-01 -3.66605604e-02 4.10102630e+02] [-5.80472748e-01 8.13816367e-01 2.74647014e-02 1.51171523e+02] [ 4.57952836e-02 -1.04809569e-03 9.98950296e-01 1.08674378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.650385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:410.15, Y:151.14, Z:108.67 [[ 8.14914124e-01 5.78421506e-01 -3.66542214e-02 4.10153866e+02] [-5.77769962e-01 8.15737149e-01 2.74731587e-02 1.51135748e+02] [ 4.57912759e-02 -1.21055693e-03 9.98950296e-01 1.08674453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.20, Y:151.10, Z:108.68 [[ 8.15671875e-01 5.77352891e-01 -3.66473913e-02 4.10202612e+02] [-5.76699861e-01 8.16493720e-01 2.74822666e-02 1.51095431e+02] [ 4.57893310e-02 -1.28196643e-03 9.98950296e-01 1.08677154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:410.25, Y:151.06, Z:108.68 [[ 8.15599698e-01 5.77455339e-01 -3.66396387e-02 4.10252487e+02] [-5.76801948e-01 8.16421257e-01 2.74925986e-02 1.51057474e+02] [ 4.57891277e-02 -1.28914010e-03 9.98950296e-01 1.08679637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.830385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:410.30, Y:151.02, Z:108.69 [[ 8.12684272e-01 5.81551709e-01 -3.66317402e-02 4.10299237e+02] [-5.80901986e-01 8.13508735e-01 2.75031187e-02 1.51017537e+02] [ 4.57947263e-02 -1.07190131e-03 9.98950296e-01 1.08685009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:410.35, Y:150.98, Z:108.68 [[ 8.13119661e-01 5.80943224e-01 -3.66249442e-02 4.10350817e+02] [-5.80292478e-01 8.13943316e-01 2.75121658e-02 1.50983209e+02] [ 4.57936348e-02 -1.11750329e-03 9.98950296e-01 1.08683518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.40, Y:150.94, Z:108.69 [[ 8.07861787e-01 5.88233331e-01 -3.66180326e-02 4.10397594e+02] [-5.87589603e-01 8.08690938e-01 2.75213618e-02 1.50944536e+02] [ 4.58016535e-02 -7.17081298e-04 9.98950296e-01 1.08688999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.45, Y:150.91, Z:108.69 [[ 8.06504934e-01 5.90092534e-01 -3.66141077e-02 4.10449009e+02] [-5.89450479e-01 8.07335382e-01 2.75265824e-02 1.50910055e+02] [ 4.58030954e-02 -6.18121196e-04 9.98950296e-01 1.08687285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.50, Y:150.87, Z:108.69 [[ 8.04108584e-01 5.93354279e-01 -3.66071656e-02 4.10498166e+02] [-5.92715173e-01 8.04941304e-01 2.75358116e-02 1.50871042e+02] [ 4.58051112e-02 -4.44159942e-04 9.98950296e-01 1.08687820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.55, Y:150.83, Z:108.69 [[ 8.04427798e-01 5.92921665e-01 -3.66035246e-02 4.10548452e+02] [-5.92281891e-01 8.05260004e-01 2.75406507e-02 1.50833970e+02] [ 4.58048029e-02 -4.74860235e-04 9.98950296e-01 1.08689433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.60, Y:150.79, Z:108.70 [[ 8.05270663e-01 5.91776950e-01 -3.65950923e-02 4.10597109e+02] [-5.91135484e-01 8.06101566e-01 2.75518507e-02 1.50793657e+02] [ 4.58039114e-02 -5.54039460e-04 9.98950296e-01 1.08695279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.64, Y:150.75, Z:108.70 [[ 8.05808113e-01 5.91045436e-01 -3.65865775e-02 4.10641733e+02] [-5.90402704e-01 8.06638035e-01 2.75631531e-02 1.50752352e+02] [ 4.58032008e-02 -6.09798127e-04 9.98950297e-01 1.08702259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.310385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:410.69, Y:150.71, Z:108.70 [[ 8.09086424e-01 5.86550130e-01 -3.65801045e-02 4.10690777e+02] [-5.85902398e-01 8.09912451e-01 2.75717410e-02 1.50712918e+02] [ 4.57988903e-02 -8.75550351e-04 9.98950297e-01 1.08704946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:410.74, Y:150.68, Z:108.71 [[ 8.09969815e-01 5.85330120e-01 -3.65725287e-02 4.10740356e+02] [-5.84680691e-01 8.10794508e-01 2.75817863e-02 1.50675245e+02] [ 4.57972557e-02 -9.57162997e-04 9.98950297e-01 1.08706222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.430385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:410.79, Y:150.64, Z:108.71 [[ 8.08368683e-01 5.87539797e-01 -3.65658260e-02 4.10789778e+02] [-5.86892221e-01 8.09194832e-01 2.75906693e-02 1.50638728e+02] [ 4.57994937e-02 -8.43234127e-04 9.98950297e-01 1.08708017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.84, Y:150.60, Z:108.71 [[ 8.06704517e-01 5.89823092e-01 -3.65587474e-02 4.10840661e+02] [-5.89177430e-01 8.07532163e-01 2.76000456e-02 1.50601879e+02] [ 4.58015086e-02 -7.25492648e-04 9.98950297e-01 1.08712084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.89, Y:150.57, Z:108.71 [[ 8.05613488e-01 5.91312876e-01 -3.65512131e-02 4.10891942e+02] [-5.90668292e-01 8.06441973e-01 2.76100197e-02 1.50565224e+02] [ 4.58025926e-02 -6.53361637e-04 9.98950297e-01 1.08714457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.94, Y:150.53, Z:108.72 [[ 8.05625424e-01 5.91297078e-01 -3.65436914e-02 4.10943057e+02] [-5.90652027e-01 8.06453545e-01 2.76199717e-02 1.50528400e+02] [ 4.58023980e-02 -6.66746025e-04 9.98950297e-01 1.08718139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.99, Y:150.49, Z:108.72 [[ 8.05621873e-01 5.91302379e-01 -3.65362040e-02 4.10992756e+02] [-5.90656884e-01 8.06449648e-01 2.76298725e-02 1.50491323e+02] [ 4.58022183e-02 -6.78869233e-04 9.98950297e-01 1.08721037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.05, Y:150.46, Z:108.72 [[ 8.06409625e-01 5.90228035e-01 -3.65292157e-02 4.11045982e+02] [-5.89581019e-01 8.07236212e-01 2.76391087e-02 1.50458516e+02] [ 4.58010825e-02 -7.51511103e-04 9.98950297e-01 1.08719364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.09, Y:150.42, Z:108.73 [[ 8.03998528e-01 5.93508355e-01 -3.65267060e-02 4.11093999e+02] [-5.92864561e-01 8.04827627e-01 2.76424249e-02 1.50420663e+02] [ 4.58037123e-02 -5.69079451e-04 9.98950297e-01 1.08727304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:411.14, Y:150.38, Z:108.73 [[ 8.03577670e-01 5.94078449e-01 -3.65201875e-02 4.11143157e+02] [-5.93434852e-01 8.04406922e-01 2.76510343e-02 1.50382653e+02] [ 4.58039752e-02 -5.47401718e-04 9.98950297e-01 1.08730685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.19, Y:150.35, Z:108.73 [[ 8.01817360e-01 5.96452464e-01 -3.65154609e-02 4.11193900e+02] [-5.95811039e-01 8.02648293e-01 2.76572748e-02 1.50346345e+02] [ 4.58053220e-02 -4.19768376e-04 9.98950297e-01 1.08733820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.24, Y:150.31, Z:108.73 [[ 8.01304993e-01 5.97141103e-01 -3.65076988e-02 4.11243958e+02] [-5.96499924e-01 8.02136116e-01 2.76675170e-02 1.50309693e+02] [ 4.58055553e-02 -3.93279925e-04 9.98950297e-01 1.08732716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.030385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:411.29, Y:150.27, Z:108.74 [[ 7.99704162e-01 5.99283427e-01 -3.65051584e-02 4.11292999e+02] [-5.98644323e-01 8.00536881e-01 2.76708684e-02 1.50270071e+02] [ 4.58064185e-02 -2.74902828e-04 9.98950297e-01 1.08737464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.34, Y:150.23, Z:108.75 [[ 7.99104132e-01 6.00083860e-01 -3.64958468e-02 4.11342345e+02] [-5.99445029e-01 7.99937061e-01 2.76831443e-02 1.50233584e+02] [ 4.58065885e-02 -2.44461068e-04 9.98950297e-01 1.08746747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.39, Y:150.20, Z:108.75 [[ 8.00682345e-01 5.97976984e-01 -3.64871095e-02 4.11392468e+02] [-5.97335436e-01 8.01513183e-01 2.76946555e-02 1.50195664e+02] [ 4.58056659e-02 -3.79578224e-04 9.98950298e-01 1.08748867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.210385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:411.44, Y:150.16, Z:108.75 [[ 8.01555198e-01 5.96806941e-01 -3.64793094e-02 4.11442048e+02] [-5.96163713e-01 8.02384736e-01 2.77049259e-02 1.50159010e+02] [ 4.58049332e-02 -4.59386823e-04 9.98950298e-01 1.08750782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.49, Y:150.12, Z:108.75 [[ 8.02516645e-01 5.95513766e-01 -3.64744983e-02 4.11492752e+02] [-5.94868914e-01 8.03344920e-01 2.77112585e-02 1.50123856e+02] [ 4.58040389e-02 -5.41200956e-04 9.98950298e-01 1.08748677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.54, Y:150.09, Z:108.76 [[ 8.02820397e-01 5.95104430e-01 -3.64709063e-02 4.11542641e+02] [-5.94458941e-01 8.03648177e-01 2.77159852e-02 1.50086008e+02] [ 4.58036829e-02 -5.70501969e-04 9.98950298e-01 1.08758907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.59, Y:150.05, Z:108.76 [[ 8.03198762e-01 5.94594130e-01 -3.64632544e-02 4.11594607e+02] [-5.93947658e-01 8.04025774e-01 2.77260484e-02 1.50049973e+02] [ 4.58031420e-02 -6.12263204e-04 9.98950298e-01 1.08757376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.65, Y:150.02, Z:108.76 [[ 8.02657468e-01 5.95324871e-01 -3.64593970e-02 4.11646804e+02] [-5.94678921e-01 8.03484888e-01 2.77311199e-02 1.50016926e+02] [ 4.58035999e-02 -5.76955603e-04 9.98950298e-01 1.08763810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.70, Y:149.99, Z:108.76 [[ 8.03695007e-01 5.93923943e-01 -3.64511523e-02 4.11701538e+02] [-5.93276060e-01 8.04520914e-01 2.77419529e-02 1.49985556e+02] [ 4.58023244e-02 -6.70473013e-04 9.98950298e-01 1.08762404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.75, Y:149.95, Z:108.77 [[ 8.01682743e-01 5.96637798e-01 -3.64433547e-02 4.11752367e+02] [-5.95992246e-01 8.02510473e-01 2.77521925e-02 1.49950254e+02] [ 4.58041808e-02 -5.28497008e-04 9.98950298e-01 1.08769030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.81, Y:149.92, Z:108.77 [[ 8.01477160e-01 5.96914401e-01 -3.64357035e-02 4.11805698e+02] [-5.96268678e-01 8.02304756e-01 2.77622340e-02 1.49916443e+02] [ 4.58042155e-02 -5.25327684e-04 9.98950298e-01 1.08772085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.86, Y:149.88, Z:108.78 [[ 8.01249066e-01 5.97221004e-01 -3.64280953e-02 4.11856483e+02] [-5.96575144e-01 8.02076556e-01 2.77722135e-02 1.49879237e+02] [ 4.58042705e-02 -5.20363898e-04 9.98950298e-01 1.08775532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.91, Y:149.85, Z:108.78 [[ 8.02690066e-01 5.95283304e-01 -3.64204141e-02 4.11909175e+02] [-5.94634989e-01 8.03515634e-01 2.77822830e-02 1.49845289e+02] [ 4.58027014e-02 -6.43710005e-04 9.98950298e-01 1.08782551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.96, Y:149.81, Z:108.79 [[ 8.04026519e-01 5.93477464e-01 -3.64123175e-02 4.11961756e+02] [-5.92826816e-01 8.04850248e-01 2.77928907e-02 1.49811805e+02] [ 4.58009170e-02 -7.60022940e-04 9.98950298e-01 1.08785109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.02, Y:149.78, Z:108.79 [[ 8.03904879e-01 5.93642682e-01 -3.64048354e-02 4.12017637e+02] [-5.92991759e-01 8.04728392e-01 2.78026878e-02 1.49781402e+02] [ 4.58008667e-02 -7.62948991e-04 9.98950298e-01 1.08785584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.07, Y:149.75, Z:108.79 [[ 8.05617559e-01 5.91316838e-01 -3.63970552e-02 4.12070908e+02] [-5.90663078e-01 8.06438821e-01 2.78128692e-02 1.49747169e+02] [ 4.57982162e-02 -9.08139102e-04 9.98950298e-01 1.08791617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.13, Y:149.72, Z:108.79 [[ 8.08781406e-01 5.86982522e-01 -3.63889476e-02 4.12127144e+02] [-5.86323886e-01 8.09598762e-01 2.78234728e-02 1.49718820e+02] [ 4.57923391e-02 -1.16739830e-03 9.98950299e-01 1.08790885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.18, Y:149.69, Z:108.79 [[ 8.09017893e-01 5.86656847e-01 -3.63839640e-02 4.12184145e+02] [-5.85997588e-01 8.09834747e-01 2.78299882e-02 1.49689381e+02] [ 4.57916514e-02 -1.19404323e-03 9.98950299e-01 1.08790220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.24, Y:149.66, Z:108.79 [[ 8.08865164e-01 5.86867878e-01 -3.63763688e-02 4.12239947e+02] [-5.86208386e-01 8.09681831e-01 2.78399122e-02 1.49658112e+02] [ 4.57916351e-02 -1.19460268e-03 9.98950299e-01 1.08793026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.30, Y:149.63, Z:108.79 [[ 8.08275741e-01 5.87679894e-01 -3.63685134e-02 4.12296221e+02] [-5.87020762e-01 8.09092697e-01 2.78501703e-02 1.49629413e+02] [ 4.57924837e-02 -1.16154452e-03 9.98950299e-01 1.08793916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.35, Y:149.60, Z:108.80 [[ 8.06397758e-01 5.90254619e-01 -3.63612642e-02 4.12349761e+02] [-5.89597669e-01 8.07216470e-01 2.78596317e-02 1.49597526e+02] [ 4.57956876e-02 -1.02742794e-03 9.98950299e-01 1.08796338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.40, Y:149.56, Z:108.80 [[ 8.05057810e-01 5.92081323e-01 -3.63542193e-02 4.12403485e+02] [-5.91425816e-01 8.05877678e-01 2.78688216e-02 1.49564815e+02] [ 4.57976626e-02 -9.35188620e-04 9.98950299e-01 1.08799435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.46, Y:149.53, Z:108.80 [[ 8.04857291e-01 5.92354339e-01 -3.63466432e-02 4.12457163e+02] [-5.91698665e-01 8.05677025e-01 2.78786989e-02 1.49530988e+02] [ 4.57977236e-02 -9.32113839e-04 9.98950299e-01 1.08801484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.51, Y:149.50, Z:108.80 [[ 8.03566913e-01 5.94104120e-01 -3.63388371e-02 4.12508973e+02] [-5.93449771e-01 8.04387705e-01 2.78888702e-02 1.49495890e+02] [ 4.57994064e-02 -8.45298781e-04 9.98950299e-01 1.08804728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.56, Y:149.46, Z:108.81 [[ 8.00867517e-01 5.97738473e-01 -3.63309505e-02 4.12561822e+02] [-5.97087384e-01 8.01690897e-01 2.78991402e-02 1.49461231e+02] [ 4.58025818e-02 -6.50762924e-04 9.98950299e-01 1.08807135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.61, Y:149.42, Z:108.81 [[ 7.99290260e-01 5.99846413e-01 -3.63229987e-02 4.12612620e+02] [-5.99197025e-01 8.00114983e-01 2.79094892e-02 1.49424897e+02] [ 4.58039825e-02 -5.43150060e-04 9.98950299e-01 1.08809046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.66, Y:149.39, Z:108.81 [[ 7.97945686e-01 6.01634174e-01 -3.63180936e-02 4.12663247e+02] [-6.00986343e-01 7.98771632e-01 2.79158706e-02 1.49389735e+02] [ 4.58050047e-02 -4.48670287e-04 9.98950299e-01 1.08814330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.71, Y:149.35, Z:108.82 [[ 7.98029918e-01 6.01522876e-01 -3.63108717e-02 4.12713842e+02] [-6.00874503e-01 7.98855438e-01 2.79252612e-02 1.49352109e+02] [ 4.58048208e-02 -4.66916908e-04 9.98950299e-01 1.08816294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.76, Y:149.31, Z:108.82 [[ 8.01258451e-01 5.97216035e-01 -3.63029193e-02 4.12763299e+02] [-5.96562757e-01 8.02080096e-01 2.79355955e-02 1.49312695e+02] [ 4.58014346e-02 -7.26662399e-04 9.98950299e-01 1.08816840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.81, Y:149.27, Z:108.82 [[ 8.05329142e-01 5.91715846e-01 -3.62950581e-02 4.12811041e+02] [-5.91056498e-01 8.06145922e-01 2.79458054e-02 1.49273535e+02] [ 4.57950890e-02 -1.05314154e-03 9.98950299e-01 1.08819360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.86, Y:149.23, Z:108.82 [[ 8.07272426e-01 5.89062327e-01 -3.62878094e-02 4.12860792e+02] [-5.88399872e-01 8.08086689e-01 2.79552147e-02 1.49234246e+02] [ 4.57910596e-02 -1.21573161e-03 9.98950300e-01 1.08821767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.91, Y:149.20, Z:108.83 [[ 8.07015558e-01 5.89414663e-01 -3.62800850e-02 4.12910694e+02] [-5.88752113e-01 8.07829744e-01 2.79652357e-02 1.49195858e+02] [ 4.57912518e-02 -1.20840359e-03 9.98950300e-01 1.08825427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.96, Y:149.16, Z:108.83 [[ 8.07037346e-01 5.89385303e-01 -3.62723966e-02 4.12961839e+02] [-5.88722276e-01 8.07851143e-01 2.79752045e-02 1.49158868e+02] [ 4.57908715e-02 -1.22266687e-03 9.98950300e-01 1.08828891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.01, Y:149.12, Z:108.83 [[ 8.07102252e-01 5.89296897e-01 -3.62646136e-02 4.13013082e+02] [-5.88633328e-01 8.07915607e-01 2.79852901e-02 1.49122246e+02] [ 4.57903919e-02 -1.24043045e-03 9.98950300e-01 1.08831136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.06, Y:149.08, Z:108.83 [[ 8.07985957e-01 5.88085156e-01 -3.62566284e-02 4.13062116e+02] [-5.87419904e-01 8.08797936e-01 2.79956316e-02 1.49084011e+02] [ 4.57881016e-02 -1.32221205e-03 9.98950300e-01 1.08834538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.11, Y:149.05, Z:108.84 [[ 8.08252080e-01 5.87719802e-01 -3.62492713e-02 4.13113246e+02] [-5.87053756e-01 8.09063409e-01 2.80051544e-02 1.49046988e+02] [ 4.57871428e-02 -1.35495341e-03 9.98950300e-01 1.08838083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.16, Y:149.01, Z:108.84 [[ 8.06667414e-01 5.89893412e-01 -3.62414922e-02 4.13164085e+02] [-5.89229101e-01 8.07480163e-01 2.80152178e-02 1.49012242e+02] [ 4.57902784e-02 -1.24442141e-03 9.98950300e-01 1.08839165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.21, Y:148.98, Z:108.84 [[ 8.06059304e-01 5.90724533e-01 -3.62343141e-02 4.13214610e+02] [-5.90060643e-01 8.06872397e-01 2.80244988e-02 1.48975197e+02] [ 4.57912268e-02 -1.20896529e-03 9.98950300e-01 1.08841435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.26, Y:148.94, Z:108.85 [[ 8.08266829e-01 5.87700908e-01 -3.62267251e-02 4.13264721e+02] [-5.87033539e-01 8.09077068e-01 2.80343054e-02 1.48937504e+02] [ 4.57859993e-02 -1.39289647e-03 9.98950300e-01 1.08845068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.32, Y:148.90, Z:108.85 [[ 8.11028164e-01 5.83884842e-01 -3.62189068e-02 4.13315667e+02] [-5.83213211e-01 8.11834874e-01 2.80444026e-02 1.48900306e+02] [ 4.57784733e-02 -1.62145541e-03 9.98950300e-01 1.08848603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.37, Y:148.86, Z:108.85 [[ 8.15980917e-01 5.76943580e-01 -3.62111745e-02 4.13366951e+02] [-5.76264649e-01 8.16781492e-01 2.80543831e-02 1.48864453e+02] [ 4.57624134e-02 -2.02462149e-03 9.98950300e-01 1.08850382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.42, Y:148.83, Z:108.85 [[ 8.21251742e-01 5.69416269e-01 -3.62034477e-02 4.13420357e+02] [-5.68729567e-01 8.22045663e-01 2.80643508e-02 1.48830576e+02] [ 4.57411851e-02 -2.45792578e-03 9.98950300e-01 1.08854279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.48, Y:148.80, Z:108.86 [[ 8.23976678e-01 5.65466461e-01 -3.61955136e-02 4.13475728e+02] [-5.64775508e-01 8.24766902e-01 2.80745800e-02 1.48800176e+02] [ 4.57280950e-02 -2.69045960e-03 9.98950300e-01 1.08856918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.53, Y:148.77, Z:108.86 [[ 8.24370580e-01 5.64892520e-01 -3.61882173e-02 4.13527029e+02] [-5.64200607e-01 8.25159963e-01 2.80839818e-02 1.48765836e+02] [ 4.57254993e-02 -2.73419422e-03 9.98950301e-01 1.08860233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.59, Y:148.74, Z:108.86 [[ 8.25759515e-01 5.62860681e-01 -3.61811760e-02 4.13585833e+02] [-5.62166432e-01 8.26546843e-01 2.80930503e-02 1.48742543e+02] [ 4.57179102e-02 -2.85826102e-03 9.98950301e-01 1.08862016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.64, Y:148.72, Z:108.86 [[ 8.25546175e-01 5.63173540e-01 -3.61811760e-02 4.13641348e+02] [-5.62479588e-01 8.26333766e-01 2.80930503e-02 1.48717746e+02] [ 4.57189900e-02 -2.84093729e-03 9.98950301e-01 1.08863382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.69, Y:148.69, Z:108.87 [[ 8.24295601e-01 5.65002283e-01 -3.61826185e-02 4.13693145e+02] [-5.64310161e-01 8.25084800e-01 2.80911923e-02 1.48689588e+02] [ 4.57253164e-02 -2.73722693e-03 9.98950301e-01 1.08866171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.75, Y:148.67, Z:108.87 [[ 8.20737118e-01 5.70158916e-01 -3.61855381e-02 4.13752119e+02] [-5.69471920e-01 8.21530784e-01 2.80874310e-02 1.48671390e+02] [ 4.57418327e-02 -2.44574932e-03 9.98950301e-01 1.08870941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.81, Y:148.65, Z:108.87 [[ 8.16290979e-01 5.76505917e-01 -3.61934358e-02 4.13806539e+02] [-5.75825545e-01 8.17090331e-01 2.80772503e-02 1.48646903e+02] [ 4.57600074e-02 -2.07810118e-03 9.98950301e-01 1.08874292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9703857229999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:413.86, Y:148.62, Z:108.87 [[ 8.11704465e-01 5.82945398e-01 -3.62011705e-02 4.13859681e+02] [-5.82271815e-01 8.12509545e-01 2.80672741e-02 1.48620608e+02] [ 4.57754848e-02 -1.70341051e-03 9.98950301e-01 1.08871850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.91, Y:148.59, Z:108.88 [[ 8.06991977e-01 5.89451580e-01 -3.62047397e-02 4.13910713e+02] [-5.88784697e-01 8.07802616e-01 2.80626693e-02 1.48591414e+02] [ 4.57878682e-02 -1.32955226e-03 9.98950301e-01 1.08877556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.96, Y:148.56, Z:108.88 [[ 8.04294994e-01 5.93125808e-01 -3.62124125e-02 4.13959635e+02] [-5.92463074e-01 8.05109029e-01 2.80527647e-02 1.48561089e+02] [ 4.57937590e-02 -1.10818098e-03 9.98950301e-01 1.08879276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.01, Y:148.53, Z:108.88 [[ 7.99811538e-01 5.99157680e-01 -3.62157135e-02 4.14009687e+02] [-5.98501280e-01 8.00630689e-01 2.80485026e-02 1.48530262e+02] [ 4.58008874e-02 -7.58365171e-04 9.98950301e-01 1.08881485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.06, Y:148.50, Z:108.89 [[ 7.91717533e-01 6.09812431e-01 -3.62235706e-02 4.14058637e+02] [-6.09167522e-01 7.92545760e-01 2.80383518e-02 1.48498473e+02] [ 4.58069727e-02 -1.32231979e-04 9.98950301e-01 1.08885683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.10, Y:148.46, Z:108.89 [[ 7.87017534e-01 6.15865795e-01 -3.62315312e-02 4.14103201e+02] [-6.15227729e-01 7.87851045e-01 2.80280612e-02 1.48463609e+02] [ 4.58065739e-02 2.32067106e-04 9.98950301e-01 1.08886987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.15, Y:148.42, Z:108.89 [[ 7.81363136e-01 6.23023818e-01 -3.62349630e-02 4.14145728e+02] [-6.22393593e-01 7.82202590e-01 2.80236238e-02 1.48423125e+02] [ 4.58024670e-02 6.55782271e-04 9.98950301e-01 1.08889301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.19, Y:148.38, Z:108.89 [[ 7.76721590e-01 6.28800472e-01 -3.62427695e-02 4.14186141e+02] [-6.28176960e-01 7.77566042e-01 2.80135240e-02 1.48380018e+02] [ 4.57960640e-02 1.00816386e-03 9.98950301e-01 1.08893419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.23, Y:148.34, Z:108.90 [[ 7.74563858e-01 6.31456042e-01 -3.62504728e-02 4.14226078e+02] [-6.30835890e-01 7.75410782e-01 2.80035523e-02 1.48337241e+02] [ 4.57920197e-02 1.17755977e-03 9.98950301e-01 1.08896266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.510385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:414.26, Y:148.29, Z:108.90 [[ 7.73634989e-01 6.32593269e-01 -3.62582427e-02 4.14264960e+02] [-6.31974834e-01 7.74483166e-01 2.79934883e-02 1.48294164e+02] [ 4.57898909e-02 1.25755487e-03 9.98950301e-01 1.08899666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.570385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:414.30, Y:148.24, Z:108.90 [[ 7.73294686e-01 6.33008916e-01 -3.62634865e-02 4.14299417e+02] [-6.32391255e-01 7.74143427e-01 2.79866937e-02 1.48243250e+02] [ 4.57889664e-02 1.29075026e-03 9.98950301e-01 1.08900376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.34, Y:148.20, Z:108.91 [[ 7.73324234e-01 6.32972383e-01 -3.62710765e-02 4.14335598e+02] [-6.32355142e-01 7.74173281e-01 2.79768535e-02 1.48195571e+02] [ 4.57886740e-02 1.30102291e-03 9.98950301e-01 1.08906007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.37, Y:148.15, Z:108.91 [[ 7.72596639e-01 6.33860100e-01 -3.62740551e-02 4.14374389e+02] [-6.33244016e-01 7.73446526e-01 2.79729911e-02 1.48148990e+02] [ 4.57870048e-02 1.35848938e-03 9.98950301e-01 1.08907743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.41, Y:148.09, Z:108.91 [[ 7.71369436e-01 6.35352849e-01 -3.62760314e-02 4.14405419e+02] [-6.34738530e-01 7.72220599e-01 2.79704279e-02 1.48094019e+02] [ 4.57841898e-02 1.45026167e-03 9.98950301e-01 1.08906611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.44, Y:148.05, Z:108.91 [[ 7.71381991e-01 6.35337467e-01 -3.62784625e-02 4.14443657e+02] [-6.34723279e-01 7.72233249e-01 2.79672744e-02 1.48046744e+02] [ 4.57840922e-02 1.45333284e-03 9.98950301e-01 1.08909068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.48, Y:147.99, Z:108.91 [[ 7.71690319e-01 6.34962823e-01 -3.62803666e-02 4.14480013e+02] [-6.34348338e-01 7.72541362e-01 2.79648041e-02 1.47993074e+02] [ 4.57846948e-02 1.43422162e-03 9.98950301e-01 1.08912403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.52, Y:147.94, Z:108.91 [[ 7.72232824e-01 6.34303314e-01 -3.62735739e-02 4.14517211e+02] [-6.33687688e-01 7.73083043e-01 2.79736122e-02 1.47939807e+02] [ 4.57862398e-02 1.38397565e-03 9.98950302e-01 1.08914395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.55, Y:147.88, Z:108.92 [[ 7.73199897e-01 6.33124502e-01 -3.62668474e-02 4.14554264e+02] [-6.32507172e-01 7.74048879e-01 2.79823302e-02 1.47884965e+02] [ 4.57886114e-02 1.30310623e-03 9.98950302e-01 1.08920069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.59, Y:147.83, Z:108.92 [[ 7.74111180e-01 6.32010432e-01 -3.62587263e-02 4.14591759e+02] [-6.31391387e-01 7.74958913e-01 2.79928493e-02 1.47833200e+02] [ 4.57907959e-02 1.22386988e-03 9.98950302e-01 1.08923845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.110385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:414.63, Y:147.78, Z:108.93 [[ 7.75640892e-01 6.30132511e-01 -3.62522432e-02 4.14630896e+02] [-6.29511022e-01 7.76486834e-01 2.80012427e-02 1.47781585e+02] [ 4.57938830e-02 1.10227780e-03 9.98950302e-01 1.08925913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.170385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:414.67, Y:147.73, Z:108.93 [[ 7.78335088e-01 6.26802079e-01 -3.62442495e-02 4.14671264e+02] [-6.26176488e-01 7.79178001e-01 2.80115859e-02 1.47730245e+02] [ 4.57984421e-02 8.92896674e-04 9.98950302e-01 1.08929356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:414.71, Y:147.68, Z:108.93 [[ 7.78056490e-01 6.27148076e-01 -3.62407006e-02 4.14710432e+02] [-6.26522647e-01 7.78899523e-01 2.80161766e-02 1.47681752e+02] [ 4.57981556e-02 9.07451640e-04 9.98950302e-01 1.08932879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.75, Y:147.63, Z:108.94 [[ 7.79385144e-01 6.25496511e-01 -3.62341380e-02 4.14748062e+02] [-6.24868900e-01 7.80226554e-01 2.80246616e-02 1.47628549e+02] [ 4.58001647e-02 7.99581016e-04 9.98950302e-01 1.08939169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.79, Y:147.58, Z:108.94 [[ 7.80833038e-01 6.23688510e-01 -3.62271866e-02 4.14789982e+02] [-6.23058535e-01 7.81672679e-01 2.80336448e-02 1.47581116e+02] [ 4.58020641e-02 6.82061791e-04 9.98950302e-01 1.08941536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.83, Y:147.54, Z:108.94 [[ 7.81833219e-01 6.22434656e-01 -3.62203862e-02 4.14834713e+02] [-6.21802927e-01 7.82671542e-01 2.80424283e-02 1.47536944e+02] [ 4.58032447e-02 5.97440168e-04 9.98950302e-01 1.08943732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.88, Y:147.49, Z:108.95 [[ 7.82952776e-01 6.21026188e-01 -3.62135972e-02 4.14875348e+02] [-6.20392545e-01 7.83789653e-01 2.80511928e-02 1.47490078e+02] [ 4.58043681e-02 5.03886421e-04 9.98950302e-01 1.08945540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.92, Y:147.45, Z:108.95 [[ 7.82327238e-01 6.21814237e-01 -3.62097699e-02 4.14921574e+02] [-6.21181209e-01 7.83164579e-01 2.80561324e-02 1.47447037e+02] [ 4.58039118e-02 5.43752041e-04 9.98950302e-01 1.08949960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:414.97, Y:147.41, Z:108.95 [[ 7.81968675e-01 6.22265547e-01 -3.62019521e-02 4.14973732e+02] [-6.21632535e-01 7.82806029e-01 2.80662164e-02 1.47411663e+02] [ 4.58037458e-02 5.57409161e-04 9.98950302e-01 1.08952174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.03, Y:147.38, Z:108.95 [[ 7.84791229e-01 6.18702449e-01 -3.61940067e-02 4.15028412e+02] [-6.18065163e-01 7.85625335e-01 2.80764591e-02 1.47379109e+02] [ 4.58059026e-02 3.36095827e-04 9.98950302e-01 1.08954053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.710385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:415.08, Y:147.34, Z:108.96 [[ 7.87930882e-01 6.14699512e-01 -3.61861058e-02 4.15075915e+02] [-6.14057521e-01 7.88761372e-01 2.80866383e-02 1.47341553e+02] [ 4.58070453e-02 9.00207626e-05 9.98950302e-01 1.08959217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.13, Y:147.30, Z:108.96 [[ 7.89995792e-01 6.12043848e-01 -3.61797861e-02 4.15125728e+02] [-6.11398692e-01 7.90823826e-01 2.80947767e-02 1.47304376e+02] [ 4.58070721e-02 -7.44814806e-05 9.98950302e-01 1.08961151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.18, Y:147.27, Z:108.96 [[ 7.92676157e-01 6.08568859e-01 -3.61725610e-02 4.15175269e+02] [-6.07919649e-01 7.93501015e-01 2.81040761e-02 1.47267286e+02] [ 4.58062294e-02 -2.87420467e-04 9.98950302e-01 1.08961842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.22, Y:147.22, Z:108.96 [[ 7.94330583e-01 6.06408245e-01 -3.61658075e-02 4.15222475e+02] [-6.05756396e-01 7.95153357e-01 2.81127641e-02 1.47224926e+02] [ 4.58051752e-02 -4.23159055e-04 9.98950303e-01 1.08962137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.27, Y:147.19, Z:108.97 [[ 7.95269486e-01 6.05176632e-01 -3.61619720e-02 4.15271123e+02] [-6.04523285e-01 7.96091071e-01 2.81176970e-02 1.47186850e+02] [ 4.58043962e-02 -5.00392336e-04 9.98950303e-01 1.08970784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:415.32, Y:147.15, Z:108.97 [[ 7.96115207e-01 6.04064137e-01 -3.61537746e-02 4.15320824e+02] [-6.03409163e-01 7.96935496e-01 2.81282332e-02 1.47149242e+02] [ 4.58034832e-02 -5.77795381e-04 9.98950303e-01 1.08974282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.070385723 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:415.37, Y:147.11, Z:108.97 [[ 7.95771115e-01 6.04517758e-01 -3.61471070e-02 4.15369679e+02] [-6.03862863e-01 7.96591466e-01 2.81367990e-02 1.47111163e+02] [ 4.58036716e-02 -5.62556360e-04 9.98950303e-01 1.08974114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.42, Y:147.07, Z:108.98 [[ 7.94033525e-01 6.06798443e-01 -3.61443035e-02 4.15418645e+02] [-6.06145740e-01 7.94855622e-01 2.81403999e-02 1.47073071e+02] [ 4.58050537e-02 -4.35705320e-04 9.98950303e-01 1.08981593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:415.47, Y:147.04, Z:108.98 [[ 7.91944895e-01 6.09522316e-01 -3.61362656e-02 4.15468054e+02] [-6.08871970e-01 7.92768858e-01 2.81507180e-02 1.47036418e+02] [ 4.58061968e-02 -2.91458253e-04 9.98950303e-01 1.08983715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.52, Y:147.00, Z:108.99 [[ 7.90584895e-01 6.11285714e-01 -3.61289444e-02 4.15517937e+02] [-6.10636776e-01 7.91409967e-01 2.81601110e-02 1.46997363e+02] [ 4.58066802e-02 -2.01296237e-04 9.98950303e-01 1.08986008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.56, Y:146.96, Z:108.99 [[ 7.91806461e-01 6.09703038e-01 -3.61211042e-02 4.15564963e+02] [-6.09051993e-01 7.92629871e-01 2.81701640e-02 1.46957695e+02] [ 4.58061007e-02 -3.05687343e-04 9.98950303e-01 1.08989219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.61, Y:146.92, Z:108.99 [[ 7.94013284e-01 6.06826741e-01 -3.61138597e-02 4.15612842e+02] [-6.06172291e-01 7.94833990e-01 2.81794483e-02 1.46917622e+02] [ 4.58045660e-02 -4.83635183e-04 9.98950303e-01 1.08993146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.66, Y:146.88, Z:109.00 [[ 7.95648272e-01 6.04681875e-01 -3.61061992e-02 4.15662964e+02] [-6.04024768e-01 7.96466852e-01 2.81892603e-02 1.46879188e+02] [ 4.58029256e-02 -6.19697676e-04 9.98950303e-01 1.08995142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.71, Y:146.84, Z:109.00 [[ 7.99090537e-01 6.00125988e-01 -3.60986534e-02 4.15709821e+02] [-5.99463777e-01 7.99904995e-01 2.81989200e-02 1.46838955e+02] [ 4.57983979e-02 -8.93655041e-04 9.98950303e-01 1.09001599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.76, Y:146.80, Z:109.01 [[ 8.00748888e-01 5.97911870e-01 -3.60917352e-02 4.15760012e+02] [-5.97247009e-01 8.01561184e-01 2.82077719e-02 1.46801720e+02] [ 4.57954956e-02 -1.03166109e-03 9.98950303e-01 1.09005401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.81, Y:146.77, Z:109.01 [[ 7.99002042e-01 6.00244691e-01 -3.60839101e-02 4.15810655e+02] [-5.99581750e-01 7.99815905e-01 2.82177782e-02 1.46765227e+02] [ 4.57980568e-02 -9.10808431e-04 9.98950303e-01 1.09008032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.86, Y:146.73, Z:109.01 [[ 7.97927468e-01 6.01672889e-01 -3.60761772e-02 4.15863269e+02] [-6.01010959e-01 7.98742153e-01 2.82276613e-02 1.46730952e+02] [ 4.57993820e-02 -8.41448472e-04 9.98950303e-01 1.09010064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.91, Y:146.69, Z:109.01 [[ 7.94136297e-01 6.06668475e-01 -3.60680301e-02 4.15913120e+02] [-6.06011198e-01 7.94954740e-01 2.82380675e-02 1.46694115e+02] [ 4.58035968e-02 -5.67244250e-04 9.98950303e-01 1.09010828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.96, Y:146.66, Z:109.01 [[ 7.95286743e-01 6.05160013e-01 -3.60604404e-02 4.15963788e+02] [-6.04500744e-01 7.96103583e-01 2.82477563e-02 1.46657387e+02] [ 4.58022584e-02 -6.66503034e-04 9.98950304e-01 1.09014632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.01, Y:146.62, Z:109.02 [[ 7.97279018e-01 6.02533296e-01 -3.60526623e-02 4.16014305e+02] [-6.01870888e-01 7.98093314e-01 2.82576801e-02 1.46621277e+02] [ 4.57995818e-02 -8.30207556e-04 9.98950304e-01 1.09019528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.07, Y:146.59, Z:109.02 [[ 7.98147029e-01 6.01383442e-01 -3.60454799e-02 4.16066848e+02] [-6.00719447e-01 7.98960031e-01 2.82668390e-02 1.46585870e+02] [ 4.57981066e-02 -9.07872804e-04 9.98950304e-01 1.09021752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.12, Y:146.55, Z:109.02 [[ 7.99229990e-01 5.99943907e-01 -3.60379054e-02 4.16119217e+02] [-5.99278013e-01 8.00041438e-01 2.82764925e-02 1.46550382e+02] [ 4.57961271e-02 -1.00269646e-03 9.98950304e-01 1.09022266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:416.17, Y:146.52, Z:109.03 [[ 7.98338887e-01 6.01129648e-01 -3.60300867e-02 4.16171861e+02] [-6.00464510e-01 7.99150955e-01 2.82864517e-02 1.46515114e+02] [ 4.57973029e-02 -9.47385990e-04 9.98950304e-01 1.09025474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.22, Y:146.48, Z:109.03 [[ 7.96051851e-01 6.04155491e-01 -3.60221093e-02 4.16224640e+02] [-6.03492981e-01 7.96866064e-01 2.82966070e-02 1.46481443e+02] [ 4.58003470e-02 -7.86476249e-04 9.98950304e-01 1.09027453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:416.28, Y:146.45, Z:109.03 [[ 7.92565134e-01 6.08722797e-01 -3.60147907e-02 4.16276776e+02] [-6.08064556e-01 7.93382802e-01 2.83059188e-02 1.46448263e+02] [ 4.58039736e-02 -5.34966631e-04 9.98950304e-01 1.09027308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.210385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:416.33, Y:146.41, Z:109.03 [[ 7.90915821e-01 6.10864587e-01 -3.60086106e-02 4.16329063e+02] [-6.10208203e-01 7.91734980e-01 2.83137784e-02 1.46413707e+02] [ 4.58051612e-02 -4.21065708e-04 9.98950304e-01 1.09030887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.38, Y:146.38, Z:109.03 [[ 7.90713365e-01 6.11127091e-01 -3.60007401e-02 4.16381090e+02] [-6.10470523e-01 7.91532377e-01 2.83237822e-02 1.46378479e+02] [ 4.58051820e-02 -4.18602527e-04 9.98950304e-01 1.09032491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.43, Y:146.34, Z:109.04 [[ 7.92772161e-01 6.08454458e-01 -3.59926961e-02 4.16431646e+02] [-6.07794665e-01 7.93588577e-01 2.83340005e-02 1.46341785e+02] [ 4.58033414e-02 -5.86238113e-04 9.98950304e-01 1.09037418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.48, Y:146.31, Z:109.04 [[ 7.94803471e-01 6.05799102e-01 -3.59845894e-02 4.16482635e+02] [-6.05136116e-01 7.95617296e-01 2.83442924e-02 1.46305581e+02] [ 4.58009086e-02 -7.52567356e-04 9.98950304e-01 1.09038625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.53, Y:146.27, Z:109.04 [[ 7.97867853e-01 6.01757898e-01 -3.59766894e-02 4.16534835e+02] [-6.01090339e-01 7.98677931e-01 2.83543161e-02 1.46272288e+02] [ 4.57962215e-02 -9.97756899e-04 9.98950304e-01 1.09044749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.58, Y:146.24, Z:109.05 [[ 7.97066300e-01 6.02819635e-01 -3.59694541e-02 4.16583191e+02] [-6.02152741e-01 7.97876926e-01 2.83634917e-02 1.46235376e+02] [ 4.57972671e-02 -9.48478037e-04 9.98950304e-01 1.09045336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.64, Y:146.20, Z:109.05 [[ 7.94927885e-01 6.05637124e-01 -3.59629254e-02 4.16635103e+02] [-6.04972730e-01 7.95740560e-01 2.83717671e-02 1.46200181e+02] [ 4.58001539e-02 -7.96919642e-04 9.98950304e-01 1.09046974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.630385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:416.69, Y:146.16, Z:109.05 [[ 7.93271955e-01 6.07804880e-01 -3.59559803e-02 4.16686178e+02] [-6.07142308e-01 7.94086117e-01 2.83805660e-02 1.46163927e+02] [ 4.58019913e-02 -6.83110213e-04 9.98950305e-01 1.09048139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.73, Y:146.12, Z:109.05 [[ 7.94090789e-01 6.06735101e-01 -3.59490684e-02 4.16734457e+02] [-6.06071036e-01 7.94903733e-01 2.83893185e-02 1.46124910e+02] [ 4.58008448e-02 -7.56007162e-04 9.98950305e-01 1.09051531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.78, Y:146.09, Z:109.06 [[ 7.93995240e-01 6.06860568e-01 -3.59417643e-02 4.16783459e+02] [-6.06196213e-01 7.94807947e-01 2.83985628e-02 1.46085770e+02] [ 4.58007678e-02 -7.60562291e-04 9.98950305e-01 1.09055453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.83, Y:146.04, Z:109.06 [[ 7.92605867e-01 6.08674539e-01 -3.59338949e-02 4.16830663e+02] [-6.08011593e-01 7.93419724e-01 2.84085168e-02 1.46043508e+02] [ 4.58022018e-02 -6.68532437e-04 9.98950305e-01 1.09060174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.88, Y:146.00, Z:109.06 [[ 7.90885422e-01 6.10908805e-01 -3.59260603e-02 4.16878349e+02] [-6.10247708e-01 7.91700782e-01 2.84184211e-02 1.46001891e+02] [ 4.58037537e-02 -5.51918989e-04 9.98950305e-01 1.09063903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:416.93, Y:145.96, Z:109.06 [[ 7.89928044e-01 6.12146689e-01 -3.59181920e-02 4.16927705e+02] [-6.11486418e-01 7.90744073e-01 2.84283624e-02 1.45962663e+02] [ 4.58044254e-02 -4.92874175e-04 9.98950305e-01 1.09061671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.990385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:416.97, Y:145.92, Z:109.06 [[ 7.88931855e-01 6.13430521e-01 -3.59099571e-02 4.16973307e+02] [-6.12771105e-01 7.89748574e-01 2.84387607e-02 1.45919634e+02] [ 4.58050412e-02 -4.31660131e-04 9.98950305e-01 1.09064737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.02, Y:145.88, Z:109.07 [[ 7.88850965e-01 6.13535037e-01 -3.59014521e-02 4.17019265e+02] [-6.12875241e-01 7.89667377e-01 2.84494935e-02 1.45878548e+02] [ 4.58049666e-02 -4.39299291e-04 9.98950305e-01 1.09069000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.06, Y:145.84, Z:109.08 [[ 7.88724899e-01 6.13697592e-01 -3.58928850e-02 4.17062929e+02] [-6.13037472e-01 7.89541050e-01 2.84602980e-02 1.45835087e+02] [ 4.58049224e-02 -4.43662135e-04 9.98950305e-01 1.09075600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.11, Y:145.79, Z:109.08 [[ 7.90653275e-01 6.11211641e-01 -3.58849311e-02 4.17107724e+02] [-6.10548501e-01 7.91466973e-01 2.84703233e-02 1.45791124e+02] [ 4.58031308e-02 -6.00663491e-04 9.98950305e-01 1.09078106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.15, Y:145.75, Z:109.08 [[ 7.93051912e-01 6.08096623e-01 -3.58770437e-02 4.17151860e+02] [-6.07429838e-01 7.93862625e-01 2.84802592e-02 1.45746237e+02] [ 4.58001936e-02 -7.93537134e-04 9.98950305e-01 1.09080478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.20, Y:145.70, Z:109.08 [[ 7.93771868e-01 6.07157006e-01 -3.58690953e-02 4.17196701e+02] [-6.06488809e-01 7.94581418e-01 2.84902662e-02 1.45702522e+02] [ 4.57989814e-02 -8.60566933e-04 9.98950305e-01 1.09082746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.24, Y:145.66, Z:109.09 [[ 7.92152417e-01 6.09268810e-01 -3.58617590e-02 4.17242190e+02] [-6.08602353e-01 7.92963400e-01 2.84994978e-02 1.45658197e+02] [ 4.58009174e-02 -7.50395169e-04 9.98950306e-01 1.09086401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.29, Y:145.62, Z:109.09 [[ 7.90457057e-01 6.11467204e-01 -3.58538720e-02 4.17288137e+02] [-6.10802553e-01 7.91269521e-01 2.85094165e-02 1.45615728e+02] [ 4.58026493e-02 -6.35832932e-04 9.98950306e-01 1.09088942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.34, Y:145.57, Z:109.09 [[ 7.89474635e-01 6.12735563e-01 -3.58459260e-02 4.17335897e+02] [-6.12071764e-01 7.90287795e-01 2.85194038e-02 1.45574910e+02] [ 4.58034508e-02 -5.75066745e-04 9.98950306e-01 1.09090454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.38, Y:145.53, Z:109.09 [[ 7.88955966e-01 6.13403714e-01 -3.58380816e-02 4.17380545e+02] [-6.12740156e-01 7.89769323e-01 2.85292579e-02 1.45531572e+02] [ 4.58037702e-02 -5.48896545e-04 9.98950306e-01 1.09093664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.43, Y:145.49, Z:109.10 [[ 7.88903731e-01 6.13471175e-01 -3.58332428e-02 4.17429250e+02] [-6.12807411e-01 7.89716919e-01 2.85353342e-02 1.45491182e+02] [ 4.58037231e-02 -5.52754894e-04 9.98950306e-01 1.09095692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.48, Y:145.45, Z:109.10 [[ 7.89247977e-01 6.13028676e-01 -3.58255964e-02 4.17479059e+02] [-6.12364021e-01 7.90060436e-01 2.85449309e-02 1.45453191e+02] [ 4.58032475e-02 -5.90722660e-04 9.98950306e-01 1.09097358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.53, Y:145.42, Z:109.10 [[ 7.90143042e-01 6.11875039e-01 -3.58177346e-02 4.17530055e+02] [-6.11208751e-01 7.90954162e-01 2.85547923e-02 1.45417334e+02] [ 4.58021510e-02 -6.70257621e-04 9.98950306e-01 1.09097875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.770385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:417.58, Y:145.38, Z:109.10 [[ 7.91173128e-01 6.10542744e-01 -3.58139611e-02 4.17579805e+02] [-6.09874875e-01 7.91982948e-01 2.85595244e-02 1.45379683e+02] [ 4.58008569e-02 -7.53493154e-04 9.98950306e-01 1.09102681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:417.63, Y:145.34, Z:109.11 [[ 7.92158911e-01 6.09263595e-01 -3.58068611e-02 4.17628661e+02] [-6.08594017e-01 7.92967319e-01 2.85684233e-02 1.45341619e+02] [ 4.57993709e-02 -8.38889702e-04 9.98950306e-01 1.09106031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:417.68, Y:145.30, Z:109.11 [[ 7.92111831e-01 6.09325227e-01 -3.57996514e-02 4.17678186e+02] [-6.08655303e-01 7.92919952e-01 2.85774551e-02 1.45304807e+02] [ 4.57992222e-02 -8.46892627e-04 9.98950306e-01 1.09107429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.950385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:417.73, Y:145.27, Z:109.11 [[ 7.90758368e-01 6.11081118e-01 -3.57920491e-02 4.17727420e+02] [-6.10412558e-01 7.91567618e-01 2.85869735e-02 1.45266651e+02] [ 4.58007868e-02 -7.57472282e-04 9.98950306e-01 1.09111935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.78, Y:145.23, Z:109.12 [[ 7.88828197e-01 6.13571142e-01 -3.57844742e-02 4.17775263e+02] [-6.12904708e-01 7.89639198e-01 2.85964524e-02 1.45225080e+02] [ 4.58027815e-02 -6.25215327e-04 9.98950306e-01 1.09115156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.070385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:417.82, Y:145.18, Z:109.12 [[ 7.90157063e-01 6.11859240e-01 -3.57782897e-02 4.17823402e+02] [-6.11190698e-01 7.90966327e-01 2.86041881e-02 1.45184011e+02] [ 4.58011592e-02 -7.34443370e-04 9.98950306e-01 1.09118494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.87, Y:145.15, Z:109.12 [[ 7.93927905e-01 6.06958865e-01 -3.57689425e-02 4.17873475e+02] [-6.06284803e-01 7.94732577e-01 2.86158717e-02 1.45147886e+02] [ 4.57954009e-02 -1.03277282e-03 9.98950306e-01 1.09121952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.92, Y:145.11, Z:109.12 [[ 7.95521703e-01 6.04868936e-01 -3.57601832e-02 4.17922872e+02] [-6.04192268e-01 7.96324186e-01 2.86268137e-02 1.45108749e+02] [ 4.57921691e-02 -1.16722540e-03 9.98950306e-01 1.09124803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.97, Y:145.07, Z:109.13 [[ 7.93523010e-01 6.07489110e-01 -3.57521227e-02 4.17972307e+02] [-6.06814640e-01 7.94327339e-01 2.86368770e-02 1.45070604e+02] [ 4.57954794e-02 -1.02910930e-03 9.98950307e-01 1.09126907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.02, Y:145.03, Z:109.13 [[ 7.92272711e-01 6.09119287e-01 -3.57441730e-02 4.18022622e+02] [-6.08446024e-01 7.93078052e-01 2.86467963e-02 1.45032023e+02] [ 4.57972352e-02 -9.47675049e-04 9.98950307e-01 1.09128819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:418.07, Y:144.99, Z:109.13 [[ 7.88390029e-01 6.14136857e-01 -3.57363122e-02 4.18071744e+02] [-6.13468276e-01 7.89199261e-01 2.86565991e-02 1.44991950e+02] [ 4.58021449e-02 -6.69483118e-04 9.98950307e-01 1.09129290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.430385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:418.12, Y:144.95, Z:109.14 [[ 7.85722563e-01 6.17546140e-01 -3.57325976e-02 4.18120971e+02] [-6.16880861e-01 7.86534511e-01 2.86612302e-02 1.44952405e+02] [ 4.58045533e-02 -4.77019704e-04 9.98950307e-01 1.09136259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.490385723 meters Centerline goodness : 0.994524 with order 1 Centerline is valid? [True, True] Translation: X:418.17, Y:144.91, Z:109.14 [[ 7.84228610e-01 6.19442715e-01 -3.57240912e-02 4.18169501e+02] [-6.18778917e-01 7.85041769e-01 2.86718289e-02 1.44912306e+02] [ 4.58054593e-02 -3.79954067e-04 9.98950307e-01 1.09138538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:418.66, Y:145.55, Z:110.14 [[ 8.20276287e-01 5.70851375e-01 -3.57144275e-02 4.18661743e+02] [-5.70139067e-01 8.21047307e-01 2.86838612e-02 1.45550914e+02] [ 4.56974561e-02 -3.16650086e-03 9.98950307e-01 1.10140148e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 612.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:418.71, Y:145.52, Z:110.14 [[ 8.21290984e-01 5.69288463e-01 -3.73063811e-02 4.18713964e+02] [-5.68674465e-01 8.22137700e-01 2.64377510e-02 1.45516305e+02] [ 4.57216889e-02 -4.97900210e-04 9.98954093e-01 1.10143319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.76, Y:145.48, Z:110.14 [[ 8.23527360e-01 5.66049005e-01 -3.72989412e-02 4.18764231e+02] [-5.65431202e-01 8.24371304e-01 2.64482432e-02 1.45480150e+02] [ 4.57191785e-02 -6.90866758e-04 9.98954093e-01 1.10144176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.82, Y:145.44, Z:110.15 [[ 8.24344779e-01 5.64858378e-01 -3.72920732e-02 4.18815281e+02] [-5.64238918e-01 8.25187507e-01 2.64579234e-02 1.45443224e+02] [ 4.57179327e-02 -7.68811988e-04 9.98954093e-01 1.10148441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.87, Y:145.41, Z:110.15 [[ 8.24539864e-01 5.64574061e-01 -3.72846076e-02 4.18868372e+02] [-5.63953835e-01 8.25382029e-01 2.64684398e-02 1.45408738e+02] [ 4.57174397e-02 -7.97486341e-04 9.98954093e-01 1.10149364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.92, Y:145.38, Z:110.15 [[ 8.25234010e-01 5.63559426e-01 -3.72773573e-02 4.18922299e+02] [-5.62937704e-01 8.26075071e-01 2.64786471e-02 1.45376209e+02] [ 4.57161867e-02 -8.66250187e-04 9.98954093e-01 1.10149657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:418.97, Y:145.34, Z:110.16 [[ 8.22900503e-01 5.66961844e-01 -3.72696869e-02 4.18971320e+02] [-5.66343111e-01 8.23743765e-01 2.64894390e-02 1.45338898e+02] [ 4.57191734e-02 -6.90742268e-04 9.98954093e-01 1.10155190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.02, Y:145.30, Z:110.16 [[ 8.24565530e-01 5.64538025e-01 -3.72626441e-02 4.19024348e+02] [-5.63916366e-01 8.25406637e-01 2.64993425e-02 1.45304186e+02] [ 4.57167202e-02 -8.37429561e-04 9.98954093e-01 1.10157513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.08, Y:145.27, Z:110.16 [[ 8.28273099e-01 5.59084707e-01 -3.72553853e-02 4.19078919e+02] [-5.58457053e-01 8.29109742e-01 2.65095437e-02 1.45271809e+02] [ 4.57098833e-02 -1.15160922e-03 9.98954093e-01 1.10159414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:419.13, Y:145.24, Z:110.16 [[ 8.29339956e-01 5.57501432e-01 -3.72477040e-02 4.19134273e+02] [-5.56871696e-01 8.30175033e-01 2.65203320e-02 1.45242005e+02] [ 4.57072370e-02 -1.25217885e-03 9.98954093e-01 1.10162043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.19, Y:145.21, Z:110.17 [[ 8.27087696e-01 5.60837890e-01 -3.72398286e-02 4.19186131e+02] [-5.60211026e-01 8.27924931e-01 2.65313860e-02 1.45207882e+02] [ 4.57115891e-02 -1.08162034e-03 9.98954093e-01 1.10165202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:419.24, Y:145.18, Z:110.17 [[ 8.26201257e-01 5.62143256e-01 -3.72349496e-02 4.19239151e+02] [-5.61517408e-01 8.27039251e-01 2.65382315e-02 1.45175950e+02] [ 4.57130528e-02 -1.01784787e-03 9.98954093e-01 1.10168298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.29, Y:145.14, Z:110.17 [[ 8.25820637e-01 5.62702699e-01 -3.72283141e-02 4.19292591e+02] [-5.62076999e-01 8.26658742e-01 2.65475367e-02 1.45142697e+02] [ 4.57134819e-02 -9.98324596e-04 9.98954094e-01 1.10171807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.35, Y:145.11, Z:110.17 [[ 8.24585162e-01 5.64512096e-01 -3.72210292e-02 4.19346797e+02] [-5.63887774e-01 8.25424294e-01 2.65577467e-02 1.45111040e+02] [ 4.57153109e-02 -9.10640580e-04 9.98954094e-01 1.10173446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:419.40, Y:145.08, Z:110.18 [[ 8.24471886e-01 5.64677999e-01 -3.72137982e-02 4.19399615e+02] [-5.64053389e-01 8.25310803e-01 2.65678752e-02 1.45077570e+02] [ 4.57152443e-02 -9.13897190e-04 9.98954094e-01 1.10177450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.45, Y:145.05, Z:110.18 [[ 8.24484876e-01 5.64659520e-01 -3.72063850e-02 4.19453938e+02] [-5.64034424e-01 8.25323431e-01 2.65782528e-02 1.45045334e+02] [ 4.57149648e-02 -9.27685500e-04 9.98954094e-01 1.10180265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.51, Y:145.02, Z:110.18 [[ 8.25457836e-01 5.63236733e-01 -3.71986992e-02 4.19510202e+02] [-5.62609707e-01 8.26294949e-01 2.65890053e-02 1.45015671e+02] [ 4.57130018e-02 -1.01975351e-03 9.98954094e-01 1.10183311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.56, Y:144.98, Z:110.19 [[ 8.23897195e-01 5.65517676e-01 -3.71909891e-02 4.19562092e+02] [-5.64892481e-01 8.24735677e-01 2.65997854e-02 1.44981264e+02] [ 4.57153844e-02 -9.06578473e-04 9.98954094e-01 1.10187570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.630385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:419.62, Y:144.95, Z:110.19 [[ 8.27560670e-01 5.60143460e-01 -3.71838978e-02 4.19621010e+02] [-5.59512376e-01 8.28394728e-01 2.66096947e-02 1.44954867e+02] [ 4.57081913e-02 -1.21628582e-03 9.98954094e-01 1.10185736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.68, Y:144.92, Z:110.19 [[ 8.28969128e-01 5.58057439e-01 -3.71763320e-02 4.19675050e+02] [-5.57423784e-01 8.29801234e-01 2.66202607e-02 1.44923068e+02] [ 4.57046006e-02 -1.34440266e-03 9.98954094e-01 1.10190737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.750385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:419.73, Y:144.89, Z:110.19 [[ 8.31828667e-01 5.53786554e-01 -3.71688206e-02 4.19730801e+02] [-5.53148160e-01 8.32657142e-01 2.66307444e-02 1.44892906e+02] [ 4.56966321e-02 -1.59235195e-03 9.98954094e-01 1.10190316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.79, Y:144.86, Z:110.19 [[ 8.33942525e-01 5.50598667e-01 -3.71614310e-02 4.19785429e+02] [-5.49956648e-01 8.34768195e-01 2.66410521e-02 1.44862672e+02] [ 4.56897085e-02 -1.77993021e-03 9.98954094e-01 1.10194881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.84, Y:144.83, Z:110.19 [[ 8.33744968e-01 5.50898233e-01 -3.71546106e-02 4.19839811e+02] [-5.50256088e-01 8.34570539e-01 2.66505608e-02 1.44832493e+02] [ 4.56898902e-02 -1.77522029e-03 9.98954094e-01 1.10194668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.90, Y:144.81, Z:110.19 [[ 8.32258522e-01 5.53141764e-01 -3.71475580e-02 4.19897721e+02] [-5.52501407e-01 8.33085481e-01 2.66603875e-02 1.44806729e+02] [ 4.56940650e-02 -1.66425658e-03 9.98954094e-01 1.10193364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.95, Y:144.78, Z:110.20 [[ 8.30014011e-01 5.56504516e-01 -3.71411514e-02 4.19952857e+02] [-5.55867112e-01 8.30843248e-01 2.66693097e-02 1.44775242e+02] [ 4.57000662e-02 -1.49035620e-03 9.98954094e-01 1.10197674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.01, Y:144.75, Z:110.20 [[ 8.26473086e-01 5.61750228e-01 -3.71338016e-02 4.20009272e+02] [-5.61117629e-01 8.27305994e-01 2.66795396e-02 1.44745186e+02] [ 4.57082541e-02 -1.21349069e-03 9.98954095e-01 1.10200573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.07, Y:144.72, Z:110.20 [[ 8.23974757e-01 5.65408903e-01 -3.71264296e-02 4.20065735e+02] [-5.64779541e-01 8.24810114e-01 2.66897943e-02 1.44716891e+02] [ 4.57129019e-02 -1.02346892e-03 9.98954095e-01 1.10198892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.170385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:420.12, Y:144.68, Z:110.20 [[ 8.20449332e-01 5.70512943e-01 -3.71197428e-02 4.20116625e+02] [-5.69888358e-01 8.21288267e-01 2.66990909e-02 1.44681855e+02] [ 4.57181862e-02 -7.51141973e-04 9.98954095e-01 1.10203088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.230385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:420.17, Y:144.65, Z:110.20 [[ 8.19864838e-01 5.71352740e-01 -3.71173040e-02 4.20168468e+02] [-5.70728861e-01 8.20704298e-01 2.67024809e-02 1.44647644e+02] [ 4.57188665e-02 -7.08508573e-04 9.98954095e-01 1.10198684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.22, Y:144.62, Z:110.21 [[ 8.21516357e-01 5.68975728e-01 -3.71146421e-02 4.20219833e+02] [-5.68349253e-01 8.22353881e-01 2.67061802e-02 1.44615862e+02] [ 4.57165383e-02 -8.45484754e-04 9.98954095e-01 1.10209108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.27, Y:144.58, Z:110.21 [[ 8.23364105e-01 5.66298590e-01 -3.71141107e-02 4.20271611e+02] [-5.65669359e-01 8.24199561e-01 2.67069187e-02 1.44580248e+02] [ 4.57135242e-02 -9.95202978e-04 9.98954095e-01 1.10211012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.410385723 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:420.32, Y:144.54, Z:110.21 [[ 8.24329445e-01 5.64892963e-01 -3.71066822e-02 4.20321350e+02] [-5.64261844e-01 8.25163475e-01 2.67172359e-02 1.44543419e+02] [ 4.57114574e-02 -1.08591937e-03 9.98954095e-01 1.10210827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.37, Y:144.51, Z:110.22 [[ 8.25072564e-01 5.63807473e-01 -3.70998260e-02 4.20371937e+02] [-5.63174829e-01 8.25905438e-01 2.67267531e-02 1.44507284e+02] [ 4.57096912e-02 -1.15782258e-03 9.98954095e-01 1.10215452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.42, Y:144.47, Z:110.22 [[ 8.23973381e-01 5.65413089e-01 -3.70932128e-02 4.20423040e+02] [-5.64781655e-01 8.24807173e-01 2.67359282e-02 1.44471959e+02] [ 4.57115918e-02 -1.08012708e-03 9.98954095e-01 1.10215641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.47, Y:144.43, Z:110.22 [[ 8.22101821e-01 5.68131330e-01 -3.70862241e-02 4.20474026e+02] [-5.67502216e-01 8.22937365e-01 2.67456190e-02 1.44434681e+02] [ 4.57146636e-02 -9.41107778e-04 9.98954095e-01 1.10216941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.650385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:420.52, Y:144.40, Z:110.22 [[ 8.22260765e-01 5.67901754e-01 -3.70787296e-02 4.20523055e+02] [-5.67271939e-01 8.23095780e-01 2.67560050e-02 1.44395204e+02] [ 4.57141280e-02 -9.66690269e-04 9.98954095e-01 1.10219297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.57, Y:144.36, Z:110.22 [[ 8.22172954e-01 5.68029371e-01 -3.70711157e-02 4.20572680e+02] [-5.67399211e-01 8.23007708e-01 2.67665501e-02 1.44358079e+02] [ 4.57140006e-02 -9.72611753e-04 9.98954095e-01 1.10221335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.62, Y:144.32, Z:110.23 [[ 8.21446629e-01 5.69079686e-01 -3.70640799e-02 4.20621081e+02] [-5.68450154e-01 8.22281857e-01 2.67762891e-02 1.44317543e+02] [ 4.57149626e-02 -9.26210576e-04 9.98954095e-01 1.10225147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.67, Y:144.28, Z:110.23 [[ 8.21627778e-01 5.68818605e-01 -3.70565622e-02 4.20669886e+02] [-5.68188339e-01 8.22462452e-01 2.67866890e-02 1.44278061e+02] [ 4.57143981e-02 -9.53581243e-04 9.98954095e-01 1.10227765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.72, Y:144.24, Z:110.23 [[ 8.22717012e-01 5.67242522e-01 -3.70491491e-02 4.20716593e+02] [-5.66610195e-01 8.23550127e-01 2.67969384e-02 1.44236009e+02] [ 4.57121943e-02 -1.05387150e-03 9.98954095e-01 1.10228758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.950385723 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:420.76, Y:144.20, Z:110.23 [[ 8.23598304e-01 5.65962674e-01 -3.70416539e-02 4.20764358e+02] [-5.65328588e-01 8.24430080e-01 2.68072950e-02 1.44196520e+02] [ 4.57101821e-02 -1.13773681e-03 9.98954095e-01 1.10228442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.81, Y:144.16, Z:110.23 [[ 8.23168677e-01 5.66587670e-01 -3.70370354e-02 4.20812131e+02] [-5.65953928e-01 8.24000715e-01 2.68136745e-02 1.44155596e+02] [ 4.57108410e-02 -1.11092127e-03 9.98954095e-01 1.10232969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.86, Y:144.12, Z:110.24 [[ 8.22985355e-01 5.66854407e-01 -3.70295419e-02 4.20859541e+02] [-5.66220470e-01 8.23817244e-01 2.68240190e-02 1.44115571e+02] [ 4.57108885e-02 -1.10889015e-03 9.98954096e-01 1.10235038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.91, Y:144.08, Z:110.24 [[ 8.23037031e-01 5.66779825e-01 -3.70226221e-02 4.20908866e+02] [-5.66145384e-01 8.23868536e-01 2.68335662e-02 1.44076358e+02] [ 4.57104975e-02 -1.12483207e-03 9.98954096e-01 1.10236629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.96, Y:144.04, Z:110.24 [[ 8.23497172e-01 5.66111560e-01 -3.70149927e-02 4.20955429e+02] [-5.65475971e-01 8.24327800e-01 2.68440863e-02 1.44035728e+02] [ 4.57092351e-02 -1.17494022e-03 9.98954096e-01 1.10239141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.00, Y:143.99, Z:110.24 [[ 8.22297181e-01 5.67853489e-01 -3.70102874e-02 4.21002716e+02] [-5.67219368e-01 8.23128930e-01 2.68505720e-02 1.43993810e+02] [ 4.57114293e-02 -1.08619781e-03 9.98954096e-01 1.10241571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.05, Y:143.95, Z:110.24 [[ 8.20000320e-01 5.71165706e-01 -3.70028584e-02 4.21050730e+02] [-5.70534484e-01 8.20834271e-01 2.68608061e-02 1.43953000e+02] [ 4.57151856e-02 -9.14462893e-04 9.98954096e-01 1.10244196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.10, Y:143.91, Z:110.25 [[ 8.17453232e-01 5.74805676e-01 -3.69952484e-02 4.21097037e+02] [-5.74177693e-01 8.18289625e-01 2.68712832e-02 1.43911157e+02] [ 4.57185941e-02 -7.24170876e-04 9.98954096e-01 1.10254476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.14, Y:143.87, Z:110.25 [[ 8.16145823e-01 5.76660944e-01 -3.69885270e-02 4.21144553e+02] [-5.76034444e-01 8.16983327e-01 2.68805322e-02 1.43871992e+02] [ 4.57199629e-02 -6.31768503e-04 9.98954096e-01 1.10253731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.490385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:421.19, Y:143.83, Z:110.25 [[ 8.14359899e-01 5.79180527e-01 -3.69847512e-02 4.21190318e+02] [-5.78556382e-01 8.15199160e-01 2.68857262e-02 1.43828612e+02] [ 4.57216272e-02 -4.96893392e-04 9.98954096e-01 1.10254082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.24, Y:143.79, Z:110.26 [[ 8.12248405e-01 5.82138413e-01 -3.69783227e-02 4.21237030e+02] [-5.81516922e-01 8.13089633e-01 2.68945649e-02 1.43787506e+02] [ 4.57230502e-02 -3.41547069e-04 9.98954096e-01 1.10257025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.610385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:421.28, Y:143.74, Z:110.26 [[ 8.12268594e-01 5.82110647e-01 -3.69719639e-02 4.21281295e+02] [-5.81488730e-01 8.13109507e-01 2.69033035e-02 1.43743299e+02] [ 4.57229548e-02 -3.53928212e-04 9.98954096e-01 1.10259684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.33, Y:143.70, Z:110.27 [[ 8.12489581e-01 5.81802286e-01 -3.69700009e-02 4.21325408e+02] [-5.81179927e-01 8.13330166e-01 2.69060009e-02 1.43697071e+02] [ 4.57227898e-02 -3.74622983e-04 9.98954096e-01 1.10268900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.37, Y:143.65, Z:110.27 [[ 8.13723364e-01 5.80075917e-01 -3.69623735e-02 4.21370695e+02] [-5.79451299e-01 8.14562273e-01 2.69164750e-02 1.43653227e+02] [ 4.57217539e-02 -4.84669317e-04 9.98954096e-01 1.10273021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.42, Y:143.61, Z:110.27 [[ 8.14861411e-01 5.78476590e-01 -3.69556022e-02 4.21417400e+02] [-5.77849904e-01 8.15698775e-01 2.69257685e-02 1.43612846e+02] [ 4.57205662e-02 -5.85978535e-04 9.98954096e-01 1.10274590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:421.46, Y:143.57, Z:110.28 [[ 8.16916472e-01 5.75571120e-01 -3.69508316e-02 4.21460849e+02] [-5.74941160e-01 8.17751376e-01 2.69323139e-02 1.43567370e+02] [ 4.57180554e-02 -7.56896859e-04 9.98954096e-01 1.10279591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.910385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:421.50, Y:143.52, Z:110.29 [[ 8.16780309e-01 5.75764748e-01 -3.69443040e-02 4.21504440e+02] [-5.75134581e-01 8.17615057e-01 2.69412651e-02 1.43524517e+02] [ 4.57180499e-02 -7.57148003e-04 9.98954096e-01 1.10285051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.55, Y:143.48, Z:110.29 [[ 8.17236436e-01 5.75117524e-01 -3.69383365e-02 4.21551117e+02] [-5.74486327e-01 8.18070405e-01 2.69494445e-02 1.43483989e+02] [ 4.57172577e-02 -8.03498716e-04 9.98954096e-01 1.10290519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.60, Y:143.44, Z:110.29 [[ 8.15820158e-01 5.77124950e-01 -3.69359140e-02 4.21596149e+02] [-5.76495655e-01 8.16655563e-01 2.69527642e-02 1.43440421e+02] [ 4.57190323e-02 -6.95214459e-04 9.98954096e-01 1.10294550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.64, Y:143.40, Z:110.29 [[ 8.15439061e-01 5.77663446e-01 -3.69334677e-02 4.21643701e+02] [-5.77034551e-01 8.16274767e-01 2.69561160e-02 1.43402821e+02] [ 4.57194206e-02 -6.69182952e-04 9.98954096e-01 1.10289699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:421.69, Y:143.37, Z:110.29 [[ 8.14458769e-01 5.79045007e-01 -3.69295646e-02 4.21694147e+02] [-5.78417287e-01 8.15295359e-01 2.69614621e-02 1.43366915e+02] [ 4.57204026e-02 -5.98300649e-04 9.98954096e-01 1.10291847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.74, Y:143.33, Z:110.30 [[ 8.13787325e-01 5.79988689e-01 -3.69230386e-02 4.21744232e+02] [-5.79361533e-01 8.14624338e-01 2.69703963e-02 1.43329171e+02] [ 4.57209307e-02 -5.56378409e-04 9.98954097e-01 1.10295471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.270385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:421.79, Y:143.29, Z:110.30 [[ 8.14118751e-01 5.79523851e-01 -3.69156394e-02 4.21793770e+02] [-5.78895759e-01 8.14955061e-01 2.69805201e-02 1.43292980e+02] [ 4.57204421e-02 -5.95040264e-04 9.98954097e-01 1.10296790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.85, Y:143.26, Z:110.31 [[ 8.12506250e-01 5.81782889e-01 -3.69088583e-02 4.21845690e+02] [-5.81156701e-01 8.13343986e-01 2.69897935e-02 1.43260870e+02] [ 4.57217979e-02 -4.79545585e-04 9.98954097e-01 1.10307355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:421.90, Y:143.23, Z:110.31 [[ 8.13479343e-01 5.80421547e-01 -3.69078033e-02 4.21898380e+02] [-5.79793892e-01 8.14315981e-01 2.69912360e-02 1.43227455e+02] [ 4.57209090e-02 -5.57893970e-04 9.98954097e-01 1.10306296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.95, Y:143.19, Z:110.31 [[ 8.12067858e-01 5.82394841e-01 -3.69058816e-02 4.21948447e+02] [-5.81769099e-01 8.12905927e-01 2.69938633e-02 1.43191284e+02] [ 4.57220967e-02 -4.50147288e-04 9.98954097e-01 1.10310751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.00, Y:143.16, Z:110.31 [[ 8.10421472e-01 5.84684094e-01 -3.68991661e-02 4.21997995e+02] [-5.84060301e-01 8.11260994e-01 2.70030399e-02 1.43155930e+02] [ 4.57231021e-02 -3.32505296e-04 9.98954097e-01 1.10312035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.05, Y:143.12, Z:110.32 [[ 8.09772129e-01 5.85583474e-01 -3.68930183e-02 4.22049322e+02] [-5.84960231e-01 8.10612059e-01 2.70114368e-02 1.43121142e+02] [ 4.57233765e-02 -2.92160216e-04 9.98954097e-01 1.10315608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.10, Y:143.08, Z:110.32 [[ 8.08775038e-01 5.86960254e-01 -3.68862893e-02 4.22098391e+02] [-5.86338022e-01 8.09615717e-01 2.70206227e-02 1.43084776e+02] [ 4.57237511e-02 -2.25771223e-04 9.98954097e-01 1.10317254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.15, Y:143.05, Z:110.33 [[ 8.09975309e-01 5.85303216e-01 -3.68801387e-02 4.22149185e+02] [-5.84678882e-01 8.10814428e-01 2.70290149e-02 1.43048930e+02] [ 4.57231180e-02 -3.29796430e-04 9.98954097e-01 1.10325658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.20, Y:143.01, Z:110.33 [[ 8.11715090e-01 5.82888470e-01 -3.68733547e-02 4.22198971e+02] [-5.82261220e-01 8.12552031e-01 2.70382667e-02 1.43011508e+02] [ 4.57218131e-02 -4.77444560e-04 9.98954097e-01 1.10332209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.25, Y:142.98, Z:110.33 [[ 8.12248447e-01 5.82145441e-01 -3.68665930e-02 4.22249833e+02] [-5.81517008e-01 8.13084500e-01 2.70474831e-02 1.42977398e+02] [ 4.57212243e-02 -5.30725262e-04 9.98954097e-01 1.10333973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.30, Y:142.95, Z:110.34 [[ 8.12761770e-01 5.81428991e-01 -3.68596313e-02 4.22302632e+02] [-5.80799391e-01 8.13596945e-01 2.70569670e-02 1.42946177e+02] [ 4.57205884e-02 -5.82817018e-04 9.98954097e-01 1.10335163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:422.36, Y:142.91, Z:110.34 [[ 8.11952734e-01 5.82558668e-01 -3.68531626e-02 4.22355444e+02] [-5.81929829e-01 8.12788483e-01 2.70657749e-02 1.42913653e+02] [ 4.57212278e-02 -5.30175311e-04 9.98954097e-01 1.10338758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.41, Y:142.88, Z:110.34 [[ 8.10548280e-01 5.84511659e-01 -3.68457234e-02 4.22408962e+02] [-5.83884374e-01 8.11385194e-01 2.70758984e-02 1.42879927e+02] [ 4.57222527e-02 -4.32680763e-04 9.98954097e-01 1.10342922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.050385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:422.46, Y:142.85, Z:110.35 [[ 8.09207215e-01 5.86367328e-01 -3.68380213e-02 4.22462408e+02] [-5.85741486e-01 8.10045209e-01 2.70863734e-02 1.42848021e+02] [ 4.57230270e-02 -3.40931494e-04 9.98954097e-01 1.10348312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.110385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:422.52, Y:142.82, Z:110.35 [[ 8.07058259e-01 5.89321998e-01 -3.68313566e-02 4.22515784e+02] [-5.88698811e-01 8.07898229e-01 2.70954328e-02 1.42816423e+02] [ 4.57239224e-02 -1.85017044e-04 9.98954097e-01 1.10350232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.57, Y:142.78, Z:110.35 [[ 8.03920628e-01 5.93595483e-01 -3.68242581e-02 4.22568272e+02] [-5.92976319e-01 8.04763568e-01 2.71050767e-02 1.42784723e+02] [ 4.57242724e-02 4.55826723e-05 9.98954097e-01 1.10353389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.62, Y:142.75, Z:110.36 [[ 8.03163465e-01 5.94619962e-01 -3.68177779e-02 4.22621493e+02] [-5.94001469e-01 8.04006898e-01 2.71138762e-02 1.42752228e+02] [ 4.57241994e-02 9.29394189e-05 9.98954098e-01 1.10359182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.68, Y:142.72, Z:110.36 [[ 8.04528163e-01 5.92772617e-01 -3.68111346e-02 4.22675660e+02] [-5.92151775e-01 8.05369868e-01 2.71228923e-02 1.42719412e+02] [ 4.57242865e-02 -2.33520355e-05 9.98954098e-01 1.10363091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.350385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:422.73, Y:142.69, Z:110.37 [[ 8.06311710e-01 5.90344754e-01 -3.68034974e-02 4.22730237e+02] [-5.89720905e-01 8.07151188e-01 2.71332515e-02 1.42687202e+02] [ 4.57239593e-02 -1.74066562e-04 9.98954098e-01 1.10365707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.78, Y:142.66, Z:110.37 [[ 8.08550966e-01 5.87274549e-01 -3.67959083e-02 4.22784614e+02] [-5.86647045e-01 8.09387715e-01 2.71435394e-02 1.42656603e+02] [ 4.57228660e-02 -3.60724153e-04 9.98954098e-01 1.10365166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.84, Y:142.63, Z:110.37 [[ 8.12125532e-01 5.82321787e-01 -3.67893598e-02 4.22838593e+02] [-5.81688777e-01 8.12958125e-01 2.71524120e-02 1.42625262e+02] [ 4.57196500e-02 -6.51209300e-04 9.98954098e-01 1.10365289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.89, Y:142.59, Z:110.37 [[ 8.15919412e-01 5.76994402e-01 -3.67827731e-02 4.22891477e+02] [-5.76355556e-01 8.16747535e-01 2.71613319e-02 1.42593046e+02] [ 4.57141757e-02 -9.61502280e-04 9.98954098e-01 1.10367683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.94, Y:142.56, Z:110.37 [[ 8.17182779e-01 5.75204146e-01 -3.67762872e-02 4.22944739e+02] [-5.74563091e-01 8.18009193e-01 2.71701109e-02 1.42560721e+02] [ 4.57117015e-02 -1.07264949e-03 9.98954098e-01 1.10373119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.00, Y:142.53, Z:110.37 [[ 8.15031716e-01 5.78248469e-01 -3.67696876e-02 4.22999403e+02] [-5.77610098e-01 8.15860205e-01 2.71790394e-02 1.42530660e+02] [ 4.57151628e-02 -9.13236320e-04 9.98954098e-01 1.10369636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.05, Y:142.50, Z:110.38 [[ 8.10661562e-01 5.84359736e-01 -3.67631776e-02 4.23052140e+02] [-5.83727213e-01 8.11494524e-01 2.71878421e-02 1.42497818e+02] [ 4.57205976e-02 -5.80471341e-04 9.98954098e-01 1.10378074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.11, Y:142.46, Z:110.38 [[ 8.05699484e-01 5.91182958e-01 -3.67566457e-02 4.23105402e+02] [-5.90557087e-01 8.06537456e-01 2.71966701e-02 1.42464550e+02] [ 4.57238194e-02 -2.05445452e-04 9.98954098e-01 1.10381770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.16, Y:142.43, Z:110.38 [[ 8.02998273e-01 5.94847270e-01 -3.67491408e-02 4.23157935e+02] [-5.94224759e-01 8.03838743e-01 2.72068073e-02 1.42431984e+02] [ 4.57242782e-02 -9.76991768e-06 9.98954098e-01 1.10384937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.21, Y:142.39, Z:110.39 [[ 8.02505275e-01 5.95512620e-01 -3.67423952e-02 4.23207490e+02] [-5.94890389e-01 8.03345952e-01 2.72159140e-02 1.42394038e+02] [ 4.57242747e-02 1.67831917e-05 9.98954098e-01 1.10386958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.26, Y:142.36, Z:110.39 [[ 8.04263950e-01 5.93135750e-01 -3.67352732e-02 4.23255404e+02] [-5.92510596e-01 8.05102456e-01 2.72255237e-02 1.42355823e+02] [ 4.57240901e-02 -1.30468596e-04 9.98954098e-01 1.10388609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.31, Y:142.32, Z:110.39 [[ 8.05531911e-01 5.91412964e-01 -3.67293767e-02 4.23305033e+02] [-5.90785653e-01 8.06368805e-01 2.72334763e-02 1.42319090e+02] [ 4.57236545e-02 -2.38245373e-04 9.98954098e-01 1.10391008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.35, Y:142.28, Z:110.40 [[ 8.06795126e-01 5.89688937e-01 -3.67230426e-02 4.23354522e+02] [-5.89059450e-01 8.07630384e-01 2.72420148e-02 1.42279945e+02] [ 4.57229597e-02 -3.46669542e-04 9.98954098e-01 1.10396042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.40, Y:142.24, Z:110.40 [[ 8.06961066e-01 5.89462310e-01 -3.67154174e-02 4.23401594e+02] [-5.88832121e-01 8.07795795e-01 2.72522878e-02 1.42237784e+02] [ 4.57227563e-02 -3.72318094e-04 9.98954099e-01 1.10400124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.45, Y:142.20, Z:110.40 [[ 8.07401138e-01 5.88859862e-01 -3.67078272e-02 4.23449709e+02] [-5.88228585e-01 8.08235044e-01 2.72625077e-02 1.42198776e+02] [ 4.57223489e-02 -4.19186455e-04 9.98954099e-01 1.10402394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.50, Y:142.16, Z:110.41 [[ 8.07841705e-01 5.88255732e-01 -3.67011550e-02 4.23497891e+02] [-5.87623423e-01 8.08674829e-01 2.72714869e-02 1.42159074e+02] [ 4.57219087e-02 -4.64586137e-04 9.98954099e-01 1.10407064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.54, Y:142.12, Z:110.41 [[ 8.07568726e-01 5.88630847e-01 -3.66943995e-02 4.23542420e+02] [-5.87998513e-01 8.08401830e-01 2.72805736e-02 1.42115219e+02] [ 4.57220069e-02 -4.54685703e-04 9.98954099e-01 1.10412089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.59, Y:142.07, Z:110.42 [[ 8.05543185e-01 5.91400191e-01 -3.66877466e-02 4.23588420e+02] [-5.90770314e-01 8.06378149e-01 2.72895177e-02 1.42074371e+02] [ 4.57232231e-02 -3.08853495e-04 9.98954099e-01 1.10422999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.64, Y:142.04, Z:110.42 [[ 8.05918988e-01 5.90888067e-01 -3.66862083e-02 4.23636168e+02] [-5.90257565e-01 8.06753479e-01 2.72915855e-02 1.42037246e+02] [ 4.57229984e-02 -3.40494984e-04 9.98954099e-01 1.10416399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.68, Y:141.99, Z:110.42 [[ 8.06663162e-01 5.89871736e-01 -3.66862083e-02 4.23681978e+02] [-5.89240183e-01 8.07496859e-01 2.72915855e-02 1.41993204e+02] [ 4.57225329e-02 -3.98128582e-04 9.98954099e-01 1.10420641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.73, Y:141.95, Z:110.42 [[ 8.05451373e-01 5.91525782e-01 -3.66788178e-02 4.23728693e+02] [-5.90895488e-01 8.06286022e-01 2.73015145e-02 1.41952848e+02] [ 4.57231678e-02 -3.16694385e-04 9.98954099e-01 1.10424745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.78, Y:141.91, Z:110.43 [[ 8.04297606e-01 5.93094027e-01 -3.66720150e-02 4.23776531e+02] [-5.92464945e-01 8.05133168e-01 2.73106490e-02 1.41913967e+02] [ 4.57236384e-02 -2.39006260e-04 9.98954099e-01 1.10425825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.82, Y:141.87, Z:110.43 [[ 8.04678137e-01 5.92577937e-01 -3.66672151e-02 4.23821167e+02] [-5.91948025e-01 8.05513074e-01 2.73170918e-02 1.41870026e+02] [ 4.57234271e-02 -2.76380993e-04 9.98954099e-01 1.10429012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.87, Y:141.83, Z:110.43 [[ 8.05267972e-01 5.91776582e-01 -3.66601989e-02 4.23868201e+02] [-5.91145411e-01 8.06101957e-01 2.73265046e-02 1.41829633e+02] [ 4.57230436e-02 -3.33650635e-04 9.98954099e-01 1.10428910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.91, Y:141.79, Z:110.43 [[ 8.05286000e-01 5.91752484e-01 -3.66531997e-02 4.23913614e+02] [-5.91120860e-01 8.06119642e-01 2.73358893e-02 1.41788315e+02] [ 4.57229447e-02 -3.46738014e-04 9.98954099e-01 1.10430994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.96, Y:141.74, Z:110.44 [[ 8.02145486e-01 5.96003050e-01 -3.66467459e-02 4.23957142e+02] [-5.95375449e-01 8.02982161e-01 2.73445387e-02 1.41744085e+02] [ 4.57241117e-02 -1.15725432e-04 9.98954099e-01 1.10436791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.00, Y:141.70, Z:110.44 [[ 8.01182765e-01 5.97296956e-01 -3.66404772e-02 4.24001902e+02] [-5.96670322e-01 8.02020164e-01 2.73529359e-02 1.41700874e+02] [ 4.57242269e-02 -5.24155040e-05 9.98954099e-01 1.10444667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:424.05, Y:141.66, Z:110.44 [[ 8.04462534e-01 5.92872667e-01 -3.66337440e-02 4.24052045e+02] [-5.92241018e-01 8.05296157e-01 2.73619508e-02 1.41663984e+02] [ 4.57231660e-02 -3.15658447e-04 9.98954099e-01 1.10439981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:424.09, Y:141.62, Z:110.45 [[ 8.01629062e-01 5.96698386e-01 -3.66317228e-02 4.24092750e+02] [-5.96070591e-01 8.02465592e-01 2.73646564e-02 1.41618688e+02] [ 4.57241434e-02 -1.01211229e-04 9.98954099e-01 1.10449907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:424.14, Y:141.58, Z:110.45 [[ 8.01874963e-01 5.96368073e-01 -3.66287559e-02 4.24139310e+02] [-5.95739752e-01 8.02711098e-01 2.73686272e-02 1.41575808e+02] [ 4.57240843e-02 -1.25010965e-04 9.98954099e-01 1.10453783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.19, Y:141.54, Z:110.45 [[ 8.04578413e-01 5.92716182e-01 -3.66211028e-02 4.24188701e+02] [-5.92083600e-01 8.05411328e-01 2.73788637e-02 1.41537640e+02] [ 4.57229466e-02 -3.45688328e-04 9.98954099e-01 1.10453020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.23, Y:141.49, Z:110.46 [[ 8.04284423e-01 5.93115465e-01 -3.66143737e-02 4.24231251e+02] [-5.92482887e-01 8.05117342e-01 2.73878597e-02 1.41491873e+02] [ 4.57230304e-02 -3.34239114e-04 9.98954099e-01 1.10456878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.28, Y:141.45, Z:110.46 [[ 8.04632747e-01 5.92643249e-01 -3.66076798e-02 4.24278329e+02] [-5.92009775e-01 8.05464984e-01 2.73968042e-02 1.41450044e+02] [ 4.57227352e-02 -3.72261516e-04 9.98954100e-01 1.10460628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.330385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:424.32, Y:141.41, Z:110.46 [[ 8.05196686e-01 5.91877300e-01 -3.65999842e-02 4.24324323e+02] [-5.91242568e-01 8.06027964e-01 2.74070809e-02 1.41410175e+02] [ 4.57222398e-02 -4.28622061e-04 9.98954100e-01 1.10463471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.37, Y:141.37, Z:110.47 [[ 8.05617383e-01 5.91304934e-01 -3.65938186e-02 4.24371651e+02] [-5.90669237e-01 8.06447923e-01 2.74153108e-02 1.41369223e+02] [ 4.57218176e-02 -4.71407974e-04 9.98954100e-01 1.10467428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.42, Y:141.33, Z:110.47 [[ 8.06592895e-01 5.89974015e-01 -3.65863807e-02 4.24419747e+02] [-5.89336498e-01 8.07422039e-01 2.74252333e-02 1.41330301e+02] [ 4.57208251e-02 -5.59308848e-04 9.98954100e-01 1.10470134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.510385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:424.47, Y:141.29, Z:110.47 [[ 8.05309597e-01 5.91724667e-01 -3.65837647e-02 4.24466585e+02] [-5.91088794e-01 8.06140002e-01 2.74287225e-02 1.41291275e+02] [ 4.57218878e-02 -4.64360096e-04 9.98954100e-01 1.10474349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.52, Y:141.25, Z:110.48 [[ 8.04593421e-01 5.92698534e-01 -3.65769687e-02 4.24515181e+02] [-5.92063255e-01 8.05424280e-01 2.74377821e-02 1.41253444e+02] [ 4.57223119e-02 -4.20379865e-04 9.98954100e-01 1.10478422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.57, Y:141.22, Z:110.48 [[ 8.04146708e-01 5.93304878e-01 -3.65704025e-02 4.24565315e+02] [-5.92669827e-01 8.04977742e-01 2.74465310e-02 1.41215778e+02] [ 4.57225208e-02 -3.96863427e-04 9.98954100e-01 1.10482127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.62, Y:141.18, Z:110.48 [[ 8.03579056e-01 5.94073948e-01 -3.65629005e-02 4.24615892e+02] [-5.93439237e-01 8.04410350e-01 2.74565213e-02 1.41178592e+02] [ 4.57227795e-02 -3.65625699e-04 9.98954100e-01 1.10484296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.67, Y:141.14, Z:110.49 [[ 8.03127927e-01 5.94684152e-01 -3.65553401e-02 4.24666485e+02] [-5.94049615e-01 8.03959353e-01 2.74665834e-02 1.41142358e+02] [ 4.57229494e-02 -3.43494447e-04 9.98954100e-01 1.10486387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.72, Y:141.11, Z:110.49 [[ 8.03892193e-01 5.93651043e-01 -3.65483556e-02 4.24717337e+02] [-5.93015015e-01 8.04722479e-01 2.74758742e-02 1.41106041e+02] [ 4.57223647e-02 -4.13917153e-04 9.98954100e-01 1.10490180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:424.77, Y:141.07, Z:110.49 [[ 8.05770231e-01 5.91099913e-01 -3.65407681e-02 4.24766919e+02] [-5.90460799e-01 8.06598144e-01 2.74859612e-02 1.41068068e+02] [ 4.57206650e-02 -5.71478165e-04 9.98954100e-01 1.10494659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.82, Y:141.03, Z:110.50 [[ 8.06330234e-01 5.90336239e-01 -3.65332571e-02 4.24816769e+02] [-5.89695889e-01 8.07157192e-01 2.74959410e-02 1.41030598e+02] [ 4.57199316e-02 -6.27297045e-04 9.98954100e-01 1.10497327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.87, Y:140.99, Z:110.50 [[ 8.07634902e-01 5.88550534e-01 -3.65257998e-02 4.24867567e+02] [-5.87907908e-01 8.08460092e-01 2.75058437e-02 1.40993990e+02] [ 4.57182305e-02 -7.40872794e-04 9.98954100e-01 1.10499662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.92, Y:140.96, Z:110.50 [[ 8.07179863e-01 5.89174926e-01 -3.65181620e-02 4.24918209e+02] [-5.88532480e-01 8.08005192e-01 2.75159803e-02 1.40956982e+02] [ 4.57185902e-02 -7.18220689e-04 9.98954100e-01 1.10501964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:424.97, Y:140.92, Z:110.51 [[ 8.05906408e-01 5.90916097e-01 -3.65106526e-02 4.24969621e+02] [-5.90274983e-01 8.06732773e-01 2.75259409e-02 1.40920511e+02] [ 4.57198616e-02 -6.32007303e-04 9.98954100e-01 1.10505856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.02, Y:140.88, Z:110.51 [[ 8.04888872e-01 5.92301803e-01 -3.65031208e-02 4.25019213e+02] [-5.91661659e-01 8.05715988e-01 2.75359255e-02 1.40882361e+02] [ 4.57207263e-02 -5.65862966e-04 9.98954101e-01 1.10509680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.07, Y:140.85, Z:110.51 [[ 8.04150567e-01 5.93304254e-01 -3.64955943e-02 4.25071155e+02] [-5.92664689e-01 8.04978130e-01 2.75458973e-02 1.40847267e+02] [ 4.57212533e-02 -5.21398920e-04 9.98954101e-01 1.10511618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.12, Y:140.81, Z:110.52 [[ 8.04167601e-01 5.93281632e-01 -3.64879930e-02 4.25121851e+02] [-5.92641587e-01 8.04994794e-01 2.75559625e-02 1.40809669e+02] [ 4.57210908e-02 -5.35310133e-04 9.98954101e-01 1.10515379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.17, Y:140.77, Z:110.52 [[ 8.05570707e-01 5.91375532e-01 -3.64803552e-02 4.25171590e+02] [-5.90733072e-01 8.06396025e-01 2.75660703e-02 1.40771171e+02] [ 4.57195129e-02 -6.56266414e-04 9.98954101e-01 1.10520206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.22, Y:140.74, Z:110.52 [[ 8.07519950e-01 5.88711530e-01 -3.64728044e-02 4.25224058e+02] [-5.88065896e-01 8.08342788e-01 2.75760572e-02 1.40736262e+02] [ 4.57168712e-02 -8.19803924e-04 9.98954101e-01 1.10522500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:425.27, Y:140.70, Z:110.52 [[ 8.09580982e-01 5.85874510e-01 -3.64649533e-02 4.25273787e+02] [-5.85225526e-01 8.10401180e-01 2.75864350e-02 1.40700036e+02] [ 4.57134303e-02 -9.93231635e-04 9.98954101e-01 1.10524078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.33, Y:140.67, Z:110.52 [[ 8.12928238e-01 5.81221513e-01 -3.64586585e-02 4.25326514e+02] [-5.80567463e-01 8.13744402e-01 2.75947518e-02 1.40666560e+02] [ 4.57066926e-02 -1.26584212e-03 9.98954101e-01 1.10522996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.38, Y:140.63, Z:110.53 [[ 8.11494484e-01 5.83221779e-01 -3.64562732e-02 4.25377713e+02] [-5.82569599e-01 8.12312143e-01 2.75979028e-02 1.40631055e+02] [ 4.57095714e-02 -1.15722941e-03 9.98954101e-01 1.10527643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.43, Y:140.59, Z:110.53 [[ 8.10245547e-01 5.84956050e-01 -3.64496005e-02 4.25427530e+02] [-5.84305225e-01 8.11064285e-01 2.76067128e-02 1.40593464e+02] [ 4.57116829e-02 -1.07052409e-03 9.98954101e-01 1.10532662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.710385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:425.48, Y:140.56, Z:110.53 [[ 8.09079983e-01 5.86567598e-01 -3.64422012e-02 4.25480995e+02] [-5.85917964e-01 8.09899666e-01 2.76164769e-02 1.40561059e+02] [ 4.57134571e-02 -9.91798313e-04 9.98954101e-01 1.10534517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:425.53, Y:140.53, Z:110.54 [[ 8.08074595e-01 5.87952306e-01 -3.64353564e-02 4.25533506e+02] [-5.87303670e-01 8.08895068e-01 2.76255044e-02 1.40525316e+02] [ 4.57148591e-02 -9.24849754e-04 9.98954101e-01 1.10536563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:425.58, Y:140.49, Z:110.54 [[ 8.06296547e-01 5.90388495e-01 -3.64321823e-02 4.25584618e+02] [-5.89742149e-01 8.07118825e-01 2.76296899e-02 1.40490821e+02] [ 4.57173512e-02 -7.92130048e-04 9.98954101e-01 1.10540201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:425.63, Y:140.46, Z:110.54 [[ 8.05646772e-01 5.91275111e-01 -3.64283132e-02 4.25634918e+02] [-5.90629439e-01 8.06469580e-01 2.76347901e-02 1.40456970e+02] [ 4.57180900e-02 -7.48245272e-04 9.98954101e-01 1.10544798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.69, Y:140.42, Z:110.55 [[ 8.05435947e-01 5.91562505e-01 -3.64244168e-02 4.25688427e+02] [-5.90916895e-01 8.06258803e-01 2.76399248e-02 1.40423820e+02] [ 4.57182499e-02 -7.38385691e-04 9.98954101e-01 1.10547845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.74, Y:140.39, Z:110.55 [[ 8.05289746e-01 5.91761982e-01 -3.64167759e-02 4.25739765e+02] [-5.91116121e-01 8.06112405e-01 2.76499884e-02 1.40389155e+02] [ 4.57182267e-02 -7.39708794e-04 9.98954101e-01 1.10549575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.79, Y:140.35, Z:110.55 [[ 8.06248735e-01 5.90455142e-01 -3.64101919e-02 4.25792289e+02] [-5.89807557e-01 8.07070037e-01 2.76586556e-02 1.40354788e+02] [ 4.57167704e-02 -8.24749750e-04 9.98954101e-01 1.10551144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.85, Y:140.32, Z:110.55 [[ 8.06940693e-01 5.89509275e-01 -3.64078575e-02 4.25845340e+02] [-5.88860588e-01 8.07761126e-01 2.76617282e-02 1.40321220e+02] [ 4.57156973e-02 -8.82221723e-04 9.98954101e-01 1.10554550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.190385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:425.90, Y:140.29, Z:110.56 [[ 8.07383711e-01 5.88902869e-01 -3.63999243e-02 4.25895569e+02] [-5.88253096e-01 8.08203283e-01 2.76721635e-02 1.40285107e+02] [ 4.57147548e-02 -9.29685942e-04 9.98954101e-01 1.10556942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.95, Y:140.25, Z:110.56 [[ 8.08203599e-01 5.87777605e-01 -3.63927325e-02 4.25947694e+02] [-5.87126265e-01 8.09021926e-01 2.76816184e-02 1.40251868e+02] [ 4.57131539e-02 -1.00525452e-03 9.98954102e-01 1.10559912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.00, Y:140.22, Z:110.57 [[ 8.08106869e-01 5.87911022e-01 -3.63856858e-02 4.25999850e+02] [-5.87259401e-01 8.08924973e-01 2.76908778e-02 1.40216724e+02] [ 4.57130622e-02 -1.00935257e-03 9.98954102e-01 1.10565211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.05, Y:140.18, Z:110.57 [[ 8.07777415e-01 5.88364067e-01 -3.63781782e-02 4.26053532e+02] [-5.87712461e-01 8.08595530e-01 2.77007372e-02 1.40182826e+02] [ 4.57133507e-02 -9.96121269e-04 9.98954102e-01 1.10569335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.11, Y:140.15, Z:110.57 [[ 8.07796430e-01 5.88338443e-01 -3.63703803e-02 4.26106362e+02] [-5.87686351e-01 8.08614157e-01 2.77109719e-02 1.40148825e+02] [ 4.57130345e-02 -1.01044812e-03 9.98954102e-01 1.10572028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.16, Y:140.11, Z:110.57 [[ 8.07040901e-01 5.89374876e-01 -3.63626070e-02 4.26158697e+02] [-5.88723374e-01 8.07859100e-01 2.77211684e-02 1.40114249e+02] [ 4.57140231e-02 -9.64600024e-04 9.98954102e-01 1.10574309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.21, Y:140.08, Z:110.58 [[ 8.04827154e-01 5.92394453e-01 -3.63601968e-02 4.26212445e+02] [-5.91745879e-01 8.05647675e-01 2.77243293e-02 1.40080780e+02] [ 4.57172469e-02 -7.97296467e-04 9.98954102e-01 1.10577710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.26, Y:140.04, Z:110.58 [[ 8.03146869e-01 5.94671009e-01 -3.63524159e-02 4.26264477e+02] [-5.94024300e-01 8.03968860e-01 2.77345279e-02 1.40044950e+02] [ 4.57191301e-02 -6.80680840e-04 9.98954102e-01 1.10580144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.32, Y:140.01, Z:110.58 [[ 8.00891580e-01 5.97705395e-01 -3.63447267e-02 4.26316351e+02] [-5.97061342e-01 8.01715654e-01 2.77446006e-02 1.40009705e+02] [ 4.57212338e-02 -5.20385641e-04 9.98954102e-01 1.10582862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.37, Y:139.97, Z:110.58 [[ 8.00079337e-01 5.98792687e-01 -3.63369269e-02 4.26365946e+02] [-5.98149291e-01 8.00903924e-01 2.77548121e-02 1.39974543e+02] [ 4.57217659e-02 -4.71144582e-04 9.98954102e-01 1.10584254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.42, Y:139.94, Z:110.59 [[ 7.99816032e-01 5.99144720e-01 -3.63306901e-02 4.26415247e+02] [-5.98501316e-01 8.00640613e-01 2.77629737e-02 1.39935397e+02] [ 4.57218651e-02 -4.61305602e-04 9.98954102e-01 1.10589435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.47, Y:139.90, Z:110.59 [[ 7.99434881e-01 5.99653662e-01 -3.63229353e-02 4.26465391e+02] [-5.99010323e-01 8.00259512e-01 2.77731158e-02 1.39897323e+02] [ 4.57220251e-02 -4.44984389e-04 9.98954102e-01 1.10592663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.52, Y:139.86, Z:110.60 [[ 7.97954042e-01 6.01623266e-01 -3.63151879e-02 4.26516174e+02] [-6.00981501e-01 7.98779899e-01 2.77832423e-02 1.39861714e+02] [ 4.57228871e-02 -3.44994385e-04 9.98954102e-01 1.10596152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.57, Y:139.82, Z:110.60 [[ 7.95726288e-01 6.04567102e-01 -3.63083150e-02 4.26565011e+02] [-6.03927983e-01 7.96554194e-01 2.77922213e-02 1.39823643e+02] [ 4.57238032e-02 -1.87393665e-04 9.98954102e-01 1.10597789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.62, Y:139.79, Z:110.60 [[ 7.95867506e-01 6.04381334e-01 -3.63058628e-02 4.26615066e+02] [-6.03741875e-01 7.96695150e-01 2.77954242e-02 1.39785836e+02] [ 4.57237404e-02 -2.02105299e-04 9.98954102e-01 1.10603338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.66, Y:139.75, Z:110.61 [[ 7.96977621e-01 6.02917207e-01 -3.62975588e-02 4.26663983e+02] [-6.02275734e-01 7.97803705e-01 2.78062641e-02 1.39746621e+02] [ 4.57232020e-02 -2.99831363e-04 9.98954103e-01 1.10606454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.71, Y:139.71, Z:110.61 [[ 7.99541718e-01 5.99513245e-01 -3.62892472e-02 4.26710107e+02] [-5.98867764e-01 8.00364673e-01 2.78171071e-02 1.39706885e+02] [ 4.57213556e-02 -5.08477311e-04 9.98954103e-01 1.10606603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.210385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:426.76, Y:139.67, Z:110.61 [[ 8.02843023e-01 5.95085416e-01 -3.62826219e-02 4.26758953e+02] [-5.94435006e-01 8.03662088e-01 2.78257460e-02 1.39668634e+02] [ 4.57176633e-02 -7.72045499e-04 9.98954103e-01 1.10606553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.81, Y:139.63, Z:110.61 [[ 8.03243299e-01 5.94545455e-01 -3.62754060e-02 4.26805468e+02] [-5.93894069e-01 8.04061589e-01 2.78351500e-02 1.39628320e+02] [ 4.57169225e-02 -8.14649215e-04 9.98954103e-01 1.10612654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.85, Y:139.59, Z:110.62 [[ 8.03052458e-01 5.94803638e-01 -3.62681825e-02 4.26854017e+02] [-5.94152091e-01 8.03870620e-01 2.78445587e-02 1.39589744e+02] [ 4.57169712e-02 -8.11824862e-04 9.98954103e-01 1.10615534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.90, Y:139.55, Z:110.62 [[ 8.02557723e-01 5.95471471e-01 -3.62605575e-02 4.26901902e+02] [-5.94820156e-01 8.03376070e-01 2.78544848e-02 1.39549622e+02] [ 4.57174152e-02 -7.86321373e-04 9.98954103e-01 1.10615852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.95, Y:139.51, Z:110.62 [[ 8.02599448e-01 5.95415376e-01 -3.62581842e-02 4.26949189e+02] [-5.94763865e-01 8.03417638e-01 2.78575738e-02 1.39509954e+02] [ 4.57172925e-02 -7.93415550e-04 9.98954103e-01 1.10622420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.99, Y:139.47, Z:110.63 [[ 8.02706254e-01 5.95271800e-01 -3.62512477e-02 4.26994539e+02] [-5.94619736e-01 8.03524003e-01 2.78665974e-02 1.39469663e+02] [ 4.57169473e-02 -8.12984719e-04 9.98954103e-01 1.10627618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.04, Y:139.43, Z:110.63 [[ 8.02281256e-01 5.95844847e-01 -3.62450549e-02 4.27044655e+02] [-5.95193003e-01 8.03099180e-01 2.78746498e-02 1.39432846e+02] [ 4.57173403e-02 -7.90506019e-04 9.98954103e-01 1.10625490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.630385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.09, Y:139.39, Z:110.63 [[ 7.99584005e-01 5.99459937e-01 -3.62381516e-02 4.27093296e+02] [-5.98811384e-01 8.00404541e-01 2.78836215e-02 1.39392364e+02] [ 4.57202951e-02 -5.95480039e-04 9.98954103e-01 1.10628730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.14, Y:139.35, Z:110.63 [[ 7.99005345e-01 6.00231488e-01 -3.62300967e-02 4.27140496e+02] [-5.99583254e-01 7.99826132e-01 2.78940835e-02 1.39352614e+02] [ 4.57206854e-02 -5.64562555e-04 9.98954103e-01 1.10631726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.19, Y:139.31, Z:110.64 [[ 7.99640621e-01 5.99385349e-01 -3.62226504e-02 4.27185041e+02] [-5.98735808e-01 8.00460375e-01 2.79037498e-02 1.39310572e+02] [ 4.57198952e-02 -6.25173960e-04 9.98954103e-01 1.10636387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.23, Y:139.27, Z:110.64 [[ 8.01327758e-01 5.97128297e-01 -3.62163087e-02 4.27232193e+02] [-5.96476076e-01 8.02145381e-01 2.79119783e-02 1.39269690e+02] [ 4.57177768e-02 -7.64481291e-04 9.98954103e-01 1.10638482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.870385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.28, Y:139.23, Z:110.64 [[ 8.02412004e-01 5.95670916e-01 -3.62096088e-02 4.27278012e+02] [-5.95016818e-01 8.03228126e-01 2.79206673e-02 1.39228438e+02] [ 4.57161057e-02 -8.58552418e-04 9.98954103e-01 1.10644068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.32, Y:139.19, Z:110.64 [[ 8.03711787e-01 5.93916414e-01 -3.62030032e-02 4.27324402e+02] [-5.93260149e-01 8.04526167e-01 2.79292297e-02 1.39185849e+02] [ 4.57138914e-02 -9.69251965e-04 9.98954103e-01 1.10643545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.37, Y:139.15, Z:110.65 [[ 8.04663468e-01 5.92626675e-01 -3.61984474e-02 4.27370749e+02] [-5.91968839e-01 8.05476580e-01 2.79351332e-02 1.39146691e+02] [ 4.57121067e-02 -1.05002826e-03 9.98954103e-01 1.10649512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.050385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:427.42, Y:139.11, Z:110.65 [[ 8.05147478e-01 5.91969337e-01 -3.61917645e-02 4.27419417e+02] [-5.91310448e-01 8.05959737e-01 2.79437886e-02 1.39107044e+02] [ 4.57109710e-02 -1.09830243e-03 9.98954103e-01 1.10653091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.47, Y:139.07, Z:110.66 [[ 8.05069062e-01 5.92076440e-01 -3.61841912e-02 4.27466793e+02] [-5.91417219e-01 8.05881052e-01 2.79535917e-02 1.39066828e+02] [ 4.57108171e-02 -1.10461809e-03 9.98954104e-01 1.10656473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:427.52, Y:139.03, Z:110.65 [[ 8.03918450e-01 5.93638018e-01 -3.61805240e-02 4.27517565e+02] [-5.92980161e-01 8.04731545e-01 2.79583374e-02 1.39030608e+02] [ 4.57127410e-02 -1.02189030e-03 9.98954104e-01 1.10652091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.57, Y:138.99, Z:110.65 [[ 8.02788400e-01 5.95165731e-01 -3.61737194e-02 4.27566991e+02] [-5.94509026e-01 8.03602425e-01 2.79671387e-02 1.38991815e+02] [ 4.57143712e-02 -9.46091824e-04 9.98954104e-01 1.10652100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.61, Y:138.95, Z:110.66 [[ 8.01510090e-01 5.96886347e-01 -3.61699392e-02 4.27614548e+02] [-5.96231168e-01 8.02325345e-01 2.79720268e-02 1.38952378e+02] [ 4.57161799e-02 -8.54216602e-04 9.98954104e-01 1.10655763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.66, Y:138.91, Z:110.66 [[ 7.98978278e-01 6.00271631e-01 -3.61618574e-02 4.27659530e+02] [-5.99619435e-01 7.99795920e-01 2.79824710e-02 1.38908889e+02] [ 4.57191895e-02 -6.74033952e-04 9.98954104e-01 1.10664161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.71, Y:138.87, Z:110.66 [[ 8.00553811e-01 5.98169035e-01 -3.61580075e-02 4.27710912e+02] [-5.97514467e-01 8.01369555e-01 2.79874448e-02 1.38873075e+02] [ 4.57171493e-02 -8.00522959e-04 9.98954104e-01 1.10662085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4703857229999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:427.75, Y:138.83, Z:110.68 [[ 8.01534588e-01 5.96854670e-01 -3.61497819e-02 4.27754447e+02] [-5.96198286e-01 8.02348872e-01 2.79980653e-02 1.38828409e+02] [ 4.57155128e-02 -8.88979742e-04 9.98954104e-01 1.10679373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.80, Y:138.79, Z:110.68 [[ 8.03679058e-01 5.93964363e-01 -3.61428745e-02 4.27803369e+02] [-5.93304650e-01 8.04490647e-01 2.80069793e-02 1.38789277e+02] [ 4.57117521e-02 -1.06488726e-03 9.98954104e-01 1.10681719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.85, Y:138.75, Z:110.68 [[ 8.05125354e-01 5.92002884e-01 -3.61351608e-02 4.27851677e+02] [-5.91340747e-01 8.05934968e-01 2.80169281e-02 1.38749322e+02] [ 4.57086919e-02 -1.18894618e-03 9.98954104e-01 1.10684407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.650385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:427.90, Y:138.71, Z:110.68 [[ 8.05398977e-01 5.91631041e-01 -3.61275382e-02 4.27901434e+02] [-5.90968091e-01 8.06207924e-01 2.80267540e-02 1.38711273e+02] [ 4.57078052e-02 -1.22249671e-03 9.98954104e-01 1.10681803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.95, Y:138.67, Z:110.69 [[ 8.01036821e-01 5.97524059e-01 -3.61249271e-02 4.27949500e+02] [-5.96866910e-01 8.01850488e-01 2.80301191e-02 1.38673892e+02] [ 4.57154610e-02 -8.91383917e-04 9.98954104e-01 1.10687051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.00, Y:138.64, Z:110.69 [[ 7.99352917e-01 5.99775286e-01 -3.61181468e-02 4.27998545e+02] [-5.99120034e-01 8.00168112e-01 2.80388532e-02 1.38635656e+02] [ 4.57176005e-02 -7.73833707e-04 9.98954104e-01 1.10691335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.05, Y:138.60, Z:110.70 [[ 7.97135799e-01 6.02718985e-01 -3.61156894e-02 4.28047483e+02] [-6.02066601e-01 7.97953290e-01 2.80420180e-02 1.38597953e+02] [ 4.57200899e-02 -6.09246101e-04 9.98954104e-01 1.10695869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.10, Y:138.56, Z:110.70 [[ 7.95385304e-01 6.05027600e-01 -3.61084820e-02 4.28096165e+02] [-6.04377167e-01 7.96204349e-01 2.80512957e-02 1.38559351e+02] [ 4.57215385e-02 -4.88446325e-04 9.98954104e-01 1.10696837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.15, Y:138.52, Z:110.70 [[ 7.96480961e-01 6.03584762e-01 -3.61042088e-02 4.28145816e+02] [-6.02932596e-01 7.97298627e-01 2.80567945e-02 1.38522962e+02] [ 4.57204898e-02 -5.78298266e-04 9.98954104e-01 1.10702850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.19, Y:138.48, Z:110.71 [[ 7.96456846e-01 6.03616919e-01 -3.60985837e-02 4.28194285e+02] [-6.02964458e-01 7.97274277e-01 2.80640300e-02 1.38483037e+02] [ 4.57203956e-02 -5.85625870e-04 9.98954104e-01 1.10707261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.24, Y:138.44, Z:110.71 [[ 7.95322021e-01 6.05111834e-01 -3.60908764e-02 4.28243724e+02] [-6.04460460e-01 7.96140318e-01 2.80739382e-02 1.38444102e+02] [ 4.57212741e-02 -5.12313513e-04 9.98954104e-01 1.10710022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.29, Y:138.41, Z:110.71 [[ 7.94158416e-01 6.06638617e-01 -3.60832229e-02 4.28293195e+02] [-6.05988370e-01 7.94977608e-01 2.80837718e-02 1.38405021e+02] [ 4.57220547e-02 -4.36950303e-04 9.98954104e-01 1.10712490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.34, Y:138.37, Z:110.72 [[ 7.93610937e-01 6.07355118e-01 -3.60754982e-02 4.28341989e+02] [-6.06705159e-01 7.94430358e-01 2.80936912e-02 1.38365006e+02] [ 4.57223181e-02 -4.08269667e-04 9.98954105e-01 1.10716072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.39, Y:138.33, Z:110.72 [[ 7.94188107e-01 6.06600663e-01 -3.60677865e-02 4.28390999e+02] [-6.05949477e-01 7.95006553e-01 2.81035883e-02 1.38325498e+02] [ 4.57217820e-02 -4.64279231e-04 9.98954105e-01 1.10720579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.310385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:428.44, Y:138.29, Z:110.73 [[ 7.93906118e-01 6.06970136e-01 -3.60600904e-02 4.28439141e+02] [-6.06318882e-01 7.94724510e-01 2.81134598e-02 1.38286928e+02] [ 4.57218682e-02 -4.55534084e-04 9.98954105e-01 1.10725176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.49, Y:138.25, Z:110.73 [[ 7.93114699e-01 6.08004306e-01 -3.60532707e-02 4.28489416e+02] [-6.07353722e-01 7.93933623e-01 2.81222028e-02 1.38249163e+02] [ 4.57223243e-02 -4.07044247e-04 9.98954105e-01 1.10727057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.54, Y:138.21, Z:110.73 [[ 7.93068722e-01 6.08064738e-01 -3.60454657e-02 4.28538332e+02] [-6.07413762e-01 7.93887335e-01 2.81322033e-02 1.38210068e+02] [ 4.57222396e-02 -4.16258653e-04 9.98954105e-01 1.10729132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.59, Y:138.17, Z:110.73 [[ 7.95823076e-01 6.04455886e-01 -3.60376617e-02 4.28589022e+02] [-6.03800746e-01 7.96638360e-01 2.81421968e-02 1.38174124e+02] [ 4.57197002e-02 -6.36642691e-04 9.98954105e-01 1.10728084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.550385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.63, Y:138.13, Z:110.73 [[ 7.94973523e-01 6.05572930e-01 -3.60350510e-02 4.28634554e+02] [-6.04918784e-01 7.95789604e-01 2.81455394e-02 1.38133573e+02] [ 4.57204957e-02 -5.76679378e-04 9.98954105e-01 1.10732858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.68, Y:138.10, Z:110.73 [[ 7.96581387e-01 6.03456757e-01 -3.60282716e-02 4.28684567e+02] [-6.02800050e-01 7.97395410e-01 2.81542147e-02 1.38095757e+02] [ 4.57186295e-02 -7.09279469e-04 9.98954105e-01 1.10733386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.73, Y:138.06, Z:110.73 [[ 7.98896941e-01 6.00388054e-01 -3.60258694e-02 4.28733012e+02] [-5.99728082e-01 7.99708318e-01 2.81572882e-02 1.38056679e+02] [ 4.57154869e-02 -8.89045877e-04 9.98954105e-01 1.10734523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:428.78, Y:138.02, Z:110.74 [[ 8.00133606e-01 5.98739394e-01 -3.60187569e-02 4.28781560e+02] [-5.98077341e-01 8.00943287e-01 2.81663836e-02 1.38017285e+02] [ 4.57133050e-02 -9.94867724e-04 9.98954105e-01 1.10737886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.83, Y:137.98, Z:110.74 [[ 8.01125482e-01 5.97412046e-01 -3.60112365e-02 4.28831255e+02] [-5.96748220e-01 8.01933710e-01 2.81759953e-02 1.37979854e+02] [ 4.57113035e-02 -1.08286660e-03 9.98954105e-01 1.10741751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.88, Y:137.94, Z:110.75 [[ 7.99833480e-01 5.99141121e-01 -3.60044524e-02 4.28879934e+02] [-5.98478653e-01 8.00642821e-01 2.81846616e-02 1.37940480e+02] [ 4.57132961e-02 -9.95139777e-04 9.98954105e-01 1.10745616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.93, Y:137.90, Z:110.75 [[ 7.97661995e-01 6.02029554e-01 -3.59966526e-02 4.28929425e+02] [-6.01369567e-01 7.98473360e-01 2.81946198e-02 1.37901916e+02] [ 4.57163625e-02 -8.42485266e-04 9.98954105e-01 1.10748418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:428.98, Y:137.86, Z:110.75 [[ 7.94182959e-01 6.06612089e-01 -3.59888910e-02 4.28980212e+02] [-6.05956337e-01 7.94997750e-01 2.82045236e-02 1.37864897e+02] [ 4.57202924e-02 -5.91855449e-04 9.98954105e-01 1.10748919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.03, Y:137.83, Z:110.75 [[ 7.91632300e-01 6.09937419e-01 -3.59811819e-02 4.29029249e+02] [-6.09284643e-01 7.92449477e-01 2.82143549e-02 1.37825429e+02] [ 4.57222596e-02 -4.12613145e-04 9.98954105e-01 1.10752204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:429.08, Y:137.79, Z:110.75 [[ 7.88946219e-01 6.13408321e-01 -3.59735452e-02 4.29078031e+02] [-6.12758695e-01 7.89765903e-01 2.82240884e-02 1.37786296e+02] [ 4.57235701e-02 -2.24185179e-04 9.98954106e-01 1.10752595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.13, Y:137.75, Z:110.75 [[ 7.86410971e-01 6.16655458e-01 -3.59698518e-02 4.29128277e+02] [-6.16009002e-01 7.87233157e-01 2.82287946e-02 1.37748692e+02] [ 4.57241003e-02 -4.16812825e-05 9.98954106e-01 1.10753511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.17, Y:137.71, Z:110.76 [[ 7.85392089e-01 6.17953084e-01 -3.59618190e-02 4.29174588e+02] [-6.17307518e-01 7.86214974e-01 2.82390242e-02 1.37707137e+02] [ 4.57241127e-02 2.07950486e-05 9.98954106e-01 1.10759031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.22, Y:137.67, Z:110.76 [[ 7.85068865e-01 6.18364075e-01 -3.59547923e-02 4.29221664e+02] [-6.17718530e-01 7.85891767e-01 2.82479679e-02 1.37666815e+02] [ 4.57241039e-02 3.33413619e-05 9.98954106e-01 1.10760849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.27, Y:137.63, Z:110.76 [[ 7.83850884e-01 6.19907688e-01 -3.59478868e-02 4.29270726e+02] [-6.19263361e-01 7.84674739e-01 2.82567531e-02 1.37626861e+02] [ 4.57239772e-02 1.12128282e-04 9.98954106e-01 1.10762509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.32, Y:137.59, Z:110.76 [[ 7.83886786e-01 6.19862745e-01 -3.59400027e-02 4.29317432e+02] [-6.19217911e-01 7.84710245e-01 2.82667774e-02 1.37585248e+02] [ 4.57240105e-02 9.67400503e-05 9.98954106e-01 1.10764795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.36, Y:137.54, Z:110.77 [[ 7.85192944e-01 6.18207829e-01 -3.59321556e-02 4.29363628e+02] [-6.17560804e-01 7.86014681e-01 2.82767489e-02 1.37542411e+02] [ 4.57241094e-02 -1.24128446e-05 9.98954106e-01 1.10767882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.41, Y:137.50, Z:110.77 [[ 7.85500123e-01 6.17817929e-01 -3.59244121e-02 4.29411714e+02] [-6.17170046e-01 7.86321184e-01 2.82865833e-02 1.37501410e+02] [ 4.57240846e-02 -4.76436184e-05 9.98954106e-01 1.10769748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.46, Y:137.46, Z:110.77 [[ 7.85488527e-01 6.17833118e-01 -3.59167505e-02 4.29458424e+02] [-6.17184806e-01 7.86309249e-01 2.82963083e-02 1.37460035e+02] [ 4.57240695e-02 -5.91528714e-05 9.98954106e-01 1.10771984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.51, Y:137.42, Z:110.77 [[ 7.85318199e-01 6.18050005e-01 -3.59098545e-02 4.29505796e+02] [-6.17401519e-01 7.86138785e-01 2.83050570e-02 1.37418337e+02] [ 4.57240700e-02 -5.76777054e-05 9.98954106e-01 1.10774299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.55, Y:137.38, Z:110.78 [[ 7.85726482e-01 6.17531330e-01 -3.59019779e-02 4.29552415e+02] [-6.16881846e-01 7.86546278e-01 2.83150442e-02 1.37377927e+02] [ 4.57239939e-02 -1.00601655e-04 9.98954106e-01 1.10776351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.60, Y:137.34, Z:110.78 [[ 7.86138805e-01 6.17006768e-01 -3.58946771e-02 4.29599413e+02] [-6.16356315e-01 7.86957831e-01 2.83242963e-02 1.37335914e+02] [ 4.57238797e-02 -1.42917561e-04 9.98954106e-01 1.10778563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.65, Y:137.29, Z:110.78 [[ 7.85373685e-01 6.17980830e-01 -3.58868946e-02 4.29646250e+02] [-6.17330942e-01 7.86193160e-01 2.83341532e-02 1.37293507e+02] [ 4.57239946e-02 -9.88078828e-05 9.98954106e-01 1.10781909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.70, Y:137.25, Z:110.78 [[ 7.83577684e-01 6.20256958e-01 -3.58792256e-02 4.29695810e+02] [-6.19609006e-01 7.84398690e-01 2.83438612e-02 1.37254048e+02] [ 4.57240947e-02 2.14741874e-05 9.98954106e-01 1.10783636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.930385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:429.74, Y:137.21, Z:110.79 [[ 7.83529720e-01 6.20317987e-01 -3.58716110e-02 4.29743260e+02] [-6.19669658e-01 7.84350429e-01 2.83534947e-02 1.37213532e+02] [ 4.57240963e-02 1.27431299e-05 9.98954106e-01 1.10785766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.79, Y:137.17, Z:110.79 [[ 7.82713598e-01 6.21347855e-01 -3.58645643e-02 4.29789530e+02] [-6.20700197e-01 7.83534836e-01 2.83624054e-02 1.37172034e+02] [ 4.57240553e-02 6.15016869e-05 9.98954107e-01 1.10791897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.84, Y:137.13, Z:110.79 [[ 7.81331831e-01 6.23084772e-01 -3.58599566e-02 4.29838106e+02] [-6.22438673e-01 7.82154296e-01 2.83682300e-02 1.37131825e+02] [ 4.57238312e-02 1.55622737e-04 9.98954107e-01 1.10794437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.89, Y:137.09, Z:110.80 [[ 7.79011876e-01 6.25983296e-01 -3.58526234e-02 4.29886954e+02] [-6.25339830e-01 7.79836403e-01 2.83774949e-02 1.37092034e+02] [ 4.57230186e-02 3.13667942e-04 9.98954107e-01 1.10797207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.93, Y:137.05, Z:110.80 [[ 7.76936071e-01 6.28558270e-01 -3.58447056e-02 4.29934921e+02] [-6.27917075e-01 7.77762365e-01 2.83874926e-02 1.37051345e+02] [ 4.57218563e-02 4.52235766e-04 9.98954107e-01 1.10799587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.98, Y:137.01, Z:110.80 [[ 7.76155905e-01 6.29521830e-01 -3.58367994e-02 4.29981322e+02] [-6.28881201e-01 7.76982637e-01 2.83974700e-02 1.37011945e+02] [ 4.57213982e-02 4.96225451e-04 9.98954107e-01 1.10797671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.03, Y:136.97, Z:110.80 [[ 7.76426815e-01 6.29188034e-01 -3.58304137e-02 4.30027949e+02] [-6.28546678e-01 7.77252983e-01 2.84055248e-02 1.36971576e+02] [ 4.57217123e-02 4.66276338e-04 9.98954107e-01 1.10799780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.08, Y:136.93, Z:110.80 [[ 7.77200712e-01 6.28232215e-01 -3.58236921e-02 4.30075350e+02] [-6.27589452e-01 7.78025787e-01 2.84139993e-02 1.36930255e+02] [ 4.57223460e-02 3.99190810e-04 9.98954107e-01 1.10803223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.410385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:430.12, Y:136.89, Z:110.81 [[ 7.78322919e-01 6.26841805e-01 -3.58159960e-02 4.30124108e+02] [-6.26197121e-01 7.79146494e-01 2.84236970e-02 1.36890886e+02] [ 4.57230692e-02 3.05058752e-04 9.98954107e-01 1.10807278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.17, Y:136.85, Z:110.81 [[ 7.78084195e-01 6.27138553e-01 -3.58081073e-02 4.30174978e+02] [-6.26493726e-01 7.78907658e-01 2.84336317e-02 1.36854318e+02] [ 4.57230356e-02 3.09795164e-04 9.98954107e-01 1.10809507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.22, Y:136.82, Z:110.81 [[ 7.78143452e-01 6.27065473e-01 -3.58002902e-02 4.30224941e+02] [-6.26420117e-01 7.78966499e-01 2.84434706e-02 1.36817936e+02] [ 4.57231451e-02 2.92921580e-04 9.98954107e-01 1.10811065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.27, Y:136.78, Z:110.81 [[ 7.81454665e-01 6.22934532e-01 -3.57935189e-02 4.30273724e+02] [-6.22284434e-01 7.82273972e-01 2.84519892e-02 1.36779570e+02] [ 4.57240648e-02 3.98099354e-05 9.98954107e-01 1.10814158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.32, Y:136.74, Z:110.82 [[ 7.84646336e-01 6.18909902e-01 -3.57863195e-02 4.30323390e+02] [-6.18255189e-01 7.85461960e-01 2.84610416e-02 1.36741647e+02] [ 4.57236131e-02 -2.06774302e-04 9.98954107e-01 1.10817039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.37, Y:136.70, Z:110.82 [[ 7.85927999e-01 6.17282014e-01 -3.57784138e-02 4.30373203e+02] [-6.16625160e-01 7.86741899e-01 2.84709763e-02 1.36702658e+02] [ 4.57229989e-02 -3.14267333e-04 9.98954107e-01 1.10820312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.42, Y:136.67, Z:110.82 [[ 7.88020705e-01 6.14608694e-01 -3.57704148e-02 4.30424044e+02] [-6.13948622e-01 7.88831998e-01 2.84810226e-02 1.36666486e+02] [ 4.57215319e-02 -4.82438653e-04 9.98954107e-01 1.10824582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.47, Y:136.63, Z:110.83 [[ 7.88550250e-01 6.13929629e-01 -3.57619093e-02 4.30473237e+02] [-6.13268374e-01 7.89360579e-01 2.84916985e-02 1.36629003e+02] [ 4.57209393e-02 -5.35487931e-04 9.98954108e-01 1.10827073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.52, Y:136.59, Z:110.83 [[ 7.87134139e-01 6.15744514e-01 -3.57566920e-02 4.30520726e+02] [-6.15084830e-01 7.87945748e-01 2.84982446e-02 1.36590033e+02] [ 4.57219712e-02 -4.38542412e-04 9.98954108e-01 1.10830175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.57, Y:136.55, Z:110.83 [[ 7.87568797e-01 6.15188909e-01 -3.57490845e-02 4.30570826e+02] [-6.14528220e-01 7.88379587e-01 2.85077845e-02 1.36552603e+02] [ 4.57215213e-02 -4.83020308e-04 9.98954108e-01 1.10834618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.62, Y:136.52, Z:110.84 [[ 7.84832790e-01 6.18676089e-01 -3.57405755e-02 4.30619905e+02] [-6.18018517e-01 7.85646110e-01 2.85184484e-02 1.36516233e+02] [ 4.57231262e-02 -2.93875977e-04 9.98954108e-01 1.10837937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.67, Y:136.48, Z:110.84 [[ 7.82129933e-01 6.22089759e-01 -3.57365271e-02 4.30670359e+02] [-6.21435505e-01 7.82945925e-01 2.85235206e-02 1.36479077e+02] [ 4.57239583e-02 -1.01152504e-04 9.98954108e-01 1.10841546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.72, Y:136.44, Z:110.84 [[ 7.81503024e-01 6.22877578e-01 -3.57287868e-02 4.30720607e+02] [-6.22223704e-01 7.82319320e-01 2.85332128e-02 1.36440932e+02] [ 4.57240187e-02 -6.74940607e-05 9.98954108e-01 1.10842398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:430.77, Y:136.40, Z:110.85 [[ 7.79209294e-01 6.25745107e-01 -3.57202680e-02 4.30767678e+02] [-6.25093748e-01 7.80027598e-01 2.85438734e-02 1.36402621e+02] [ 4.57239840e-02 8.68647038e-05 9.98954108e-01 1.10847472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.82, Y:136.36, Z:110.85 [[ 7.80207021e-01 6.24501042e-01 -3.57134791e-02 4.30817209e+02] [-6.23847990e-01 7.81023974e-01 2.85523650e-02 1.36363228e+02] [ 4.57240651e-02 3.02654329e-06 9.98954108e-01 1.10849838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.310385723 meters Centerline goodness : 0.997919 with order 1 Centerline is valid? [True, True] Translation: X:431.32, Y:137.01, Z:111.83 [[ 8.26782093e-01 5.61388009e-01 -3.57053833e-02 4.31317440e+02] [-5.60672464e-01 8.27544907e-01 2.85624854e-02 1.37013218e+02] [ 4.55824449e-02 -3.59592624e-03 9.98954108e-01 1.11829605e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 627.370385723 meters Centerline goodness : 0.996259 with order 1 Centerline is valid? [True, True] Translation: X:431.37, Y:136.98, Z:111.83 [[ 8.30145721e-01 5.56267948e-01 -3.77366233e-02 4.31368289e+02] [-5.55680252e-01 8.31002952e-01 2.55646542e-02 1.36979096e+02] [ 4.55800431e-02 -2.52891960e-04 9.98960658e-01 1.11830355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.42, Y:136.95, Z:111.84 [[ 8.32493930e-01 5.52748000e-01 -3.77293675e-02 4.31422037e+02] [-5.52156195e-01 8.33348329e-01 2.55753582e-02 1.36946877e+02] [ 4.55784334e-02 -4.58826475e-04 9.98960658e-01 1.11838263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.490385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:431.48, Y:136.91, Z:111.84 [[ 8.34348751e-01 5.49944868e-01 -3.77200804e-02 4.31476432e+02] [-5.49349573e-01 8.35200723e-01 2.55890481e-02 1.36914534e+02] [ 4.55764040e-02 -6.28680243e-04 9.98960658e-01 1.11843211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.550385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:431.53, Y:136.88, Z:111.85 [[ 8.34952239e-01 5.49028732e-01 -3.77121951e-02 4.31528541e+02] [-5.48431978e-01 8.35803189e-01 2.56006638e-02 1.36879762e+02] [ 4.55754729e-02 -6.92757828e-04 9.98960658e-01 1.11845724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.58, Y:136.85, Z:111.85 [[ 8.35817852e-01 5.47710570e-01 -3.77047612e-02 4.31580368e+02] [-5.47111980e-01 8.36667512e-01 2.56116079e-02 1.36845574e+02] [ 4.55740971e-02 -7.77912559e-04 9.98960658e-01 1.11848977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.63, Y:136.81, Z:111.85 [[ 8.35928056e-01 5.47542832e-01 -3.76979097e-02 4.31633643e+02] [-5.46943618e-01 8.36777275e-01 2.56216887e-02 1.36813641e+02] [ 4.55737261e-02 -7.99257282e-04 9.98960658e-01 1.11852564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.730385723 meters Centerline goodness : 0.997859 with order 1 Centerline is valid? [True, True] Translation: X:431.69, Y:136.78, Z:111.85 [[ 8.35570303e-01 5.48088923e-01 -3.76935127e-02 4.31688091e+02] [-5.47489972e-01 8.36419708e-01 2.56281557e-02 1.36782346e+02] [ 4.55741051e-02 -7.77305588e-04 9.98960658e-01 1.11852053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.74, Y:136.75, Z:111.86 [[ 8.34064894e-01 5.50377279e-01 -3.76908762e-02 4.31738611e+02] [-5.49780484e-01 8.34915815e-01 2.56320326e-02 1.36747343e+02] [ 4.55759970e-02 -6.57070418e-04 9.98960658e-01 1.11859259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.79, Y:136.72, Z:111.86 [[ 8.32408484e-01 5.52879832e-01 -3.76829828e-02 4.31792583e+02] [-5.52285070e-01 8.33260827e-01 2.56436319e-02 1.36715796e+02] [ 4.55776003e-02 -5.34227966e-04 9.98960658e-01 1.11864661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.910385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:431.85, Y:136.69, Z:111.87 [[ 8.31105242e-01 5.54837480e-01 -3.76755523e-02 4.31847563e+02] [-5.54244231e-01 8.31958639e-01 2.56545440e-02 1.36685664e+02] [ 4.55786038e-02 -4.40168507e-04 9.98960658e-01 1.11866899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.90, Y:136.65, Z:111.87 [[ 8.30605494e-01 5.55585776e-01 -3.76690658e-02 4.31900615e+02] [-5.54992864e-01 8.31459125e-01 2.56640648e-02 1.36653576e+02] [ 4.55788778e-02 -4.10650514e-04 9.98960659e-01 1.11871790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:431.95, Y:136.62, Z:111.88 [[ 8.29715570e-01 5.56914353e-01 -3.76626622e-02 4.31953471e+02] [-5.56322382e-01 8.30569853e-01 2.56734588e-02 1.36620714e+02] [ 4.55793895e-02 -3.49086534e-04 9.98960659e-01 1.11878052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.01, Y:136.59, Z:111.88 [[ 8.28422104e-01 5.58837027e-01 -3.76562592e-02 4.32007459e+02] [-5.58246612e-01 8.29277464e-01 2.56828469e-02 1.36590970e+02] [ 4.55800129e-02 -2.54759014e-04 9.98960659e-01 1.11881766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.06, Y:136.56, Z:111.89 [[ 8.26394521e-01 5.61831418e-01 -3.76504196e-02 4.32062422e+02] [-5.61243711e-01 8.27251744e-01 2.56914047e-02 1.36560644e+02] [ 4.55806136e-02 -1.00174869e-04 9.98960659e-01 1.11885168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:432.12, Y:136.53, Z:111.89 [[ 8.26690062e-01 5.61396698e-01 -3.76468847e-02 4.32117569e+02] [-5.60808306e-01 8.27546814e-01 2.56965836e-02 1.36533609e+02] [ 4.55805367e-02 -1.30424731e-04 9.98960659e-01 1.11885176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.270385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:432.18, Y:136.51, Z:111.88 [[ 8.30337250e-01 5.55988159e-01 -3.76459600e-02 4.32176262e+02] [-5.55394124e-01 8.31190100e-01 2.56979381e-02 1.36509003e+02] [ 4.55786986e-02 -4.29610291e-04 9.98960659e-01 1.11875266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.330385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:432.23, Y:136.48, Z:111.88 [[ 8.30208271e-01 5.56180816e-01 -3.76447481e-02 4.32228536e+02] [-5.55586899e-01 8.31061202e-01 2.56997134e-02 1.36476340e+02] [ 4.55787772e-02 -4.21185766e-04 9.98960659e-01 1.11878897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.28, Y:136.44, Z:111.88 [[ 8.30628165e-01 5.55553791e-01 -3.76408917e-02 4.32280998e+02] [-5.54958975e-01 8.31480469e-01 2.57053604e-02 1.36441375e+02] [ 4.55783767e-02 -4.62445643e-04 9.98960659e-01 1.11882913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.33, Y:136.41, Z:111.89 [[ 8.30200228e-01 5.56193641e-01 -3.76326226e-02 4.32333443e+02] [-5.55598933e-01 8.31052608e-01 2.57174607e-02 1.36409428e+02] [ 4.55785773e-02 -4.41996788e-04 9.98960659e-01 1.11887340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.39, Y:136.38, Z:111.89 [[ 8.29808964e-01 5.56777493e-01 -3.76285299e-02 4.32386899e+02] [-5.56183113e-01 8.30661573e-01 2.57234475e-02 1.36376384e+02] [ 4.55788105e-02 -4.17194437e-04 9.98960659e-01 1.11892097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.44, Y:136.34, Z:111.89 [[ 8.29699381e-01 5.56941328e-01 -3.76204046e-02 4.32437643e+02] [-5.56346577e-01 8.30551732e-01 2.57353253e-02 1.36342652e+02] [ 4.55787584e-02 -4.22600124e-04 9.98960659e-01 1.11893282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.49, Y:136.31, Z:111.90 [[ 8.30383539e-01 5.55921140e-01 -3.76146778e-02 4.32490174e+02] [-5.55324964e-01 8.31234893e-01 2.57436928e-02 1.36309812e+02] [ 4.55780957e-02 -4.88769204e-04 9.98960659e-01 1.11895345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.690385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:432.54, Y:136.27, Z:111.90 [[ 8.28373215e-01 5.58912733e-01 -3.76081612e-02 4.32539567e+02] [-5.58319199e-01 8.29226413e-01 2.57532091e-02 1.36274467e+02] [ 4.55794771e-02 -3.35910176e-04 9.98960659e-01 1.11897466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.750385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:432.59, Y:136.24, Z:111.90 [[ 8.27961302e-01 5.59522998e-01 -3.76044768e-02 4.32590151e+02] [-5.58929849e-01 8.28814768e-01 2.57585880e-02 1.36238681e+02] [ 4.55796681e-02 -3.08849513e-04 9.98960659e-01 1.11899901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.810385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:432.64, Y:136.20, Z:111.91 [[ 8.26134353e-01 5.62217162e-01 -3.76017733e-02 4.32639311e+02] [-5.61626616e-01 8.26989623e-01 2.57625339e-02 1.36202621e+02] [ 4.55804150e-02 -1.65157601e-04 9.98960659e-01 1.11905572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.69, Y:136.17, Z:111.91 [[ 8.26136760e-01 5.62214095e-01 -3.75947537e-02 4.32691173e+02] [-5.61623080e-01 8.26991705e-01 2.57727733e-02 1.36168188e+02] [ 4.55803659e-02 -1.77754064e-04 9.98960659e-01 1.11908958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.930385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:432.74, Y:136.13, Z:111.92 [[ 8.23309020e-01 5.66347446e-01 -3.75876087e-02 4.32737719e+02] [-5.65760248e-01 8.24166591e-01 2.57831897e-02 1.36127377e+02] [ 4.55806949e-02 3.80421977e-05 9.98960659e-01 1.11915226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.990385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:432.79, Y:136.09, Z:111.92 [[ 8.23523557e-01 5.66035611e-01 -3.75850906e-02 4.32790242e+02] [-5.65447920e-01 8.24380790e-01 2.57868598e-02 1.36092894e+02] [ 4.55807076e-02 1.63248351e-05 9.98960659e-01 1.11919110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.84, Y:136.05, Z:111.92 [[ 8.23065682e-01 5.66701740e-01 -3.75768584e-02 4.32839438e+02] [-5.66114196e-01 8.23923016e-01 2.57988502e-02 1.36054799e+02] [ 4.55806918e-02 3.86447661e-05 9.98960659e-01 1.11924111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.89, Y:136.02, Z:111.92 [[ 8.23691671e-01 5.65791932e-01 -3.75702071e-02 4.32890454e+02] [-5.65203000e-01 8.24548051e-01 2.58085328e-02 1.36020430e+02] [ 4.55807007e-02 -2.34797304e-05 9.98960659e-01 1.11922875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:432.94, Y:135.98, Z:111.93 [[ 8.24297767e-01 5.64908790e-01 -3.75666098e-02 4.32940417e+02] [-5.64318702e-01 8.25153351e-01 2.58137679e-02 1.35982942e+02] [ 4.55806384e-02 -7.86907501e-05 9.98960660e-01 1.11925386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.99, Y:135.94, Z:111.93 [[ 8.24275251e-01 5.64942062e-01 -3.75603200e-02 4.32988273e+02] [-5.64351591e-01 8.25130571e-01 2.58229166e-02 1.35942489e+02] [ 4.55806200e-02 -8.79647255e-05 9.98960660e-01 1.11929205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.03, Y:135.90, Z:111.94 [[ 8.22302755e-01 5.67809778e-01 -3.75530893e-02 4.33034787e+02] [-5.67221810e-01 8.23159798e-01 2.58334276e-02 1.35901054e+02] [ 4.55806662e-02 5.80325765e-05 9.98960660e-01 1.11936265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.350385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:433.08, Y:135.86, Z:111.94 [[ 8.20146785e-01 5.70919881e-01 -3.75465184e-02 4.33083231e+02] [-5.70334725e-01 8.21005750e-01 2.58429744e-02 1.35861686e+02] [ 4.55801753e-02 2.19050898e-04 9.98960660e-01 1.11938415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:433.13, Y:135.82, Z:111.94 [[ 8.18068551e-01 5.73894239e-01 -3.75399586e-02 4.33132319e+02] [-5.73311769e-01 8.18929340e-01 2.58524997e-02 1.35822014e+02] [ 4.55791741e-02 3.72983114e-04 9.98960660e-01 1.11943181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.18, Y:135.79, Z:111.94 [[ 8.17749754e-01 5.74348906e-01 -3.75323051e-02 4.33182167e+02] [-5.73766405e-01 8.18610522e-01 2.58636062e-02 1.35787122e+02] [ 4.55790738e-02 3.84818187e-04 9.98960660e-01 1.11940774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.23, Y:135.75, Z:111.94 [[ 8.16953623e-01 5.75480887e-01 -3.75303337e-02 4.33230933e+02] [-5.74899448e-01 8.17815108e-01 2.58664665e-02 1.35747090e+02] [ 4.55785310e-02 4.44464592e-04 9.98960660e-01 1.11942426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.28, Y:135.71, Z:111.95 [[ 8.16463146e-01 5.76177001e-01 -3.75232609e-02 4.33277979e+02] [-5.75595824e-01 8.17324808e-01 2.58767227e-02 1.35705259e+02] [ 4.55782645e-02 4.70841858e-04 9.98960660e-01 1.11947547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:433.33, Y:135.67, Z:111.95 [[ 8.17745046e-01 5.74356580e-01 -3.75174585e-02 4.33326408e+02] [-5.73773099e-01 8.18605149e-01 2.58851325e-02 1.35667912e+02] [ 4.55792809e-02 3.59069613e-04 9.98960660e-01 1.11950492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:433.37, Y:135.63, Z:111.95 [[ 8.17680458e-01 5.74448787e-01 -3.75134459e-02 4.33373368e+02] [-5.73865137e-01 8.18540447e-01 2.58909464e-02 1.35627673e+02] [ 4.55792955e-02 3.57137910e-04 9.98960660e-01 1.11950590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:433.42, Y:135.59, Z:111.95 [[ 8.18931753e-01 5.72663912e-01 -3.75076995e-02 4.33421215e+02] [-5.72078007e-01 8.19790206e-01 2.58992684e-02 1.35585856e+02] [ 4.55800211e-02 2.47596712e-04 9.98960660e-01 1.11953462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:433.47, Y:135.54, Z:111.96 [[ 8.20599069e-01 5.70272630e-01 -3.75006177e-02 4.33468895e+02] [-5.69683754e-01 8.21455487e-01 2.59095184e-02 1.35543817e+02] [ 4.55805774e-02 1.02166031e-04 9.98960660e-01 1.11956773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.52, Y:135.50, Z:111.96 [[ 8.20984394e-01 5.69718224e-01 -3.74935881e-02 4.33517451e+02] [-5.69128306e-01 8.21840095e-01 2.59196869e-02 1.35503337e+02] [ 4.55806520e-02 5.90038477e-05 9.98960660e-01 1.11959695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.57, Y:135.47, Z:111.96 [[ 8.20858931e-01 5.69899445e-01 -3.74864974e-02 4.33567714e+02] [-5.69309247e-01 8.21714439e-01 2.59299379e-02 1.35466339e+02] [ 4.55806534e-02 5.65884663e-05 9.98960660e-01 1.11960203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.62, Y:135.43, Z:111.96 [[ 8.21648460e-01 5.68760988e-01 -3.74799542e-02 4.33616778e+02] [-5.68169173e-01 8.22502850e-01 2.59393922e-02 1.35426809e+02] [ 4.55806835e-02 -1.81070377e-05 9.98960660e-01 1.11964970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.67, Y:135.39, Z:111.97 [[ 8.21698178e-01 5.68689624e-01 -3.74728748e-02 4.33665801e+02] [-5.68097269e-01 8.22552193e-01 2.59496152e-02 1.35387721e+02] [ 4.55806723e-02 -3.45137117e-05 9.98960660e-01 1.11970045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.72, Y:135.35, Z:111.97 [[ 8.21036544e-01 5.69644901e-01 -3.74657139e-02 4.33717077e+02] [-5.69053068e-01 8.21890921e-01 2.59599500e-02 1.35350883e+02] [ 4.55806833e-02 5.91178713e-06 9.98960661e-01 1.11972320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.77, Y:135.32, Z:111.97 [[ 8.20877646e-01 5.69874320e-01 -3.74586247e-02 4.33766970e+02] [-5.69282260e-01 8.21731866e-01 2.59701752e-02 1.35315157e+02] [ 4.55806815e-02 6.19425678e-06 9.98960661e-01 1.11970718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.250385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:433.82, Y:135.28, Z:111.97 [[ 8.22276400e-01 5.67854607e-01 -3.74521973e-02 4.33818151e+02] [-5.67260026e-01 8.23128867e-01 2.59794411e-02 1.35280747e+02] [ 4.55805300e-02 -1.17146868e-04 9.98960661e-01 1.11974164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:135.24, Z:111.98 [[ 8.23292840e-01 5.66380374e-01 -3.74455861e-02 4.33866247e+02] [-5.65783834e-01 8.24143936e-01 2.59889666e-02 1.35242152e+02] [ 4.55801934e-02 -2.10422865e-04 9.98960661e-01 1.11978441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.92, Y:135.21, Z:111.98 [[ 8.24274090e-01 5.64951787e-01 -3.74393339e-02 4.33916892e+02] [-5.64353362e-01 8.25123862e-01 2.59979703e-02 1.35205935e+02] [ 4.55796876e-02 -3.00439325e-04 9.98960661e-01 1.11980682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.97, Y:135.17, Z:111.98 [[ 8.25268186e-01 5.63499086e-01 -3.74326360e-02 4.33969515e+02] [-5.62898728e-01 8.26116594e-01 2.60076106e-02 1.35172332e+02] [ 4.55789865e-02 -3.92470401e-04 9.98960661e-01 1.11983063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.02, Y:135.14, Z:111.99 [[ 8.26429590e-01 5.61794858e-01 -3.74255414e-02 4.34022551e+02] [-5.61192288e-01 8.27276428e-01 2.60178159e-02 1.35137708e+02] [ 4.55779434e-02 -4.98967663e-04 9.98960661e-01 1.11985745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.07, Y:135.10, Z:111.99 [[ 8.27948816e-01 5.59553954e-01 -3.74183297e-02 4.34074214e+02] [-5.58948624e-01 8.28793683e-01 2.60281835e-02 1.35104386e+02] [ 4.55762483e-02 -6.35079797e-04 9.98960661e-01 1.11989202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.13, Y:135.07, Z:111.99 [[ 8.29102022e-01 5.57844250e-01 -3.74116271e-02 4.34126560e+02] [-5.57236744e-01 8.29945326e-01 2.60378139e-02 1.35069760e+02] [ 4.55746498e-02 -7.40870915e-04 9.98960661e-01 1.11993680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.18, Y:135.04, Z:112.00 [[ 8.28834596e-01 5.58241989e-01 -3.74044684e-02 4.34179345e+02] [-5.57634423e-01 8.29677857e-01 2.60480937e-02 1.35035928e+02] [ 4.55747988e-02 -7.31542066e-04 9.98960661e-01 1.11995417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.23, Y:135.00, Z:112.00 [[ 8.27131186e-01 5.60763265e-01 -3.73973484e-02 4.34232916e+02] [-5.60157808e-01 8.27975962e-01 2.60583119e-02 1.35004145e+02] [ 4.55766496e-02 -6.05225724e-04 9.98960661e-01 1.11996463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.29, Y:134.97, Z:112.00 [[ 8.26444558e-01 5.61775130e-01 -3.73911096e-02 4.34285716e+02] [-5.61170303e-01 8.27289785e-01 2.60672609e-02 1.34970757e+02] [ 4.55772219e-02 -5.60365679e-04 9.98960661e-01 1.12000019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.34, Y:134.93, Z:112.00 [[ 8.27542319e-01 5.60157246e-01 -3.73840793e-02 4.34337564e+02] [-5.59550311e-01 8.28386034e-01 2.60773394e-02 1.34934697e+02] [ 4.55758598e-02 -6.61828665e-04 9.98960661e-01 1.12004236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.39, Y:134.90, Z:112.01 [[ 8.26675370e-01 5.61436356e-01 -3.73771462e-02 4.34389373e+02] [-5.60830278e-01 8.27519700e-01 2.60872730e-02 1.34900911e+02] [ 4.55766683e-02 -6.03470812e-04 9.98960661e-01 1.12008441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.44, Y:134.87, Z:112.01 [[ 8.26559191e-01 5.61607785e-01 -3.73711092e-02 4.34444436e+02] [-5.61001490e-01 8.27403366e-01 2.60959184e-02 1.34869918e+02] [ 4.55766525e-02 -6.04573262e-04 9.98960662e-01 1.12012017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:434.49, Y:134.83, Z:112.01 [[ 8.22432729e-01 5.67634008e-01 -3.73635959e-02 4.34493982e+02] [-5.67033412e-01 8.23280968e-01 2.61066714e-02 1.34831937e+02] [ 4.55797719e-02 -2.84573762e-04 9.98960662e-01 1.12013842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.55, Y:134.80, Z:112.02 [[ 8.21696949e-01 5.68699047e-01 -3.73566310e-02 4.34549052e+02] [-5.68099097e-01 8.22545645e-01 2.61166338e-02 1.34801686e+02] [ 4.55800389e-02 -2.37689947e-04 9.98960662e-01 1.12016467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:434.60, Y:134.76, Z:112.02 [[ 8.17501822e-01 5.74713681e-01 -3.73491052e-02 4.34597268e+02] [-5.74119483e-01 8.18354555e-01 2.61273919e-02 1.34762420e+02] [ 4.55805800e-02 8.36584633e-05 9.98960662e-01 1.12017205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:434.65, Y:134.73, Z:112.02 [[ 8.18559134e-01 5.73207210e-01 -3.73421927e-02 4.34649429e+02] [-5.72610993e-01 8.19410455e-01 2.61372677e-02 1.34729243e+02] [ 4.55806535e-02 -1.23491696e-05 9.98960662e-01 1.12021053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.70, Y:134.69, Z:112.02 [[ 8.16446661e-01 5.76212556e-01 -3.73355229e-02 4.34697492e+02] [-5.75619036e-01 8.17299866e-01 2.61467917e-02 1.34690049e+02] [ 4.55804275e-02 1.43576978e-04 9.98960662e-01 1.12022386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.75, Y:134.65, Z:112.03 [[ 8.16222702e-01 5.76530209e-01 -3.73285238e-02 4.34748605e+02] [-5.75936565e-01 8.17075820e-01 2.61567801e-02 1.34652792e+02] [ 4.55804082e-02 1.49104049e-04 9.98960662e-01 1.12025522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.80, Y:134.62, Z:112.03 [[ 8.16129429e-01 5.76662705e-01 -3.73212963e-02 4.34800070e+02] [-5.76068728e-01 8.16982315e-01 2.61670886e-02 1.34616545e+02] [ 4.55804231e-02 1.43900573e-04 9.98960662e-01 1.12028738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.85, Y:134.58, Z:112.03 [[ 8.17477419e-01 5.74750660e-01 -3.73141767e-02 4.34851134e+02] [-5.74154225e-01 8.18328588e-01 2.61772371e-02 1.34580539e+02] [ 4.55806419e-02 2.47919594e-05 9.98960662e-01 1.12033993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.90, Y:134.54, Z:112.04 [[ 8.18501249e-01 5.73292189e-01 -3.73064598e-02 4.34901430e+02] [-5.72693736e-01 8.19351000e-01 2.61882302e-02 1.34543133e+02] [ 4.55805930e-02 -6.99232929e-05 9.98960662e-01 1.12038474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:434.95, Y:134.51, Z:112.04 [[ 8.19933298e-01 5.71242669e-01 -3.72987936e-02 4.34953507e+02] [-5.70641596e-01 8.20781198e-01 2.61991443e-02 1.34509989e+02] [ 4.55802176e-02 -1.97307710e-04 9.98960662e-01 1.12037869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.00, Y:134.47, Z:112.04 [[ 8.21307217e-01 5.69265941e-01 -3.72926759e-02 4.35004255e+02] [-5.68662432e-01 8.22153384e-01 2.62078496e-02 1.34473321e+02] [ 4.55795359e-02 -3.17752196e-04 9.98960662e-01 1.12040648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.690385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:435.05, Y:134.44, Z:112.04 [[ 8.21767861e-01 5.68601275e-01 -3.72850167e-02 4.35053630e+02] [-5.67996587e-01 8.22613187e-01 2.62187416e-02 1.34436445e+02] [ 4.55791563e-02 -3.67957041e-04 9.98960662e-01 1.12043798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.11, Y:134.40, Z:112.04 [[ 8.23873656e-01 5.65546243e-01 -3.72779548e-02 4.35107083e+02] [-5.64937967e-01 8.24716403e-01 2.62287784e-02 1.34402453e+02] [ 4.55773279e-02 -5.49467539e-04 9.98960663e-01 1.12044480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.16, Y:134.37, Z:112.05 [[ 8.25004932e-01 5.63895193e-01 -3.72702807e-02 4.35159652e+02] [-5.63284738e-01 8.25846101e-01 2.62396786e-02 1.34368464e+02] [ 4.55759446e-02 -6.54083963e-04 9.98960663e-01 1.12047192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.21, Y:134.33, Z:112.05 [[ 8.26629375e-01 5.61511419e-01 -3.72666372e-02 4.35211631e+02] [-5.60898305e-01 8.27468609e-01 2.62448522e-02 1.34332577e+02] [ 4.55737566e-02 -7.91972140e-04 9.98960663e-01 1.12050395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.26, Y:134.30, Z:112.06 [[ 8.28405332e-01 5.58888516e-01 -3.72590009e-02 4.35262466e+02] [-5.58272258e-01 8.29242260e-01 2.62556886e-02 1.34298505e+02] [ 4.55707410e-02 -9.49685876e-04 9.98960663e-01 1.12056141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:435.32, Y:134.27, Z:112.06 [[ 8.30919016e-01 5.55144693e-01 -3.72553149e-02 4.35316982e+02] [-5.54524431e-01 8.31752980e-01 2.62609180e-02 1.34266116e+02] [ 4.55658284e-02 -1.16171385e-03 9.98960663e-01 1.12059286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:435.37, Y:134.24, Z:112.06 [[ 8.31719287e-01 5.53945501e-01 -3.72479346e-02 4.35372366e+02] [-5.53323568e-01 8.32552006e-01 2.62713817e-02 1.34235467e+02] [ 4.55637564e-02 -1.24025478e-03 9.98960663e-01 1.12061285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:435.43, Y:134.21, Z:112.06 [[ 8.30078924e-01 5.56401058e-01 -3.72403271e-02 4.35428199e+02] [-5.55781106e-01 8.30913119e-01 2.62821611e-02 1.34205210e+02] [ 4.55668986e-02 -1.11879783e-03 9.98960663e-01 1.12062926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.170385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:435.48, Y:134.17, Z:112.07 [[ 8.27546614e-01 5.60160981e-01 -3.72327432e-02 4.35482027e+02] [-5.59544336e-01 8.28383256e-01 2.62929005e-02 1.34173783e+02] [ 4.55712380e-02 -9.25230196e-04 9.98960663e-01 1.12066018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.230385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:435.54, Y:134.14, Z:112.07 [[ 8.26465413e-01 5.61755407e-01 -3.72261213e-02 4.35535994e+02] [-5.61139954e-01 8.27302933e-01 2.63022727e-02 1.34141857e+02] [ 4.55727232e-02 -8.48854714e-04 9.98960663e-01 1.12071275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.290385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:435.59, Y:134.11, Z:112.07 [[ 8.28598533e-01 5.58604740e-01 -3.72184751e-02 4.35590282e+02] [-5.57985618e-01 8.29433344e-01 2.63130879e-02 1.34111719e+02] [ 4.55688598e-02 -1.03561218e-03 9.98960663e-01 1.12072254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.64, Y:134.08, Z:112.08 [[ 8.28688864e-01 5.58471191e-01 -3.72114833e-02 4.35643860e+02] [-5.57851491e-01 8.29523246e-01 2.63229719e-02 1.34081143e+02] [ 4.55684118e-02 -1.05507226e-03 9.98960663e-01 1.12075172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:435.70, Y:134.05, Z:112.08 [[ 8.29624013e-01 5.57081486e-01 -3.72050426e-02 4.35697823e+02] [-5.56459980e-01 8.30457050e-01 2.63320720e-02 1.34049482e+02] [ 4.55662997e-02 -1.14260202e-03 9.98960663e-01 1.12075914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.75, Y:134.02, Z:112.08 [[ 8.29055073e-01 5.57928281e-01 -3.71983741e-02 4.35750588e+02] [-5.57307204e-01 8.29888430e-01 2.63414889e-02 1.34016838e+02] [ 4.55671619e-02 -1.10762318e-03 9.98960663e-01 1.12080407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.80, Y:133.98, Z:112.08 [[ 8.28017949e-01 5.59466480e-01 -3.71959011e-02 4.35801685e+02] [-5.58846794e-01 8.28852341e-01 2.63449806e-02 1.33981913e+02] [ 4.55690432e-02 -1.02730668e-03 9.98960663e-01 1.12081190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.85, Y:133.95, Z:112.09 [[ 8.25935135e-01 5.62537298e-01 -3.71879006e-02 4.35853852e+02] [-5.61920207e-01 8.26771448e-01 2.63562690e-02 1.33947924e+02] [ 4.55722788e-02 -8.71935774e-04 9.98960663e-01 1.12089690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.650385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:435.91, Y:133.91, Z:112.09 [[ 8.24068277e-01 5.65268985e-01 -3.71813019e-02 4.35907506e+02] [-5.64654247e-01 8.24906321e-01 2.63655746e-02 1.33914749e+02] [ 4.55747326e-02 -7.32453574e-04 9.98960664e-01 1.12090814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.96, Y:133.88, Z:112.10 [[ 8.22466393e-01 5.67597668e-01 -3.71741788e-02 4.35959543e+02] [-5.66984849e-01 8.23305841e-01 2.63756141e-02 1.33879990e+02] [ 4.55764556e-02 -6.15860001e-04 9.98960664e-01 1.12095695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.01, Y:133.85, Z:112.10 [[ 8.24010345e-01 5.65354384e-01 -3.71668193e-02 4.36012012e+02] [-5.64738812e-01 8.24847776e-01 2.63859805e-02 1.33846517e+02] [ 4.55743980e-02 -7.52775457e-04 9.98960664e-01 1.12097376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:436.06, Y:133.81, Z:112.10 [[ 8.25593689e-01 5.63039986e-01 -3.71622734e-02 4.36064922e+02] [-5.62421779e-01 8.26429177e-01 2.63923815e-02 1.33811468e+02] [ 4.55719531e-02 -8.88511657e-04 9.98960664e-01 1.12099301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.890385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:436.12, Y:133.78, Z:112.10 [[ 8.26945548e-01 5.61052933e-01 -3.71573335e-02 4.36116266e+02] [-5.60432406e-01 8.27779314e-01 2.63993344e-02 1.33775594e+02] [ 4.55694961e-02 -1.00663821e-03 9.98960664e-01 1.12103945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.950385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:436.17, Y:133.74, Z:112.11 [[ 8.26164809e-01 5.62202439e-01 -3.71500415e-02 4.36168505e+02] [-5.61582612e-01 8.26999095e-01 2.64095920e-02 1.33741948e+02] [ 4.55705878e-02 -9.55858163e-04 9.98960664e-01 1.12105473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.22, Y:133.71, Z:112.11 [[ 8.25727029e-01 5.62845640e-01 -3.71437623e-02 4.36223070e+02] [-5.62226065e-01 8.26561503e-01 2.64184204e-02 1.33710960e+02] [ 4.55710968e-02 -9.31212472e-04 9.98960664e-01 1.12105712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.27, Y:133.68, Z:112.11 [[ 8.22895762e-01 5.66977427e-01 -3.71370858e-02 4.36272163e+02] [-5.66361619e-01 8.23733020e-01 2.64278024e-02 1.33675243e+02] [ 4.55750112e-02 -7.14306539e-04 9.98960664e-01 1.12112153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.32, Y:133.64, Z:112.11 [[ 8.22336268e-01 5.67789003e-01 -3.71309969e-02 4.36321706e+02] [-5.67173636e-01 8.23173849e-01 2.64363545e-02 1.33638718e+02] [ 4.55755370e-02 -6.79850539e-04 9.98960664e-01 1.12114783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.37, Y:133.60, Z:112.12 [[ 8.22532331e-01 5.67505355e-01 -3.71246051e-02 4.36373811e+02] [-5.66889294e-01 8.23369403e-01 2.64453276e-02 1.33603657e+02] [ 4.55751289e-02 -7.06595818e-04 9.98960664e-01 1.12118404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.43, Y:133.57, Z:112.12 [[ 8.22234929e-01 5.67936641e-01 -3.71172960e-02 4.36426226e+02] [-5.67320556e-01 8.23071983e-01 2.64555822e-02 1.33568360e+02] [ 4.55753009e-02 -6.95298736e-04 9.98960664e-01 1.12121000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.48, Y:133.53, Z:112.12 [[ 8.21425077e-01 5.69107806e-01 -3.71099498e-02 4.36475241e+02] [-5.68492449e-01 8.22262666e-01 2.64658830e-02 1.33532726e+02] [ 4.55760668e-02 -6.43013732e-04 9.98960664e-01 1.12123224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.370385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:436.53, Y:133.50, Z:112.13 [[ 8.20731220e-01 5.70108369e-01 -3.71040758e-02 4.36525233e+02] [-5.69493662e-01 8.21569285e-01 2.64741155e-02 1.33495852e+02] [ 4.55766838e-02 -5.97597084e-04 9.98960664e-01 1.12126269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.58, Y:133.46, Z:112.13 [[ 8.20181019e-01 5.70900056e-01 -3.70974535e-02 4.36575618e+02] [-5.70285739e-01 8.21019370e-01 2.64833920e-02 1.33458393e+02] [ 4.55770978e-02 -5.65026787e-04 9.98960664e-01 1.12131130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.63, Y:133.42, Z:112.13 [[ 8.19701923e-01 5.71588196e-01 -3.70903094e-02 4.36627163e+02] [-5.70974130e-01 8.20540458e-01 2.64933935e-02 1.33422604e+02] [ 4.55774105e-02 -5.39078518e-04 9.98960664e-01 1.12133272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.67, Y:133.38, Z:112.14 [[ 8.18570584e-01 5.73207686e-01 -3.70829914e-02 4.36674491e+02] [-5.72594814e-01 8.19409993e-01 2.65036326e-02 1.33382482e+02] [ 4.55782596e-02 -4.61565422e-04 9.98960665e-01 1.12139619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.72, Y:133.35, Z:112.14 [[ 8.18624754e-01 5.73130749e-01 -3.70763619e-02 4.36724945e+02] [-5.72517379e-01 8.19463798e-01 2.65129035e-02 1.33345181e+02] [ 4.55780966e-02 -4.77257527e-04 9.98960665e-01 1.12143213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.670385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:436.77, Y:133.31, Z:112.14 [[ 8.17692210e-01 5.74460926e-01 -3.70687703e-02 4.36774638e+02] [-5.73848440e-01 8.18531900e-01 2.65235133e-02 1.33307817e+02] [ 4.55786931e-02 -4.16214243e-04 9.98960665e-01 1.12144753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.730385723 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:436.82, Y:133.27, Z:112.15 [[ 8.17570379e-01 5.74634755e-01 -3.70617609e-02 4.36821674e+02] [-5.74022004e-01 8.18409875e-01 2.65333041e-02 1.33265362e+02] [ 4.55786698e-02 -4.18577226e-04 9.98960665e-01 1.12149891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.790385723 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:436.87, Y:133.23, Z:112.15 [[ 8.18304576e-01 5.73589218e-01 -3.70544064e-02 4.36872383e+02] [-5.72974929e-01 8.19142948e-01 2.65435709e-02 1.33228992e+02] [ 4.55779618e-02 -4.89479635e-04 9.98960665e-01 1.12152068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.850385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:436.92, Y:133.19, Z:112.15 [[ 8.18385929e-01 5.73473583e-01 -3.70475485e-02 4.36921568e+02] [-5.72858743e-01 8.19223896e-01 2.65531393e-02 1.33190691e+02] [ 4.55777609e-02 -5.07703501e-04 9.98960665e-01 1.12154565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.910385723 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:436.97, Y:133.15, Z:112.16 [[ 8.18816515e-01 5.72859026e-01 -3.70412105e-02 4.36969605e+02] [-5.72243157e-01 8.19653726e-01 2.65619777e-02 1.33150535e+02] [ 4.55772349e-02 -5.52806718e-04 9.98960665e-01 1.12158424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9703857229999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:437.02, Y:133.11, Z:112.16 [[ 8.18768374e-01 5.72928296e-01 -3.70340082e-02 4.37018997e+02] [-5.72312044e-01 8.19605303e-01 2.65720157e-02 1.33114063e+02] [ 4.55771292e-02 -5.61317171e-04 9.98960665e-01 1.12161526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.030385723 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:437.07, Y:133.08, Z:112.17 [[ 8.17603856e-01 5.74589341e-01 -3.70273444e-02 4.37067240e+02] [-5.73974368e-01 8.18441726e-01 2.65812983e-02 1.33075404e+02] [ 4.55780543e-02 -4.80225368e-04 9.98960665e-01 1.12165538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0903857229999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:437.12, Y:133.04, Z:112.17 [[ 8.16716050e-01 5.75850980e-01 -3.70208308e-02 4.37115301e+02] [-5.75236891e-01 8.17554568e-01 2.65903670e-02 1.33036420e+02] [ 4.55786382e-02 -4.21031904e-04 9.98960665e-01 1.12169202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.150385723 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:437.17, Y:133.00, Z:112.17 [[ 8.16974644e-01 5.75484321e-01 -3.70165742e-02 4.37166039e+02] [-5.74869587e-01 8.17812689e-01 2.65962912e-02 1.32999363e+02] [ 4.55783727e-02 -4.48792790e-04 9.98960665e-01 1.12172549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.210385723 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:437.21, Y:132.96, Z:112.18 [[ 8.17494857e-01 5.74745566e-01 -3.70093753e-02 4.37214445e+02] [-5.74129622e-01 8.18332012e-01 2.66063049e-02 1.32958856e+02] [ 4.55778123e-02 -5.02338728e-04 9.98960665e-01 1.12177043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.270385723 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:437.26, Y:132.92, Z:112.18 [[ 8.17824652e-01 5.74276676e-01 -3.70018716e-02 4.37262576e+02] [-5.73659779e-01 8.18661106e-01 2.66167363e-02 1.32918162e+02] [ 4.55773640e-02 -5.41337602e-04 9.98960665e-01 1.12181752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.330385723 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:437.31, Y:132.88, Z:112.18 [[ 8.16776993e-01 5.75766234e-01 -3.69944215e-02 4.37311206e+02] [-5.75150394e-01 8.17614226e-01 2.66270873e-02 1.32880980e+02] [ 4.55781430e-02 -4.71036187e-04 9.98960665e-01 1.12181359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.390385723 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:437.36, Y:132.84, Z:112.18 [[ 8.16067778e-01 5.76771389e-01 -3.69884616e-02 4.37360101e+02] [-5.76156205e-01 8.16905493e-01 2.66353638e-02 1.32841842e+02] [ 4.55785932e-02 -4.25130503e-04 9.98960665e-01 1.12183120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.450385723 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:437.41, Y:132.80, Z:112.19 [[ 8.16920970e-01 5.75562777e-01 -3.69813316e-02 4.37406775e+02] [-5.74945907e-01 8.17757442e-01 2.66452596e-02 1.32799958e+02] [ 4.55777787e-02 -5.04806090e-04 9.98960666e-01 1.12188520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.510385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:437.46, Y:132.76, Z:112.19 [[ 8.19442439e-01 5.71967592e-01 -3.69751668e-02 4.37456176e+02] [-5.71346666e-01 8.20275906e-01 2.66538116e-02 1.32760915e+02] [ 4.55749549e-02 -7.15626084e-04 9.98960666e-01 1.12189629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:437.50, Y:132.72, Z:112.19 [[ 8.20997949e-01 5.69733050e-01 -3.69678142e-02 4.37502802e+02] [-5.69109397e-01 8.21829377e-01 2.66640054e-02 1.32718501e+02] [ 4.55726009e-02 -8.52363276e-04 9.98960666e-01 1.12194443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.55, Y:132.68, Z:112.20 [[ 8.20809730e-01 5.70004660e-01 -3.69604412e-02 4.37551772e+02] [-5.69380822e-01 8.21641020e-01 2.66742216e-02 1.32682172e+02] [ 4.55726453e-02 -8.49894250e-04 9.98960666e-01 1.12195984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.690385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:437.60, Y:132.64, Z:112.20 [[ 8.20065691e-01 5.71074817e-01 -3.69569345e-02 4.37602028e+02] [-5.70451846e-01 8.20897630e-01 2.66790793e-02 1.32644605e+02] [ 4.55736103e-02 -7.96446145e-04 9.98960666e-01 1.12197034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.750385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:437.65, Y:132.60, Z:112.20 [[ 8.18938521e-01 5.72690509e-01 -3.69496945e-02 4.37649203e+02] [-5.72068727e-01 8.19771348e-01 2.66891027e-02 1.32602826e+02] [ 4.55748967e-02 -7.18969593e-04 9.98960666e-01 1.12200641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.70, Y:132.57, Z:112.20 [[ 8.19113804e-01 5.72440249e-01 -3.69423437e-02 4.37699007e+02] [-5.71817754e-01 8.19946099e-01 2.66992737e-02 1.32567028e+02] [ 4.55744695e-02 -7.45455678e-04 9.98960666e-01 1.12202883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.75, Y:132.53, Z:112.20 [[ 8.18568190e-01 5.73220413e-01 -3.69388351e-02 4.37747860e+02] [-5.72598491e-01 8.19400914e-01 2.67041270e-02 1.32528289e+02] [ 4.55750659e-02 -7.08027618e-04 9.98960666e-01 1.12204095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.80, Y:132.49, Z:112.21 [[ 8.17801838e-01 5.74313499e-01 -3.69345182e-02 4.37795752e+02] [-5.73692421e-01 8.18635192e-01 2.67100964e-02 1.32488086e+02] [ 4.55758653e-02 -6.54512766e-04 9.98960666e-01 1.12207915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.990385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:437.85, Y:132.45, Z:112.21 [[ 8.17193447e-01 5.75179301e-01 -3.69275304e-02 4.37846114e+02] [-5.74558670e-01 8.18027133e-01 2.67197537e-02 1.32450455e+02] [ 4.55763711e-02 -6.18174831e-04 9.98960666e-01 1.12210528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.050385723 meters Centerline goodness : 0.994817 with order 1 Centerline is valid? [True, True] Translation: X:437.90, Y:132.41, Z:112.21 [[ 8.17003495e-01 5.75449562e-01 -3.69200713e-02 4.37896407e+02] [-5.74828741e-01 8.17837039e-01 2.67300563e-02 1.32412568e+02] [ 4.55764010e-02 -6.15831266e-04 9.98960666e-01 1.12206687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.110385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:438.36, Y:133.08, Z:113.17 [[ 8.42272119e-01 5.37787028e-01 -3.69159965e-02 4.38359109e+02] [-5.37128781e-01 8.43076435e-01 2.67356828e-02 1.33075178e+02] [ 4.55011101e-02 -2.69007601e-03 9.98960666e-01 1.13167426e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 635.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.40, Y:133.04, Z:113.18 [[ 8.39103294e-01 5.42648609e-01 -3.79229380e-02 4.38404920e+02] [-5.42062489e-01 8.39959594e-01 2.52218041e-02 1.33035412e+02] [ 4.55403125e-02 -6.07096768e-04 9.98962317e-01 1.13177943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.46, Y:133.00, Z:113.17 [[ 8.43189312e-01 5.36278007e-01 -3.79167917e-02 4.38460151e+02] [-5.35685003e-01 8.44040859e-01 2.52310406e-02 1.33004391e+02] [ 4.55341736e-02 -9.63087079e-04 9.98962317e-01 1.13168822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:438.51, Y:132.97, Z:113.17 [[ 8.43475193e-01 5.35828431e-01 -3.79142674e-02 4.38509578e+02] [-5.35234803e-01 8.44326305e-01 2.52348333e-02 1.32965886e+02] [ 4.55335544e-02 -9.91920473e-04 9.98962317e-01 1.13172308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:438.56, Y:132.93, Z:113.18 [[ 8.42350003e-01 5.37596089e-01 -3.79066956e-02 4.38556942e+02] [-5.37003736e-01 8.43202003e-01 2.52462022e-02 1.32927112e+02] [ 4.55352612e-02 -9.10101376e-04 9.98962317e-01 1.13176016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:438.60, Y:132.89, Z:113.19 [[ 8.39789756e-01 5.41587211e-01 -3.79006341e-02 4.38604074e+02] [-5.40998497e-01 8.40644274e-01 2.52552986e-02 1.32886010e+02] [ 4.55388978e-02 -7.04954986e-04 9.98962318e-01 1.13188116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.66, Y:132.85, Z:113.19 [[ 8.38082683e-01 5.44225591e-01 -3.78935794e-02 4.38655064e+02] [-5.43639089e-01 8.38938720e-01 2.52658793e-02 1.32848415e+02] [ 4.55407291e-02 -5.74464882e-04 9.98962318e-01 1.13186171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.70, Y:132.81, Z:113.19 [[ 8.36463729e-01 5.46711136e-01 -3.78862120e-02 4.38704704e+02] [-5.46126677e-01 8.37321163e-01 2.52769218e-02 1.32810700e+02] [ 4.55421018e-02 -4.52557184e-04 9.98962318e-01 1.13191698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.75, Y:132.77, Z:113.20 [[ 8.36242005e-01 5.47050739e-01 -3.78787241e-02 4.38754017e+02] [-5.46466121e-01 8.37099330e-01 2.52881379e-02 1.32773525e+02] [ 4.55421491e-02 -4.47563757e-04 9.98962318e-01 1.13195807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.650385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:438.80, Y:132.73, Z:113.20 [[ 8.38332029e-01 5.43842772e-01 -3.78741190e-02 4.38803746e+02] [-5.43254562e-01 8.39186894e-01 2.52950332e-02 1.32734275e+02] [ 4.55399852e-02 -6.30348561e-04 9.98962318e-01 1.13201739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.85, Y:132.70, Z:113.20 [[ 8.39640898e-01 5.41820348e-01 -3.78665232e-02 4.38853326e+02] [-5.41229567e-01 8.40493987e-01 2.53063989e-02 1.32697723e+02] [ 4.55381069e-02 -7.53805583e-04 9.98962318e-01 1.13203191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.91, Y:132.67, Z:113.20 [[ 8.39889422e-01 5.41435348e-01 -3.78618825e-02 4.38906271e+02] [-5.40843863e-01 8.40742024e-01 2.53133402e-02 1.32665829e+02] [ 4.55376128e-02 -7.83039838e-04 9.98962318e-01 1.13202410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.830385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:438.96, Y:132.63, Z:113.21 [[ 8.39210216e-01 5.42487928e-01 -3.78558034e-02 4.38959150e+02] [-5.41897103e-01 8.40063274e-01 2.53224281e-02 1.32631199e+02] [ 4.55383817e-02 -7.36890185e-04 9.98962318e-01 1.13205129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.01, Y:132.60, Z:113.21 [[ 8.39646822e-01 5.41812401e-01 -3.78488759e-02 4.39010960e+02] [-5.41220423e-01 8.40499081e-01 2.53327782e-02 1.32596768e+02] [ 4.55375588e-02 -7.86002083e-04 9.98962318e-01 1.13208156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.950385723 meters Centerline goodness : 0.998426 with order 1 Centerline is valid? [True, True] Translation: X:439.06, Y:132.56, Z:113.21 [[ 8.40445528e-01 5.40573060e-01 -3.78428552e-02 4.39064570e+02] [-5.39979420e-01 8.41296631e-01 2.53417689e-02 1.32563582e+02] [ 4.55361442e-02 -8.64013339e-04 9.98962318e-01 1.13208848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.010385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:439.12, Y:132.53, Z:113.21 [[ 8.42922396e-01 5.36702916e-01 -3.78393279e-02 4.39118439e+02] [-5.36105133e-01 8.43770594e-01 2.53470347e-02 1.32533196e+02] [ 4.55315396e-02 -1.07972536e-03 9.98962318e-01 1.13214113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.17, Y:132.50, Z:113.22 [[ 8.42727210e-01 5.37009888e-01 -3.78316107e-02 4.39170678e+02] [-5.36411897e-01 8.43575261e-01 2.53585477e-02 1.32500834e+02] [ 4.55316017e-02 -1.07701206e-03 9.98962318e-01 1.13216772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.22, Y:132.47, Z:113.22 [[ 8.40883559e-01 5.39892539e-01 -3.78270685e-02 4.39224891e+02] [-5.39297151e-01 8.41733439e-01 2.53653214e-02 1.32468947e+02] [ 4.55348563e-02 -9.29251452e-04 9.98962318e-01 1.13218170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.28, Y:132.44, Z:113.22 [[ 8.38365400e-01 5.43795113e-01 -3.78197104e-02 4.39278672e+02] [-5.43203188e-01 8.39217696e-01 2.53762877e-02 1.32435942e+02] [ 4.55384714e-02 -7.30814358e-04 9.98962318e-01 1.13220746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.33, Y:132.40, Z:113.22 [[ 8.37326873e-01 5.45393376e-01 -3.78123416e-02 4.39331944e+02] [-5.44802582e-01 8.38179953e-01 2.53872630e-02 1.32402054e+02] [ 4.55395917e-02 -6.57176199e-04 9.98962318e-01 1.13223576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:439.38, Y:132.37, Z:113.23 [[ 8.37672147e-01 5.44863430e-01 -3.78049771e-02 4.39383813e+02] [-5.44271602e-01 8.38524510e-01 2.53982250e-02 1.32366636e+02] [ 4.55389638e-02 -6.99210231e-04 9.98962319e-01 1.13229210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.43, Y:132.33, Z:113.23 [[ 8.36632356e-01 5.46459179e-01 -3.77977126e-02 4.39430964e+02] [-5.45868488e-01 8.37485507e-01 2.54090314e-02 1.32328106e+02] [ 4.55400349e-02 -6.25437601e-04 9.98962319e-01 1.13233924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:439.48, Y:132.30, Z:113.23 [[ 8.36291345e-01 5.46981315e-01 -3.77919042e-02 4.39482947e+02] [-5.46390767e-01 8.37144595e-01 2.54176675e-02 1.32295141e+02] [ 4.55402775e-02 -6.07427765e-04 9.98962319e-01 1.13234735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.54, Y:132.26, Z:113.23 [[ 8.36774783e-01 5.46241916e-01 -3.77853299e-02 4.39535683e+02] [-5.45650173e-01 8.37627205e-01 2.54274369e-02 1.32262694e+02] [ 4.55395522e-02 -6.59466233e-04 9.98962319e-01 1.13233379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.58, Y:132.22, Z:113.24 [[ 8.34317772e-01 5.49987821e-01 -3.77789767e-02 4.39583585e+02] [-5.49399478e-01 8.35172544e-01 2.54368728e-02 1.32224072e+02] [ 4.55419343e-02 -4.66684919e-04 9.98962319e-01 1.13239765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.64, Y:132.19, Z:113.24 [[ 8.34374959e-01 5.49901490e-01 -3.77727192e-02 4.39636137e+02] [-5.49312639e-01 8.35229380e-01 2.54461616e-02 1.32189158e+02] [ 4.55417670e-02 -4.82608023e-04 9.98962319e-01 1.13242001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:439.69, Y:132.15, Z:113.25 [[ 8.34449614e-01 5.49788665e-01 -3.77659263e-02 4.39685518e+02] [-5.49199241e-01 8.35303641e-01 2.54562393e-02 1.32153896e+02] [ 4.55415675e-02 -5.00930978e-04 9.98962319e-01 1.13245186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.74, Y:132.12, Z:113.25 [[ 8.34534367e-01 5.49660237e-01 -3.77626088e-02 4.39738771e+02] [-5.49070459e-01 8.35388149e-01 2.54611595e-02 1.32120052e+02] [ 4.55414229e-02 -5.13879683e-04 9.98962319e-01 1.13247729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:439.79, Y:132.09, Z:113.25 [[ 8.36363903e-01 5.46872853e-01 -3.77558362e-02 4.39791971e+02] [-5.46279778e-01 8.37215398e-01 2.54711985e-02 1.32088672e+02] [ 4.55392745e-02 -6.77941186e-04 9.98962319e-01 1.13248709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.84, Y:132.05, Z:113.25 [[ 8.34867678e-01 5.49154725e-01 -3.77498116e-02 4.39839946e+02] [-5.48563573e-01 8.35720509e-01 2.54801243e-02 1.32050042e+02] [ 4.55408224e-02 -5.64360675e-04 9.98962319e-01 1.13254521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.910385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:439.89, Y:132.02, Z:113.25 [[ 8.37292380e-01 5.45451099e-01 -3.77434596e-02 4.39894641e+02] [-5.44855751e-01 8.38142288e-01 2.54895299e-02 1.32019095e+02] [ 4.55376817e-02 -7.77448156e-04 9.98962319e-01 1.13252169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:439.94, Y:131.98, Z:113.26 [[ 8.35363777e-01 5.48400656e-01 -3.77369895e-02 4.39941341e+02] [-5.47807877e-01 8.36215478e-01 2.54991052e-02 1.31980139e+02] [ 4.55399808e-02 -6.28408748e-04 9.98962319e-01 1.13259788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.99, Y:131.94, Z:113.26 [[ 8.36508407e-01 5.46653500e-01 -3.77310998e-02 4.39992583e+02] [-5.46058550e-01 8.37358592e-01 2.55078173e-02 1.31944982e+02] [ 4.55383982e-02 -7.34113926e-04 9.98962319e-01 1.13261410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.04, Y:131.91, Z:113.27 [[ 8.36866846e-01 5.46104917e-01 -3.77266702e-02 4.40044414e+02] [-5.45509114e-01 8.37716434e-01 2.55143671e-02 1.31909821e+02] [ 4.55377730e-02 -7.71885523e-04 9.98962319e-01 1.13265691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.09, Y:131.88, Z:113.27 [[ 8.36933254e-01 5.46003616e-01 -3.77197518e-02 4.40094669e+02] [-5.45407250e-01 8.37782446e-01 2.55245910e-02 1.31875892e+02] [ 4.55374649e-02 -7.89752920e-04 9.98962319e-01 1.13269408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.15, Y:131.84, Z:113.27 [[ 8.36232875e-01 5.47076060e-01 -3.77142224e-02 4.40146706e+02] [-5.46480415e-01 8.37082573e-01 2.55327584e-02 1.31842572e+02] [ 4.55382792e-02 -7.41248020e-04 9.98962319e-01 1.13274141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.20, Y:131.81, Z:113.27 [[ 8.36992969e-01 5.45912873e-01 -3.77081608e-02 4.40200729e+02] [-5.45315643e-01 8.37841554e-01 2.55417074e-02 1.31812260e+02] [ 4.55370109e-02 -8.15379542e-04 9.98962320e-01 1.13272780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.25, Y:131.78, Z:113.28 [[ 8.32410260e-01 5.52875853e-01 -3.77021208e-02 4.40249609e+02] [-5.52285320e-01 8.33263519e-01 2.55506200e-02 1.31775781e+02] [ 4.55421226e-02 -4.46270417e-04 9.98962320e-01 1.13278304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.30, Y:131.74, Z:113.28 [[ 8.29645034e-01 5.57017005e-01 -3.76984603e-02 4.40302641e+02] [-5.56430485e-01 8.30501057e-01 2.55560197e-02 1.31742270e+02] [ 4.55437486e-02 -2.25852260e-04 9.98962320e-01 1.13278610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.36, Y:131.71, Z:113.28 [[ 8.30633388e-01 5.55542221e-01 -3.76963609e-02 4.40356900e+02] [-5.54954041e-01 8.31488271e-01 2.55591159e-02 1.31711704e+02] [ 4.55432500e-02 -3.10507249e-04 9.98962320e-01 1.13275656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.40, Y:131.67, Z:113.28 [[ 8.29478961e-01 5.57264586e-01 -3.76939637e-02 4.40404489e+02] [-5.56678020e-01 8.30334952e-01 2.55626508e-02 1.31674069e+02] [ 4.55437756e-02 -2.20279912e-04 9.98962320e-01 1.13284613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.45, Y:131.64, Z:113.29 [[ 8.30960625e-01 5.55053218e-01 -3.76877372e-02 4.40454940e+02] [-5.54463958e-01 8.31814764e-01 2.55718274e-02 1.31640279e+02] [ 4.55429413e-02 -3.52689766e-04 9.98962320e-01 1.13289295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.51, Y:131.61, Z:113.29 [[ 8.31955151e-01 5.53561810e-01 -3.76822128e-02 4.40507213e+02] [-5.52970650e-01 8.32807976e-01 2.55799656e-02 1.31605639e+02] [ 4.55421394e-02 -4.44226422e-04 9.98962320e-01 1.13291690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.56, Y:131.57, Z:113.30 [[ 8.31717177e-01 5.53919750e-01 -3.76755553e-02 4.40559790e+02] [-5.53328514e-01 8.32569949e-01 2.55897673e-02 1.31572202e+02] [ 4.55422127e-02 -4.36489995e-04 9.98962320e-01 1.13297922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.61, Y:131.54, Z:113.29 [[ 8.33349026e-01 5.51462077e-01 -3.76693366e-02 4.40614588e+02] [-5.50867912e-01 8.34199759e-01 2.55989183e-02 1.31541931e+02] [ 4.55405842e-02 -5.82004793e-04 9.98962320e-01 1.13294195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.67, Y:131.51, Z:113.30 [[ 8.31771961e-01 5.53838362e-01 -3.76626316e-02 4.40665613e+02] [-5.53246181e-01 8.32624077e-01 2.56087793e-02 1.31508620e+02] [ 4.55419382e-02 -4.63957495e-04 9.98962320e-01 1.13297105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.72, Y:131.48, Z:113.30 [[ 8.31283894e-01 5.54571136e-01 -3.76555835e-02 4.40718311e+02] [-5.53979237e-01 8.32136206e-01 2.56191388e-02 1.31477153e+02] [ 4.55422092e-02 -4.36366074e-04 9.98962320e-01 1.13302245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.77, Y:131.44, Z:113.31 [[ 8.32993823e-01 5.51999849e-01 -3.76491214e-02 4.40771636e+02] [-5.51404891e-01 8.33844002e-01 2.56286317e-02 1.31443223e+02] [ 4.55404949e-02 -5.88582242e-04 9.98962320e-01 1.13305881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.83, Y:131.41, Z:113.31 [[ 8.35833155e-01 5.47691521e-01 -3.76421859e-02 4.40825737e+02] [-5.47091722e-01 8.36679926e-01 2.56388142e-02 1.31411775e+02] [ 4.55366225e-02 -8.36042615e-04 9.98962320e-01 1.13307128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.88, Y:131.38, Z:113.31 [[ 8.35614559e-01 5.48025220e-01 -3.76386550e-02 4.40879574e+02] [-5.47425525e-01 8.36461403e-01 2.56439966e-02 1.31380265e+02] [ 4.55368391e-02 -8.24136372e-04 9.98962320e-01 1.13313930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.93, Y:131.35, Z:113.32 [[ 8.34303790e-01 5.50019200e-01 -3.76306567e-02 4.40931264e+02] [-5.49421001e-01 8.35151692e-01 2.56557283e-02 1.31345673e+02] [ 4.55384497e-02 -7.29598309e-04 9.98962320e-01 1.13317720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.98, Y:131.31, Z:113.32 [[ 8.32304690e-01 5.53040177e-01 -3.76226827e-02 4.40984791e+02] [-5.52444528e-01 8.33154384e-01 2.56674164e-02 1.31313864e+02] [ 4.55406155e-02 -5.78665848e-04 9.98962320e-01 1.13320194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.04, Y:131.29, Z:113.32 [[ 8.31426025e-01 5.54360432e-01 -3.76201597e-02 4.41042154e+02] [-5.53765964e-01 8.32276547e-01 2.56711136e-02 1.31288863e+02] [ 4.55414263e-02 -5.10867937e-04 9.98962320e-01 1.13321599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.10, Y:131.26, Z:113.32 [[ 8.30933873e-01 5.55098294e-01 -3.76136070e-02 4.41096311e+02] [-5.54504147e-01 8.31784619e-01 2.56807113e-02 1.31259296e+02] [ 4.55417387e-02 -4.82071819e-04 9.98962320e-01 1.13324694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.15, Y:131.23, Z:113.33 [[ 8.31696896e-01 5.53954798e-01 -3.76079072e-02 4.41151841e+02] [-5.53359104e-01 8.32546560e-01 2.56890555e-02 1.31230094e+02] [ 4.55409093e-02 -5.54829900e-04 9.98962320e-01 1.13328306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.410385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:441.21, Y:131.20, Z:113.33 [[ 8.32588160e-01 5.52614783e-01 -3.76012960e-02 4.41207687e+02] [-5.52017285e-01 8.33436556e-01 2.56987287e-02 1.31201428e+02] [ 4.55397920e-02 -6.39891955e-04 9.98962321e-01 1.13331172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.26, Y:131.17, Z:113.34 [[ 8.32599516e-01 5.52598116e-01 -3.75947876e-02 4.41261588e+02] [-5.52000172e-01 8.33447597e-01 2.57082465e-02 1.31169544e+02] [ 4.55396139e-02 -6.52344363e-04 9.98962321e-01 1.13335018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.32, Y:131.14, Z:113.34 [[ 8.32071633e-01 5.53393150e-01 -3.75874897e-02 4.41316783e+02] [-5.52795535e-01 8.32919945e-01 2.57189121e-02 1.31140301e+02] [ 4.55400396e-02 -6.21780686e-04 9.98962321e-01 1.13336946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5903857229999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:441.37, Y:131.11, Z:113.34 [[ 8.31015236e-01 5.54978706e-01 -3.75807593e-02 4.41371967e+02] [-5.54382265e-01 8.31864374e-01 2.57287428e-02 1.31110209e+02] [ 4.55409992e-02 -5.46870784e-04 9.98962321e-01 1.13339380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.43, Y:131.08, Z:113.34 [[ 8.31810327e-01 5.53786780e-01 -3.75736897e-02 4.41426365e+02] [-5.53188655e-01 8.32658281e-01 2.57390630e-02 1.31080492e+02] [ 4.55399967e-02 -6.24679483e-04 9.98962321e-01 1.13338792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.710385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:441.48, Y:131.05, Z:113.35 [[ 8.30210463e-01 5.56182802e-01 -3.75669815e-02 4.41477111e+02] [-5.55586682e-01 8.31059827e-01 2.57488501e-02 1.31046713e+02] [ 4.55414768e-02 -5.05250156e-04 9.98962321e-01 1.13346733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.770385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:441.53, Y:131.02, Z:113.35 [[ 8.27930251e-01 5.59571881e-01 -3.75607467e-02 4.41532236e+02] [-5.58978825e-01 8.28781757e-01 2.57579418e-02 1.31015143e+02] [ 4.55430816e-02 -3.30117156e-04 9.98962321e-01 1.13349375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.59, Y:130.98, Z:113.35 [[ 8.24207127e-01 5.65041899e-01 -3.75534926e-02 4.41585229e+02] [-5.64454013e-01 8.25062210e-01 2.57685135e-02 1.30983167e+02] [ 4.55442574e-02 -4.13728573e-05 9.98962321e-01 1.13351703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.64, Y:130.95, Z:113.35 [[ 8.22287510e-01 5.67832272e-01 -3.75467866e-02 4.41638749e+02] [-5.67246842e-01 8.23144277e-01 2.57782811e-02 1.30951552e+02] [ 4.55441624e-02 1.01137523e-04 9.98962321e-01 1.13350525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.69, Y:130.92, Z:113.36 [[ 8.19134513e-01 5.72371718e-01 -3.75402083e-02 4.41688325e+02] [-5.71790596e-01 8.19994208e-01 2.57878572e-02 1.30916998e+02] [ 4.55429935e-02 3.41414236e-04 9.98962321e-01 1.13357187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.74, Y:130.88, Z:113.36 [[ 8.19651644e-01 5.71631320e-01 -3.75341993e-02 4.41740368e+02] [-5.71049022e-01 8.20510542e-01 2.57966004e-02 1.30883417e+02] [ 4.55433510e-02 2.89641860e-04 9.98962321e-01 1.13355539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.79, Y:130.85, Z:113.36 [[ 8.16543632e-01 5.76062651e-01 -3.75275857e-02 4.41787903e+02] [-5.75484571e-01 8.17405375e-01 2.58062179e-02 1.30845156e+02] [ 4.55412486e-02 5.24643692e-04 9.98962321e-01 1.13361834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.84, Y:130.81, Z:113.36 [[ 8.16220507e-01 5.76520787e-01 -3.75215419e-02 4.41837717e+02] [-5.75942787e-01 8.17082304e-01 2.58150025e-02 1.30807478e+02] [ 4.55410735e-02 5.39527024e-04 9.98962321e-01 1.13364903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.89, Y:130.77, Z:113.37 [[ 8.16960500e-01 5.75472102e-01 -3.75153465e-02 4.41886549e+02] [-5.74892583e-01 8.17821276e-01 2.58240028e-02 1.30769098e+02] [ 4.55418417e-02 4.70104214e-04 9.98962321e-01 1.13368460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.250385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:441.93, Y:130.73, Z:113.37 [[ 8.19189095e-01 5.72295655e-01 -3.75087994e-02 4.41934723e+02] [-5.71712363e-01 8.20047318e-01 2.58335088e-02 1.30729965e+02] [ 4.55433952e-02 2.81715601e-04 9.98962322e-01 1.13365976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.310385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:441.98, Y:130.69, Z:113.37 [[ 8.20776963e-01 5.70016510e-01 -3.75014124e-02 4.41981718e+02] [-5.69430344e-01 8.21633226e-01 2.58442278e-02 1.30690287e+02] [ 4.55440430e-02 1.42095379e-04 9.98962322e-01 1.13374542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.03, Y:130.65, Z:113.38 [[ 8.21398301e-01 5.69121243e-01 -3.74945480e-02 4.42029704e+02] [-5.68533690e-01 8.22253613e-01 2.58541828e-02 1.30650808e+02] [ 4.55441922e-02 8.03319351e-05 9.98962322e-01 1.13376492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.08, Y:130.61, Z:113.38 [[ 8.20714937e-01 5.70106700e-01 -3.74878958e-02 4.42079914e+02] [-5.69519734e-01 8.21570652e-01 2.58638246e-02 1.30612250e+02] [ 4.55440947e-02 1.23269261e-04 9.98962322e-01 1.13379546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.13, Y:130.57, Z:113.38 [[ 8.18582276e-01 5.73165122e-01 -3.74806730e-02 4.42128034e+02] [-5.72580874e-01 8.19439848e-01 2.58742874e-02 1.30571255e+02] [ 4.55433961e-02 2.80483434e-04 9.98962322e-01 1.13381957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.18, Y:130.53, Z:113.38 [[ 8.16885682e-01 5.75581024e-01 -3.74735592e-02 4.42175046e+02] [-5.74998840e-01 8.17744656e-01 2.58845861e-02 1.30530044e+02] [ 4.55424794e-02 4.02505287e-04 9.98962322e-01 1.13381710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:442.22, Y:130.49, Z:113.39 [[ 8.15184189e-01 5.77988536e-01 -3.74698594e-02 4.42224046e+02] [-5.77408642e-01 8.16044712e-01 2.58899407e-02 1.30492108e+02] [ 4.55411696e-02 5.30350296e-04 9.98962322e-01 1.13387041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.27, Y:130.45, Z:113.39 [[ 8.13501591e-01 5.80354800e-01 -3.74628925e-02 4.42272535e+02] [-5.79776945e-01 8.14363483e-01 2.59000180e-02 1.30451318e+02] [ 4.55396114e-02 6.50415534e-04 9.98962322e-01 1.13391291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.32, Y:130.41, Z:113.39 [[ 8.12342920e-01 5.81975994e-01 -3.74556173e-02 4.42319485e+02] [-5.81399374e-01 8.13205640e-01 2.59105349e-02 1.30409932e+02] [ 4.55384285e-02 7.28432828e-04 9.98962322e-01 1.13394922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.37, Y:130.37, Z:113.40 [[ 8.11793679e-01 5.82742169e-01 -3.74511355e-02 4.42368784e+02] [-5.82166065e-01 8.12656743e-01 2.59170112e-02 1.30370578e+02] [ 4.55378531e-02 7.63514338e-04 9.98962322e-01 1.13396988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.42, Y:130.33, Z:113.40 [[ 8.11944853e-01 5.82531973e-01 -3.74440472e-02 4.42417711e+02] [-5.81955173e-01 8.12807452e-01 2.59272482e-02 1.30331455e+02] [ 4.55382516e-02 7.39261288e-04 9.98962322e-01 1.13400839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.47, Y:130.29, Z:113.40 [[ 8.12879124e-01 5.81228030e-01 -3.74367053e-02 4.42465167e+02] [-5.80649359e-01 8.13740468e-01 2.59378449e-02 1.30289966e+02] [ 4.55395646e-02 6.53266266e-04 9.98962322e-01 1.13404161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.51, Y:130.25, Z:113.40 [[ 8.13846196e-01 5.79873610e-01 -3.74294758e-02 4.42513815e+02] [-5.79293025e-01 8.14706253e-01 2.59482733e-02 1.30250768e+02] [ 4.55407468e-02 5.64730738e-04 9.98962322e-01 1.13404714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:442.56, Y:130.21, Z:113.41 [[ 8.14819652e-01 5.78505349e-01 -3.74231977e-02 4.42563340e+02] [-5.77922905e-01 8.15678450e-01 2.59573245e-02 1.30212252e+02] [ 4.55417469e-02 4.77185038e-04 9.98962322e-01 1.13406086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:442.61, Y:130.17, Z:113.41 [[ 8.18027915e-01 5.73959933e-01 -3.74209409e-02 4.42610639e+02] [-5.73372567e-01 8.18883354e-01 2.59605776e-02 1.30171381e+02] [ 4.55437169e-02 2.19663783e-04 9.98962322e-01 1.13406412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.66, Y:130.13, Z:113.41 [[ 8.20903040e-01 5.69840458e-01 -3.74172486e-02 4.42657478e+02] [-5.69248558e-01 8.21755348e-01 2.59658982e-02 1.30130822e+02] [ 4.55442435e-02 -1.57699457e-05 9.98962322e-01 1.13414017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.70, Y:130.09, Z:113.42 [[ 8.23187151e-01 5.66536312e-01 -3.74101870e-02 4.42704682e+02] [-5.65940528e-01 8.24036748e-01 2.59760681e-02 1.30091105e+02] [ 4.55437547e-02 -2.11224476e-04 9.98962323e-01 1.13416778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.75, Y:130.05, Z:113.42 [[ 8.23799872e-01 5.65645427e-01 -3.74034860e-02 4.42753154e+02] [-5.65048287e-01 8.24648517e-01 2.59857135e-02 1.30051821e+02] [ 4.55434293e-02 -2.72251788e-04 9.98962323e-01 1.13419854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.80, Y:130.01, Z:113.42 [[ 8.23663020e-01 5.65844848e-01 -3.74010277e-02 4.42801368e+02] [-5.65247752e-01 8.24511696e-01 2.59892513e-02 1.30014406e+02] [ 4.55434687e-02 -2.65538373e-04 9.98962323e-01 1.13423092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.85, Y:129.98, Z:113.43 [[ 8.23213774e-01 5.66498653e-01 -3.73946425e-02 4.42851224e+02] [-5.65901814e-01 8.24062630e-01 2.59984353e-02 1.29976148e+02] [ 4.55436061e-02 -2.40574018e-04 9.98962323e-01 1.13425841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.90, Y:129.94, Z:113.43 [[ 8.22928012e-01 5.66914156e-01 -3.73875175e-02 4.42899779e+02] [-5.66317281e-01 8.23776843e-01 2.60086775e-02 1.29937330e+02] [ 4.55436586e-02 -2.30072025e-04 9.98962323e-01 1.13428527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.510385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:442.95, Y:129.90, Z:113.44 [[ 8.22622500e-01 5.67357668e-01 -3.73831514e-02 4.42947872e+02] [-5.66760965e-01 8.23471451e-01 2.60149516e-02 1.29898628e+02] [ 4.55437402e-02 -2.13173561e-04 9.98962323e-01 1.13436412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.570385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:443.00, Y:129.86, Z:113.44 [[ 8.22125081e-01 5.68078627e-01 -3.73768000e-02 4.42998744e+02] [-5.67482253e-01 8.22974264e-01 2.60240738e-02 1.29862611e+02] [ 4.55438645e-02 -1.84373056e-04 9.98962323e-01 1.13438937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.630385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:443.05, Y:129.83, Z:113.44 [[ 8.21210681e-01 5.69400117e-01 -3.73700954e-02 4.43051562e+02] [-5.68804672e-01 8.22060516e-01 2.60336979e-02 1.29828681e+02] [ 4.55440705e-02 -1.22865924e-04 9.98962323e-01 1.13440765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.690385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:443.10, Y:129.79, Z:113.45 [[ 8.21464289e-01 5.69034649e-01 -3.73629489e-02 4.43102585e+02] [-5.68438360e-01 8.22313531e-01 2.60439503e-02 1.29792070e+02] [ 4.55439686e-02 -1.55641770e-04 9.98962323e-01 1.13445082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.16, Y:129.76, Z:113.45 [[ 8.22147153e-01 5.68048067e-01 -3.73557679e-02 4.43155298e+02] [-5.67450290e-01 8.22995349e-01 2.60542462e-02 1.29758102e+02] [ 4.55436874e-02 -2.22882954e-04 9.98962323e-01 1.13447424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.21, Y:129.73, Z:113.45 [[ 8.22197740e-01 5.67975327e-01 -3.73484216e-02 4.43208796e+02] [-5.67376997e-01 8.23045546e-01 2.60647727e-02 1.29725362e+02] [ 4.55435999e-02 -2.39761885e-04 9.98962323e-01 1.13448816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.26, Y:129.69, Z:113.45 [[ 8.22281650e-01 5.67854319e-01 -3.73411524e-02 4.43261105e+02] [-5.67255391e-01 8.23129033e-01 2.60751827e-02 1.29690248e+02] [ 4.55434918e-02 -2.59174202e-04 9.98962323e-01 1.13451181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.31, Y:129.66, Z:113.45 [[ 8.22697338e-01 5.67252393e-01 -3.73338065e-02 4.43313912e+02] [-5.66652369e-01 8.23543945e-01 2.60856962e-02 1.29656308e+02] [ 4.55432039e-02 -3.05342869e-04 9.98962323e-01 1.13453214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.990385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:443.37, Y:129.62, Z:113.45 [[ 8.23438098e-01 5.66177028e-01 -3.73265472e-02 4.43365669e+02] [-5.65575428e-01 8.24283586e-01 2.60960795e-02 1.29623317e+02] [ 4.55426609e-02 -3.77528175e-04 9.98962323e-01 1.13454500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.42, Y:129.59, Z:113.46 [[ 8.24341067e-01 5.64861902e-01 -3.73207390e-02 4.43417798e+02] [-5.64258577e-01 8.25185325e-01 2.61043833e-02 1.29589111e+02] [ 4.55418977e-02 -4.60368134e-04 9.98962323e-01 1.13458315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.47, Y:129.56, Z:113.46 [[ 8.25890545e-01 5.62594438e-01 -3.73136088e-02 4.43469929e+02] [-5.61988335e-01 8.26732811e-01 2.61145713e-02 1.29556228e+02] [ 4.55402972e-02 -5.97964721e-04 9.98962324e-01 1.13461302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.52, Y:129.52, Z:113.46 [[ 8.28174744e-01 5.59226928e-01 -3.73073291e-02 4.43523414e+02] [-5.58616997e-01 8.29014241e-01 2.61235394e-02 1.29524107e+02] [ 4.55372938e-02 -7.94347355e-04 9.98962324e-01 1.13462745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.57, Y:129.49, Z:113.47 [[ 8.28075434e-01 5.59374420e-01 -3.73005831e-02 4.43573865e+02] [-5.58764205e-01 8.28914725e-01 2.61331682e-02 1.29489927e+02] [ 4.55372284e-02 -7.98003933e-04 9.98962324e-01 1.13469456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.290385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:443.63, Y:129.46, Z:113.47 [[ 8.27977466e-01 5.59519673e-01 -3.72967969e-02 4.43626532e+02] [-5.58909361e-01 8.28816687e-01 2.61385706e-02 1.29455307e+02] [ 4.55372521e-02 -7.96618561e-04 9.98962324e-01 1.13471255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.68, Y:129.42, Z:113.47 [[ 8.27505573e-01 5.60217821e-01 -3.72896649e-02 4.43679828e+02] [-5.59607760e-01 8.28344976e-01 2.61487413e-02 1.29422997e+02] [ 4.55376974e-02 -7.70643304e-04 9.98962324e-01 1.13473251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.73, Y:129.39, Z:113.47 [[ 8.28641696e-01 5.58536384e-01 -3.72833314e-02 4.43734637e+02] [-5.57924213e-01 8.29479562e-01 2.61577686e-02 1.29392977e+02] [ 4.55358269e-02 -8.74144379e-04 9.98962324e-01 1.13472986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.78, Y:129.36, Z:113.48 [[ 8.26596908e-01 5.61558538e-01 -3.72767973e-02 4.43782890e+02] [-5.60949011e-01 8.27436699e-01 2.61670769e-02 1.29355876e+02] [ 4.55385355e-02 -7.19242250e-04 9.98962324e-01 1.13481968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.83, Y:129.32, Z:113.49 [[ 8.26438993e-01 5.61791160e-01 -3.72730991e-02 4.43834625e+02] [-5.61181632e-01 8.27278783e-01 2.61723436e-02 1.29323582e+02] [ 4.55386353e-02 -7.12866731e-04 9.98962324e-01 1.13485677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.89, Y:129.29, Z:113.49 [[ 8.26287770e-01 5.62013945e-01 -3.72672356e-02 4.43886709e+02] [-5.61404267e-01 8.27127451e-01 2.61806901e-02 1.29289424e+02] [ 4.55386665e-02 -7.10798902e-04 9.98962324e-01 1.13487662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:443.94, Y:129.25, Z:113.49 [[ 8.26233031e-01 5.62094856e-01 -3.72605936e-02 4.43939191e+02] [-5.61484834e-01 8.27072462e-01 2.61901396e-02 1.29254792e+02] [ 4.55385537e-02 -7.17900168e-04 9.98962324e-01 1.13490641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.99, Y:129.22, Z:113.49 [[ 8.25499178e-01 5.63172522e-01 -3.72534136e-02 4.43990596e+02] [-5.62563136e-01 8.26339071e-01 2.62003486e-02 1.29220594e+02] [ 4.55392676e-02 -6.70969068e-04 9.98962324e-01 1.13493622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.04, Y:129.19, Z:113.49 [[ 8.25651478e-01 5.62949654e-01 -3.72467883e-02 4.44043748e+02] [-5.62339617e-01 8.26490898e-01 2.62097640e-02 1.29185829e+02] [ 4.55389090e-02 -6.94785737e-04 9.98962324e-01 1.13493337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.10, Y:129.15, Z:113.50 [[ 8.24813480e-01 5.64177244e-01 -3.72392356e-02 4.44095213e+02] [-5.63567971e-01 8.25653455e-01 2.62204905e-02 1.29152571e+02] [ 4.55397076e-02 -6.40173516e-04 9.98962324e-01 1.13497014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.890385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:444.15, Y:129.12, Z:113.50 [[ 8.24359176e-01 5.64841251e-01 -3.72331876e-02 4.44147329e+02] [-5.64232267e-01 8.25199360e-01 2.62290759e-02 1.29118063e+02] [ 4.55400666e-02 -6.14013543e-04 9.98962324e-01 1.13498992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.20, Y:129.08, Z:113.50 [[ 8.24132984e-01 5.65171705e-01 -3.72259078e-02 4.44197559e+02] [-5.64562591e-01 8.24973075e-01 2.62394038e-02 1.29081480e+02] [ 4.55401402e-02 -6.08403240e-04 9.98962324e-01 1.13500918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.25, Y:129.05, Z:113.50 [[ 8.24258269e-01 5.64989140e-01 -3.72233580e-02 4.44249817e+02] [-5.64379677e-01 8.25098105e-01 2.62430204e-02 1.29046401e+02] [ 4.55399437e-02 -6.22919749e-04 9.98962324e-01 1.13503487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.30, Y:129.01, Z:113.50 [[ 8.22627138e-01 5.67362005e-01 -3.72148805e-02 4.44300590e+02] [-5.66754421e-01 8.23468335e-01 2.62550367e-02 1.29010613e+02] [ 4.55413860e-02 -5.06407647e-04 9.98962324e-01 1.13504221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.35, Y:128.98, Z:113.51 [[ 8.19368411e-01 5.72058638e-01 -3.72064664e-02 4.44352593e+02] [-5.71455335e-01 8.20212684e-01 2.62669552e-02 1.28976654e+02] [ 4.55434542e-02 -2.60479643e-04 9.98962325e-01 1.13509871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.190385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:444.40, Y:128.94, Z:113.51 [[ 8.17149729e-01 5.75223877e-01 -3.71996352e-02 4.44404591e+02] [-5.74623404e-01 8.17996016e-01 2.62766260e-02 1.28940792e+02] [ 4.55440961e-02 -9.61567693e-05 9.98962325e-01 1.13511821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:444.46, Y:128.90, Z:113.52 [[ 8.15058748e-01 5.78183324e-01 -3.71924859e-02 4.44456189e+02] [-5.77585463e-01 8.15906882e-01 2.62867414e-02 1.28904622e+02] [ 4.55441607e-02 5.66006632e-05 9.98962325e-01 1.13516223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.310385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:444.51, Y:128.87, Z:113.52 [[ 8.15066930e-01 5.78172249e-01 -3.71853338e-02 4.44506251e+02] [-5.77573915e-01 8.15914731e-01 2.62968549e-02 1.28866672e+02] [ 4.55441734e-02 4.35820659e-05 9.98962325e-01 1.13520610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:444.56, Y:128.83, Z:113.52 [[ 8.16743158e-01 5.75802407e-01 -3.71779687e-02 4.44556259e+02] [-5.75201139e-01 8.17588881e-01 2.63072634e-02 1.28829205e+02] [ 4.55440794e-02 -1.01467435e-04 9.98962325e-01 1.13524751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.430385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:444.61, Y:128.79, Z:113.53 [[ 8.17915833e-01 5.74135905e-01 -3.71705890e-02 4.44607439e+02] [-5.73532440e-01 8.18759989e-01 2.63176863e-02 1.28792039e+02] [ 4.55437197e-02 -2.07113713e-04 9.98962325e-01 1.13526068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.490385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:444.66, Y:128.75, Z:113.53 [[ 8.19395908e-01 5.72022059e-01 -3.71632864e-02 4.44656311e+02] [-5.71415948e-01 8.20238167e-01 2.63279944e-02 1.28753968e+02] [ 4.55429395e-02 -3.37356336e-04 9.98962325e-01 1.13529115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.71, Y:128.71, Z:113.53 [[ 8.20648015e-01 5.70224570e-01 -3.71587918e-02 4.44705206e+02] [-5.69616328e-01 8.21488735e-01 2.63343364e-02 1.28714766e+02] [ 4.55420145e-02 -4.44966348e-04 9.98962325e-01 1.13532265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.76, Y:128.68, Z:113.54 [[ 8.20158277e-01 5.70929199e-01 -3.71517153e-02 4.44755348e+02] [-5.70321227e-01 8.20999193e-01 2.63443160e-02 1.28677015e+02] [ 4.55422675e-02 -4.18097012e-04 9.98962325e-01 1.13535358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.80, Y:128.64, Z:113.54 [[ 8.19684909e-01 5.71609065e-01 -3.71446681e-02 4.44804451e+02] [-5.71001341e-01 8.20526004e-01 2.63542485e-02 1.28640050e+02] [ 4.55424935e-02 -3.92524543e-04 9.98962325e-01 1.13537379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.730385723 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:444.85, Y:128.60, Z:113.54 [[ 8.19596347e-01 5.71736465e-01 -3.71381600e-02 4.44854138e+02] [-5.71128456e-01 8.20437236e-01 2.63634165e-02 1.28601670e+02] [ 4.55424559e-02 -3.96699914e-04 9.98962325e-01 1.13535839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:444.90, Y:128.56, Z:113.54 [[ 8.19505792e-01 5.71866556e-01 -3.71335322e-02 4.44902526e+02] [-5.71258385e-01 8.20346563e-01 2.63699333e-02 1.28564055e+02] [ 4.55424485e-02 -3.97471475e-04 9.98962325e-01 1.13541784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:444.95, Y:128.53, Z:113.54 [[ 8.19622279e-01 5.71700100e-01 -3.71256879e-02 4.44953103e+02] [-5.71091258e-01 8.20462564e-01 2.63809725e-02 1.28526442e+02] [ 4.55422417e-02 -4.20276988e-04 9.98962325e-01 1.13544776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:445.00, Y:128.49, Z:113.55 [[ 8.19165427e-01 5.72354983e-01 -3.71184063e-02 4.45002297e+02] [-5.71746349e-01 8.20005863e-01 2.63912139e-02 1.28488872e+02] [ 4.55424536e-02 -3.96456758e-04 9.98962325e-01 1.13548227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.05, Y:128.45, Z:113.55 [[ 8.17910125e-01 5.74147847e-01 -3.71116894e-02 4.45052851e+02] [-5.73540627e-01 8.18751583e-01 2.64006558e-02 1.28450641e+02] [ 4.55431342e-02 -3.08302077e-04 9.98962326e-01 1.13549697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.030385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:445.10, Y:128.41, Z:113.55 [[ 8.17695557e-01 5.74453846e-01 -3.71046419e-02 4.45103334e+02] [-5.73846491e-01 8.18536918e-01 2.64105570e-02 1.28412597e+02] [ 4.55431653e-02 -3.03426588e-04 9.98962326e-01 1.13550997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:445.15, Y:128.37, Z:113.55 [[ 8.18159719e-01 5.73793040e-01 -3.70974579e-02 4.45151134e+02] [-5.73184548e-01 8.19000258e-01 2.64206442e-02 1.28372945e+02] [ 4.55428093e-02 -3.52617217e-04 9.98962326e-01 1.13553965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.20, Y:128.33, Z:113.56 [[ 8.18145900e-01 5.73813152e-01 -3.70911378e-02 4.45200722e+02] [-5.73204279e-01 8.18986163e-01 2.64295138e-02 1.28334324e+02] [ 4.55427312e-02 -3.62399435e-04 9.98962326e-01 1.13558122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.25, Y:128.30, Z:113.56 [[ 8.17228701e-01 5.75119155e-01 -3.70837909e-02 4.45248916e+02] [-5.74511157e-01 8.18069597e-01 2.64398184e-02 1.28295581e+02] [ 4.55431679e-02 -3.02326860e-04 9.98962326e-01 1.13559751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:445.30, Y:128.26, Z:113.56 [[ 8.15968705e-01 5.76905836e-01 -3.70773444e-02 4.45297246e+02] [-5.76299269e-01 8.16810633e-01 2.64488555e-02 1.28256483e+02] [ 4.55436682e-02 -2.13791872e-04 9.98962326e-01 1.13562263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.35, Y:128.22, Z:113.57 [[ 8.15272167e-01 5.77890165e-01 -3.70708899e-02 4.45345486e+02] [-5.77284204e-01 8.16114531e-01 2.64578990e-02 1.28216849e+02] [ 4.55438516e-02 -1.69949462e-04 9.98962326e-01 1.13567011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.39, Y:128.18, Z:113.57 [[ 8.14825181e-01 5.78520655e-01 -3.70644858e-02 4.45393445e+02] [-5.77914937e-01 8.15667721e-01 2.64668674e-02 1.28178039e+02] [ 4.55439341e-02 -1.45750034e-04 9.98962326e-01 1.13571981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.450385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:445.44, Y:128.14, Z:113.57 [[ 8.14176244e-01 5.79433980e-01 -3.70581629e-02 4.45443576e+02] [-5.78828804e-01 8.15019173e-01 2.64757175e-02 1.28140679e+02] [ 4.55440437e-02 -1.05568101e-04 9.98962326e-01 1.13574792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:445.49, Y:128.10, Z:113.58 [[ 8.12949212e-01 5.81154715e-01 -3.70509891e-02 4.45493898e+02] [-5.80550866e-01 8.13793092e-01 2.64857530e-02 1.28104015e+02] [ 4.55441592e-02 -2.15882235e-05 9.98962326e-01 1.13575713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.54, Y:128.07, Z:113.58 [[ 8.11020212e-01 5.83844071e-01 -3.70447949e-02 4.45544239e+02] [-5.83242624e-01 8.11865806e-01 2.64944139e-02 1.28068062e+02] [ 4.55440087e-02 1.18598215e-04 9.98962326e-01 1.13578402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.60, Y:128.03, Z:113.58 [[ 8.10672152e-01 5.84327668e-01 -3.70383536e-02 4.45595529e+02] [-5.83726315e-01 8.11517812e-01 2.65034155e-02 1.28033053e+02] [ 4.55439626e-02 1.34680759e-04 9.98962326e-01 1.13582204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.65, Y:128.00, Z:113.59 [[ 8.11313990e-01 5.83436578e-01 -3.70319972e-02 4.45647444e+02] [-5.82833891e-01 8.12158700e-01 2.65122941e-02 1.27997185e+02] [ 4.55441008e-02 7.37078939e-05 9.98962326e-01 1.13585427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.70, Y:127.96, Z:113.59 [[ 8.12894268e-01 5.81233237e-01 -3.70247538e-02 4.45697951e+02] [-5.80627800e-01 8.13737009e-01 2.65224056e-02 1.27959818e+02] [ 4.55441161e-02 -6.23101577e-05 9.98962326e-01 1.13590971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.75, Y:127.92, Z:113.59 [[ 8.14354229e-01 5.79186408e-01 -3.70174758e-02 4.45749750e+02] [-5.78578391e-01 8.15195111e-01 2.65325597e-02 1.27924707e+02] [ 4.55437633e-02 -1.89390611e-04 9.98962327e-01 1.13594604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.80, Y:127.89, Z:113.60 [[ 8.17734090e-01 5.74405097e-01 -3.70100348e-02 4.45799840e+02] [-5.73791693e-01 8.18571051e-01 2.65429351e-02 1.27889312e+02] [ 4.55417403e-02 -4.69012342e-04 9.98962327e-01 1.13598300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.85, Y:127.85, Z:113.60 [[ 8.18925470e-01 5.72705719e-01 -3.70031696e-02 4.45849727e+02] [-5.72090147e-01 8.19760836e-01 2.65525024e-02 1.27853063e+02] [ 4.55405192e-02 -5.75371737e-04 9.98962327e-01 1.13601197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.90, Y:127.82, Z:113.61 [[ 8.19972066e-01 5.71206676e-01 -3.69965361e-02 4.45902022e+02] [-5.70589160e-01 8.20805997e-01 2.65617419e-02 1.27817674e+02] [ 4.55392229e-02 -6.70063899e-04 9.98962327e-01 1.13605116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.95, Y:127.78, Z:113.61 [[ 8.19313088e-01 5.72151942e-01 -3.69894456e-02 4.45953085e+02] [-5.71534943e-01 8.20147401e-01 2.65716123e-02 1.27784432e+02] [ 4.55397972e-02 -6.29709087e-04 9.98962327e-01 1.13607439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.110385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:446.01, Y:127.75, Z:113.61 [[ 8.18935555e-01 5.72692550e-01 -3.69837700e-02 4.46006451e+02] [-5.72075745e-01 8.19770011e-01 2.65795095e-02 1.27752771e+02] [ 4.55400726e-02 -6.09387553e-04 9.98962327e-01 1.13606001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.170385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:446.06, Y:127.72, Z:113.61 [[ 8.15105958e-01 5.78130592e-01 -3.69769622e-02 4.46056381e+02] [-5.77518925e-01 8.15944188e-01 2.65889770e-02 1.27717404e+02] [ 4.55430384e-02 -3.17938096e-04 9.98962327e-01 1.13610099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.11, Y:127.68, Z:113.62 [[ 8.13524579e-01 5.80354193e-01 -3.69698542e-02 4.46107604e+02] [-5.79744368e-01 8.14364150e-01 2.65988564e-02 1.27682882e+02] [ 4.55436818e-02 -2.05758663e-04 9.98962327e-01 1.13617141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.16, Y:127.65, Z:113.62 [[ 8.12233417e-01 5.82160292e-01 -3.69631121e-02 4.46158924e+02] [-5.81551907e-01 8.13074032e-01 2.66082224e-02 1.27647178e+02] [ 4.55439971e-02 -1.16119067e-04 9.98962327e-01 1.13620810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.21, Y:127.61, Z:113.62 [[ 8.12539710e-01 5.81733163e-01 -3.69560125e-02 4.46211071e+02] [-5.81123889e-01 8.13379680e-01 2.66180793e-02 1.27611905e+02] [ 4.55438891e-02 -1.52224787e-04 9.98962327e-01 1.13622896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.26, Y:127.57, Z:113.63 [[ 8.12895986e-01 5.81235656e-01 -3.69489874e-02 4.46262054e+02] [-5.80625425e-01 8.13735261e-01 2.66278273e-02 1.27574591e+02] [ 4.55437366e-02 -1.92132438e-04 9.98962327e-01 1.13627179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.31, Y:127.54, Z:113.63 [[ 8.13512831e-01 5.80372459e-01 -3.69416129e-02 4.46311619e+02] [-5.79760872e-01 8.14351119e-01 2.66380543e-02 1.27538084e+02] [ 4.55434369e-02 -2.53097220e-04 9.98962327e-01 1.13629687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.530385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:446.36, Y:127.50, Z:113.63 [[ 8.13313224e-01 5.80652582e-01 -3.69347891e-02 4.46363382e+02] [-5.80040855e-01 8.14151409e-01 2.66475124e-02 1.27502550e+02] [ 4.55434575e-02 -2.49087565e-04 9.98962327e-01 1.13630950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5903857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:446.41, Y:127.47, Z:113.63 [[ 8.12518998e-01 5.81763908e-01 -3.69274207e-02 4.46414366e+02] [-5.81152863e-01 8.13357680e-01 2.66577195e-02 1.27465298e+02] [ 4.55437003e-02 -1.99427254e-04 9.98962327e-01 1.13631886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.47, Y:127.43, Z:113.63 [[ 8.12498299e-01 5.81793284e-01 -3.69200300e-02 4.46465730e+02] [-5.81181804e-01 8.13336665e-01 2.66679515e-02 1.27428412e+02] [ 4.55436491e-02 -2.10415621e-04 9.98962328e-01 1.13634222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.52, Y:127.39, Z:113.63 [[ 8.12794184e-01 5.81380309e-01 -3.69127346e-02 4.46515970e+02] [-5.80767945e-01 8.13631904e-01 2.66780456e-02 1.27391701e+02] [ 4.55434690e-02 -2.46027271e-04 9.98962328e-01 1.13633745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.770385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:446.57, Y:127.36, Z:113.64 [[ 8.12827026e-01 5.81334554e-01 -3.69101939e-02 4.46565570e+02] [-5.80721983e-01 8.13664595e-01 2.66815604e-02 1.27355430e+02] [ 4.55434309e-02 -2.52932370e-04 9.98962328e-01 1.13638416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.62, Y:127.32, Z:113.64 [[ 8.13957729e-01 5.79750822e-01 -3.69025686e-02 4.46615163e+02] [-5.79136144e-01 8.14793752e-01 2.66921026e-02 1.27317543e+02] [ 4.55427507e-02 -3.54631902e-04 9.98962328e-01 1.13641012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:446.67, Y:127.28, Z:113.64 [[ 8.14840006e-01 5.78510599e-01 -3.68951567e-02 4.46665306e+02] [-5.77894184e-01 8.15674749e-01 2.67023437e-02 1.27280331e+02] [ 4.55420365e-02 -4.36641398e-04 9.98962328e-01 1.13643660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.71, Y:127.24, Z:113.65 [[ 8.15460721e-01 5.77635796e-01 -3.68876681e-02 4.46714088e+02] [-5.77018018e-01 8.16294456e-01 2.67126848e-02 1.27243242e+02] [ 4.55414019e-02 -4.98296028e-04 9.98962328e-01 1.13645059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.76, Y:127.21, Z:113.65 [[ 8.14491051e-01 5.79002687e-01 -3.68811115e-02 4.46764071e+02] [-5.78385899e-01 8.15325518e-01 2.67217341e-02 1.27205245e+02] [ 4.55420672e-02 -4.33098456e-04 9.98962328e-01 1.13649359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.070385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:446.81, Y:127.17, Z:113.65 [[ 8.14164508e-01 5.79462251e-01 -3.68734763e-02 4.46814143e+02] [-5.78845457e-01 8.14998971e-01 2.67322658e-02 1.27167143e+02] [ 4.55421842e-02 -4.20417727e-04 9.98962328e-01 1.13652534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.86, Y:127.13, Z:113.65 [[ 8.13264152e-01 5.80725679e-01 -3.68660354e-02 4.46864014e+02] [-5.80109717e-01 8.14099229e-01 2.67425235e-02 1.27130411e+02] [ 4.55426811e-02 -3.62390329e-04 9.98962328e-01 1.13654732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.91, Y:127.09, Z:113.66 [[ 8.12740639e-01 5.81458559e-01 -3.68591623e-02 4.46913921e+02] [-5.80842920e-01 8.13575954e-01 2.67519934e-02 1.27092452e+02] [ 4.55429037e-02 -3.33048824e-04 9.98962328e-01 1.13657099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.96, Y:127.05, Z:113.66 [[ 8.12808303e-01 5.81364439e-01 -3.68517534e-02 4.46962908e+02] [-5.80748240e-01 8.13643206e-01 2.67621955e-02 1.27053560e+02] [ 4.55427675e-02 -3.50943779e-04 9.98962328e-01 1.13661689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.01, Y:127.02, Z:113.66 [[ 8.13796996e-01 5.79980117e-01 -3.68444358e-02 4.47014266e+02] [-5.79362043e-01 8.14630511e-01 2.67722661e-02 1.27017098e+02] [ 4.55419836e-02 -4.40922154e-04 9.98962328e-01 1.13663376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.07, Y:126.98, Z:113.67 [[ 8.14298125e-01 5.79276779e-01 -3.68371842e-02 4.47065103e+02] [-5.78657533e-01 8.15130769e-01 2.67822402e-02 1.26980437e+02] [ 4.55414521e-02 -4.92613899e-04 9.98962328e-01 1.13665297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.11, Y:126.94, Z:113.67 [[ 8.15342140e-01 5.77806863e-01 -3.68296512e-02 4.47114268e+02] [-5.77185649e-01 8.16173317e-01 2.67925953e-02 1.26942182e+02] [ 4.55403240e-02 -5.87585881e-04 9.98962328e-01 1.13668207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.17, Y:126.91, Z:113.67 [[ 8.16457788e-01 5.76229789e-01 -3.68226923e-02 4.47167400e+02] [-5.75606539e-01 8.17287439e-01 2.68021558e-02 1.26909269e+02] [ 4.55389245e-02 -6.87446368e-04 9.98962329e-01 1.13667266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.22, Y:126.87, Z:113.67 [[ 8.17125438e-01 5.75283074e-01 -3.68157964e-02 4.47216945e+02] [-5.74658436e-01 8.17954045e-01 2.68116248e-02 1.26870826e+02] [ 4.55379035e-02 -7.51952695e-04 9.98962329e-01 1.13670805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.27, Y:126.83, Z:113.67 [[ 8.17696746e-01 5.74471200e-01 -3.68085783e-02 4.47268673e+02] [-5.73845293e-01 8.18524395e-01 2.68215306e-02 1.26834920e+02] [ 4.55369161e-02 -8.09448960e-04 9.98962329e-01 1.13671965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.670385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:447.32, Y:126.80, Z:113.67 [[ 8.17340571e-01 5.74978303e-01 -3.68013743e-02 4.47321379e+02] [-5.74352465e-01 8.18168272e-01 2.68314115e-02 1.26799954e+02] [ 4.55371962e-02 -7.93441164e-04 9.98962329e-01 1.13672072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.37, Y:126.76, Z:113.68 [[ 8.16955571e-01 5.75525657e-01 -3.67942085e-02 4.47371070e+02] [-5.74899931e-01 8.17783356e-01 2.68412344e-02 1.26762854e+02] [ 4.55375104e-02 -7.75108089e-04 9.98962329e-01 1.13676848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:447.42, Y:126.73, Z:113.68 [[ 8.17936143e-01 5.74131639e-01 -3.67875899e-02 4.47423350e+02] [-5.73504095e-01 8.18762551e-01 2.68503025e-02 1.26728134e+02] [ 4.55359092e-02 -8.63999387e-04 9.98962329e-01 1.13680314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:447.48, Y:126.69, Z:113.68 [[ 8.18050446e-01 5.73969218e-01 -3.67804874e-02 4.47476089e+02] [-5.73341072e-01 8.18876397e-01 2.68600283e-02 1.26693192e+02] [ 4.55355024e-02 -8.85094014e-04 9.98962329e-01 1.13681161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:447.53, Y:126.66, Z:113.69 [[ 8.17543216e-01 5.74691678e-01 -3.67772397e-02 4.47526089e+02] [-5.74064063e-01 8.18369569e-01 2.68644743e-02 1.26657702e+02] [ 4.55361637e-02 -8.50377091e-04 9.98962329e-01 1.13685583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.58, Y:126.62, Z:113.69 [[ 8.17039759e-01 5.75407662e-01 -3.67702946e-02 4.47579569e+02] [-5.74780344e-01 8.17866337e-01 2.68739770e-02 1.26623349e+02] [ 4.55366784e-02 -8.22265141e-04 9.98962329e-01 1.13687331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.63, Y:126.59, Z:113.69 [[ 8.15831129e-01 5.77120224e-01 -3.67670626e-02 4.47632018e+02] [-5.76494441e-01 8.16658871e-01 2.68783981e-02 1.26589005e+02] [ 4.55382149e-02 -7.32226635e-04 9.98962329e-01 1.13688270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.68, Y:126.55, Z:113.69 [[ 8.16146920e-01 5.76674025e-01 -3.67596773e-02 4.47684310e+02] [-5.76047335e-01 8.16973976e-01 2.68884946e-02 1.26554765e+02] [ 4.55375961e-02 -7.69647978e-04 9.98962329e-01 1.13691577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:447.74, Y:126.52, Z:113.69 [[ 8.17259001e-01 5.75097374e-01 -3.67523564e-02 4.47736776e+02] [-5.74468639e-01 8.18084503e-01 2.68984975e-02 1.26520300e+02] [ 4.55357884e-02 -8.69963073e-04 9.98962329e-01 1.13694772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:447.79, Y:126.49, Z:113.70 [[ 8.17917514e-01 5.74160902e-01 -3.67450517e-02 4.47789217e+02] [-5.73530774e-01 8.18741953e-01 2.69084724e-02 1.26487584e+02] [ 4.55345082e-02 -9.34492934e-04 9.98962329e-01 1.13697168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.84, Y:126.45, Z:113.70 [[ 8.17620431e-01 5.74584310e-01 -3.67382949e-02 4.47843420e+02] [-5.73954195e-01 8.18444879e-01 2.69176943e-02 1.26454468e+02] [ 4.55347542e-02 -9.22358347e-04 9.98962329e-01 1.13700667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.90, Y:126.42, Z:113.70 [[ 8.17105535e-01 5.75316754e-01 -3.67311623e-02 4.47896984e+02] [-5.74686940e-01 8.17930214e-01 2.69274238e-02 1.26420362e+02] [ 4.55353255e-02 -8.93627760e-04 9.98962329e-01 1.13702686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.95, Y:126.39, Z:113.70 [[ 8.17194916e-01 5.75190273e-01 -3.67235438e-02 4.47950316e+02] [-5.74559866e-01 8.18019141e-01 2.69378098e-02 1.26388918e+02] [ 4.55349280e-02 -9.13566815e-04 9.98962329e-01 1.13703708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.00, Y:126.36, Z:113.71 [[ 8.17092369e-01 5.75336387e-01 -3.67165101e-02 4.48004464e+02] [-5.74705697e-01 8.17916377e-01 2.69473934e-02 1.26355991e+02] [ 4.55348509e-02 -9.17321998e-04 9.98962330e-01 1.13707528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.06, Y:126.32, Z:113.71 [[ 8.17258043e-01 5.75101507e-01 -3.67089574e-02 4.48058617e+02] [-5.74470118e-01 8.18081516e-01 2.69576782e-02 1.26323820e+02] [ 4.55343209e-02 -9.43180252e-04 9.98962330e-01 1.13709044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:448.11, Y:126.29, Z:113.71 [[ 8.16386375e-01 5.76338717e-01 -3.67010941e-02 4.48111156e+02] [-5.75708095e-01 8.17210436e-01 2.69683793e-02 1.26291411e+02] [ 4.55354382e-02 -8.87500492e-04 9.98962330e-01 1.13711134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.16, Y:126.26, Z:113.72 [[ 8.15408465e-01 5.77721904e-01 -3.66938357e-02 4.48160647e+02] [-5.77092236e-01 8.16233254e-01 2.69782517e-02 1.26255226e+02] [ 4.55366558e-02 -8.22567125e-04 9.98962330e-01 1.13715425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.21, Y:126.22, Z:113.72 [[ 8.14874046e-01 5.78475693e-01 -3.66900933e-02 4.48212562e+02] [-5.77846559e-01 8.15699242e-01 2.69833403e-02 1.26219970e+02] [ 4.55372878e-02 -7.86779572e-04 9.98962330e-01 1.13718579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:448.26, Y:126.18, Z:113.72 [[ 8.12751244e-01 5.81454633e-01 -3.66868579e-02 4.48264701e+02] [-5.80828325e-01 8.13578588e-01 2.69877385e-02 1.26184918e+02] [ 4.55397876e-02 -6.25551736e-04 9.98962330e-01 1.13722156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.810385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:448.32, Y:126.15, Z:113.72 [[ 8.11228920e-01 5.83577141e-01 -3.66791496e-02 4.48315236e+02] [-5.82952525e-01 8.12057541e-01 2.69982108e-02 1.26148271e+02] [ 4.55411187e-02 -5.19526529e-04 9.98962330e-01 1.13724811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.870385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:448.37, Y:126.11, Z:113.73 [[ 8.09278234e-01 5.86279734e-01 -3.66716959e-02 4.48367399e+02] [-5.85657426e-01 8.10108591e-01 2.70083314e-02 1.26112576e+02] [ 4.55424932e-02 -3.80203723e-04 9.98962330e-01 1.13727205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:448.42, Y:126.07, Z:113.73 [[ 8.07442124e-01 5.88806379e-01 -3.66642161e-02 4.48416720e+02] [-5.88186209e-01 8.08274078e-01 2.70184816e-02 1.26073302e+02] [ 4.55433897e-02 -2.50473862e-04 9.98962330e-01 1.13729917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.47, Y:126.04, Z:113.73 [[ 8.07782744e-01 5.88339463e-01 -3.66567154e-02 4.48467698e+02] [-5.87718350e-01 8.08613995e-01 2.70286541e-02 1.26035804e+02] [ 4.55431569e-02 -2.89456016e-04 9.98962330e-01 1.13728216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:448.52, Y:126.00, Z:113.73 [[ 8.08018226e-01 5.88016505e-01 -3.66488124e-02 4.48516766e+02] [-5.87394575e-01 8.08848865e-01 2.70393658e-02 1.25996543e+02] [ 4.55429437e-02 -3.20986783e-04 9.98962330e-01 1.13728894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.110385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:448.57, Y:125.96, Z:113.73 [[ 8.08650166e-01 5.87147659e-01 -3.66406249e-02 4.48565288e+02] [-5.86524333e-01 8.09479758e-01 2.70504559e-02 1.25957314e+02] [ 4.55424561e-02 -3.83737574e-04 9.98962330e-01 1.13730892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:448.61, Y:125.92, Z:113.73 [[ 8.08392564e-01 5.87502748e-01 -3.66330952e-02 4.48610837e+02] [-5.86879325e-01 8.09222083e-01 2.70606493e-02 1.25916478e+02] [ 4.55425154e-02 -3.76421460e-04 9.98962330e-01 1.13732608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.66, Y:125.88, Z:113.74 [[ 8.09458297e-01 5.86033913e-01 -3.66267503e-02 4.48658361e+02] [-5.85408596e-01 8.10286389e-01 2.70692343e-02 1.25875049e+02] [ 4.55416466e-02 -4.69801803e-04 9.98962330e-01 1.13738608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.71, Y:125.83, Z:113.74 [[ 8.11459287e-01 5.83260580e-01 -3.66185935e-02 4.48705276e+02] [-5.82631935e-01 8.12284856e-01 2.70802642e-02 1.25834443e+02] [ 4.55395795e-02 -6.39369920e-04 9.98962331e-01 1.13743137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.75, Y:125.79, Z:113.74 [[ 8.13006045e-01 5.81103089e-01 -3.66110680e-02 4.48753783e+02] [-5.80471796e-01 8.13829590e-01 2.70904345e-02 1.25794264e+02] [ 4.55375056e-02 -7.72994637e-04 9.98962331e-01 1.13744040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.80, Y:125.75, Z:113.75 [[ 8.12360442e-01 5.82005628e-01 -3.66054905e-02 4.48797352e+02] [-5.81374910e-01 8.13184428e-01 2.70979689e-02 1.25751370e+02] [ 4.55381852e-02 -7.31804175e-04 9.98962331e-01 1.13750969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.85, Y:125.71, Z:113.75 [[ 8.16015935e-01 5.76869417e-01 -3.66015016e-02 4.48848583e+02] [-5.76233273e-01 8.16835739e-01 2.71033557e-02 1.25714069e+02] [ 4.55325116e-02 -1.02576705e-03 9.98962331e-01 1.13751201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.90, Y:125.67, Z:113.75 [[ 8.16267945e-01 5.76513270e-01 -3.65936118e-02 4.48896584e+02] [-5.75876291e-01 8.17087100e-01 2.71140040e-02 1.25672681e+02] [ 4.55317512e-02 -1.05889888e-03 9.98962331e-01 1.13752693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.94, Y:125.63, Z:113.76 [[ 8.14576791e-01 5.78900800e-01 -3.65857358e-02 4.48941738e+02] [-5.78265745e-01 8.15397439e-01 2.71246271e-02 1.25630656e+02] [ 4.55343836e-02 -9.38813970e-04 9.98962331e-01 1.13757930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.99, Y:125.59, Z:113.76 [[ 8.12658511e-01 5.81590843e-01 -3.65819109e-02 4.48989746e+02] [-5.80958273e-01 8.13481075e-01 2.71297846e-02 1.25591001e+02] [ 4.55371265e-02 -7.94686528e-04 9.98962331e-01 1.13764445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.04, Y:125.55, Z:113.77 [[ 8.13421964e-01 5.80522738e-01 -3.65794930e-02 4.49039458e+02] [-5.79888941e-01 8.14243584e-01 2.71330443e-02 1.25552032e+02] [ 4.55359666e-02 -8.58570696e-04 9.98962331e-01 1.13767332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.09, Y:125.51, Z:113.77 [[ 8.14001879e-01 5.79709814e-01 -3.65714741e-02 4.49085584e+02] [-5.79074712e-01 8.14822490e-01 2.71438483e-02 1.25511024e+02] [ 4.55348148e-02 -9.17527732e-04 9.98962331e-01 1.13770940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.14, Y:125.48, Z:113.77 [[ 8.14174857e-01 5.79467286e-01 -3.65645556e-02 4.49136289e+02] [-5.78831521e-01 8.14994955e-01 2.71531648e-02 1.25476086e+02] [ 4.55342990e-02 -9.42706743e-04 9.98962331e-01 1.13769148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.19, Y:125.44, Z:113.77 [[ 8.13118043e-01 5.80949699e-01 -3.65581258e-02 4.49185332e+02] [-5.80315040e-01 8.13938996e-01 2.71618190e-02 1.25436083e+02] [ 4.55357347e-02 -8.70534864e-04 9.98962331e-01 1.13772956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.950385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:449.23, Y:125.40, Z:113.78 [[ 8.12863958e-01 5.81305595e-01 -3.65512113e-02 4.49234443e+02] [-5.80670878e-01 8.13684866e-01 2.71711204e-02 1.25397519e+02] [ 4.55358918e-02 -8.62200515e-04 9.98962331e-01 1.13775483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:449.28, Y:125.36, Z:113.78 [[ 8.12175707e-01 5.82267220e-01 -3.65445616e-02 4.49284127e+02] [-5.81633073e-01 8.12997056e-01 2.71800613e-02 1.25359950e+02] [ 4.55366797e-02 -8.19459853e-04 9.98962331e-01 1.13776983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.33, Y:125.32, Z:113.78 [[ 8.11321654e-01 5.83457069e-01 -3.65379551e-02 4.49333994e+02] [-5.82823727e-01 8.12143623e-01 2.71889394e-02 1.25320936e+02] [ 4.55376461e-02 -7.63788065e-04 9.98962331e-01 1.13779434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.38, Y:125.28, Z:113.78 [[ 8.10517422e-01 5.84574230e-01 -3.65305015e-02 4.49382972e+02] [-5.83941570e-01 8.11339917e-01 2.71989503e-02 1.25281074e+02] [ 4.55384594e-02 -7.13544710e-04 9.98962331e-01 1.13782411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:449.43, Y:125.24, Z:113.78 [[ 8.10005111e-01 5.85284362e-01 -3.65230742e-02 4.49432068e+02] [-5.84651974e-01 8.10827814e-01 2.72089201e-02 1.25243552e+02] [ 4.55388798e-02 -6.86076905e-04 9.98962331e-01 1.13784895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.48, Y:125.20, Z:113.79 [[ 8.09610934e-01 5.85829927e-01 -3.65162085e-02 4.49480531e+02] [-5.85197677e-01 8.10433743e-01 2.72181312e-02 1.25203892e+02] [ 4.55391633e-02 -6.66896230e-04 9.98962332e-01 1.13789152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.53, Y:125.17, Z:113.79 [[ 8.09071209e-01 5.86575556e-01 -3.65088586e-02 4.49529933e+02] [-5.85943620e-01 8.09894259e-01 2.72279863e-02 1.25165521e+02] [ 4.55395862e-02 -6.37246998e-04 9.98962332e-01 1.13791993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.58, Y:125.13, Z:113.79 [[ 8.08813166e-01 5.86931778e-01 -3.65013827e-02 4.49580165e+02] [-5.86299752e-01 8.09636148e-01 2.72380047e-02 1.25127394e+02] [ 4.55396894e-02 -6.29705204e-04 9.98962332e-01 1.13794380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.63, Y:125.09, Z:113.80 [[ 8.08828819e-01 5.86910676e-01 -3.64938312e-02 4.49629676e+02] [-5.86278173e-01 8.09651434e-01 2.72481186e-02 1.25089372e+02] [ 4.55394944e-02 -6.43526952e-04 9.98962332e-01 1.13796912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.68, Y:125.05, Z:113.80 [[ 8.08963282e-01 5.86725787e-01 -3.64864220e-02 4.49679274e+02] [-5.86092649e-01 8.09785408e-01 2.72580362e-02 1.25051436e+02] [ 4.55391649e-02 -6.66326702e-04 9.98962332e-01 1.13799238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.73, Y:125.01, Z:113.80 [[ 8.08940204e-01 5.86758064e-01 -3.64790441e-02 4.49728474e+02] [-5.86124514e-01 8.09762012e-01 2.72679064e-02 1.25013168e+02] [ 4.55390081e-02 -6.76843735e-04 9.98962332e-01 1.13803810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.78, Y:124.98, Z:113.81 [[ 8.08543108e-01 5.87305541e-01 -3.64725044e-02 4.49779377e+02] [-5.86672152e-01 8.09365041e-01 2.72766508e-02 1.24975996e+02] [ 4.55392982e-02 -6.56945323e-04 9.98962332e-01 1.13806851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.83, Y:124.94, Z:113.81 [[ 8.08352814e-01 5.87567890e-01 -3.64650735e-02 4.49829223e+02] [-5.86934321e-01 8.09174608e-01 2.72865812e-02 1.24939587e+02] [ 4.55393306e-02 -6.54581576e-04 9.98962332e-01 1.13811391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:449.88, Y:124.90, Z:113.81 [[ 8.07805279e-01 5.88320833e-01 -3.64585873e-02 4.49880578e+02] [-5.87687638e-01 8.08627361e-01 2.72952449e-02 1.24903171e+02] [ 4.55397725e-02 -6.22981859e-04 9.98962332e-01 1.13813900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.93, Y:124.87, Z:113.82 [[ 8.05969022e-01 5.90834372e-01 -3.64510795e-02 4.49930655e+02] [-5.90203288e-01 8.06792725e-01 2.73052675e-02 1.24867084e+02] [ 4.55413563e-02 -4.93652764e-04 9.98962332e-01 1.13817820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.99, Y:124.84, Z:113.81 [[ 8.06551435e-01 5.90039354e-01 -3.64464483e-02 4.49987639e+02] [-5.89407179e-01 8.07374301e-01 2.73114477e-02 1.24838354e+02] [ 4.55407547e-02 -5.46289039e-04 9.98962332e-01 1.13813507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.04, Y:124.80, Z:113.82 [[ 8.03989021e-01 5.93526634e-01 -3.64388298e-02 4.50037641e+02] [-5.92897568e-01 8.04814267e-01 2.73216086e-02 1.24801786e+02] [ 4.55425924e-02 -3.61779797e-04 9.98962332e-01 1.13815902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:450.09, Y:124.76, Z:113.82 [[ 7.99624570e-01 5.99394085e-01 -3.64318202e-02 4.50085018e+02] [-5.98770648e-01 8.00454077e-01 2.73309522e-02 1.24760792e+02] [ 4.55440101e-02 -4.01963116e-05 9.98962332e-01 1.13822420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.13, Y:124.72, Z:113.83 [[ 7.99602528e-01 5.99423708e-01 -3.64282215e-02 4.50134912e+02] [-5.98800084e-01 8.00431894e-01 2.73357480e-02 1.24723491e+02] [ 4.55440057e-02 -4.45111271e-05 9.98962332e-01 1.13825798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.19, Y:124.69, Z:113.82 [[ 8.02889843e-01 5.95013819e-01 -3.64205271e-02 4.50189099e+02] [-5.94385175e-01 8.03715410e-01 2.73459957e-02 1.24690593e+02] [ 4.55429842e-02 -3.08000865e-04 9.98962332e-01 1.13823686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.24, Y:124.65, Z:113.83 [[ 8.02201797e-01 5.95941606e-01 -3.64126235e-02 4.50235008e+02] [-5.95313440e-01 8.03027727e-01 2.73565157e-02 1.24648384e+02] [ 4.55432322e-02 -2.68521875e-04 9.98962333e-01 1.13830970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.28, Y:124.61, Z:113.83 [[ 8.05655281e-01 5.91264909e-01 -3.64057190e-02 4.50284661e+02] [-5.90631533e-01 8.06477223e-01 2.73657010e-02 1.24609601e+02] [ 4.55407619e-02 -5.44955867e-04 9.98962333e-01 1.13832692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:450.34, Y:124.58, Z:113.83 [[ 8.10808693e-01 5.84178410e-01 -3.63984678e-02 4.50338029e+02] [-5.83537419e-01 8.11624711e-01 2.73753424e-02 1.24575811e+02] [ 4.55339798e-02 -9.56297653e-04 9.98962333e-01 1.13828265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:450.39, Y:124.54, Z:113.83 [[ 8.10892702e-01 5.84062241e-01 -3.63912644e-02 4.50385369e+02] [-5.83420704e-01 8.11708290e-01 2.73849147e-02 1.24535014e+02] [ 4.55335857e-02 -9.74810362e-04 9.98962333e-01 1.13834930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:450.44, Y:124.50, Z:113.84 [[ 8.14063162e-01 5.79635313e-01 -3.63878188e-02 4.50438702e+02] [-5.78989137e-01 8.14875079e-01 2.73894924e-02 1.24501507e+02] [ 4.55274437e-02 -1.22862495e-03 9.98962333e-01 1.13835210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.49, Y:124.47, Z:113.84 [[ 8.14259176e-01 5.79360463e-01 -3.63792276e-02 4.50489532e+02] [-5.78713504e-01 8.15070470e-01 2.74008987e-02 1.24465440e+02] [ 4.55266314e-02 -1.25828289e-03 9.98962333e-01 1.13839073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:450.54, Y:124.43, Z:113.84 [[ 8.14640724e-01 5.78824341e-01 -3.63713211e-02 4.50539932e+02] [-5.78176380e-01 8.15451218e-01 2.74113896e-02 1.24428392e+02] [ 4.55254175e-02 -1.30139550e-03 9.98962333e-01 1.13843366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.59, Y:124.39, Z:113.85 [[ 8.13760856e-01 5.80061180e-01 -3.63634075e-02 4.50589702e+02] [-5.79413983e-01 8.14571959e-01 2.74218835e-02 1.24391107e+02] [ 4.55269822e-02 -1.24538859e-03 9.98962333e-01 1.13849165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.65, Y:124.36, Z:113.85 [[ 8.15651654e-01 5.77399873e-01 -3.63560972e-02 4.50645496e+02] [-5.76749599e-01 8.16460292e-01 2.74315721e-02 1.24360960e+02] [ 4.55222960e-02 -1.40624271e-03 9.98962333e-01 1.13845290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.70, Y:124.32, Z:113.85 [[ 8.14432276e-01 5.79119055e-01 -3.63481490e-02 4.50696213e+02] [-5.78470018e-01 8.15241908e-01 2.74420998e-02 1.24324558e+02] [ 4.55247773e-02 -1.32341740e-03 9.98962333e-01 1.13848533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.74, Y:124.29, Z:113.86 [[ 8.11086317e-01 5.83796518e-01 -3.63402217e-02 4.50743899e+02] [-5.83151682e-01 8.11899298e-01 2.74525936e-02 1.24287246e+02] [ 4.55313290e-02 -1.07456159e-03 9.98962333e-01 1.13856549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:450.80, Y:124.26, Z:113.85 [[ 8.13040651e-01 5.81071914e-01 -3.63363502e-02 4.50798365e+02] [-5.80424125e-01 8.13851282e-01 2.74577170e-02 1.24255839e+02] [ 4.55272933e-02 -1.23374584e-03 9.98962333e-01 1.13853572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:450.85, Y:124.22, Z:113.86 [[ 8.12753421e-01 5.81474037e-01 -3.63293372e-02 4.50846405e+02] [-5.80826235e-01 8.13564041e-01 2.74669928e-02 1.24218412e+02] [ 4.55275855e-02 -1.22286027e-03 9.98962333e-01 1.13862285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.90, Y:124.18, Z:113.86 [[ 8.14667479e-01 5.78789565e-01 -3.63254483e-02 4.50899374e+02] [-5.78138863e-01 8.15475773e-01 2.74721348e-02 1.24183593e+02] [ 4.55231080e-02 -1.37950142e-03 9.98962333e-01 1.13864557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.95, Y:124.15, Z:113.87 [[ 8.15602012e-01 5.77472414e-01 -3.63176076e-02 4.50952874e+02] [-5.76819947e-01 8.16408881e-01 2.74824962e-02 1.24149441e+02] [ 4.55204008e-02 -1.46605871e-03 9.98962334e-01 1.13865377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:451.00, Y:124.11, Z:113.87 [[ 8.16218394e-01 5.76601373e-01 -3.63096427e-02 4.51003987e+02] [-5.75947577e-01 8.17024187e-01 2.74930154e-02 1.24113427e+02] [ 4.55183667e-02 -1.52785414e-03 9.98962334e-01 1.13867009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.110385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.05, Y:124.08, Z:113.87 [[ 8.14500993e-01 5.79025044e-01 -3.63060590e-02 4.51054019e+02] [-5.78373436e-01 8.15308557e-01 2.74977470e-02 1.24078846e+02] [ 4.55225248e-02 -1.39848212e-03 9.98962334e-01 1.13873289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.170385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:451.11, Y:124.05, Z:113.87 [[ 8.13457889e-01 5.80489977e-01 -3.62994343e-02 4.51106353e+02] [-5.79839434e-01 8.14266310e-01 2.75064895e-02 1.24045210e+02] [ 4.55246479e-02 -1.32752747e-03 9.98962334e-01 1.13873312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.230385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.16, Y:124.01, Z:113.87 [[ 8.13974844e-01 5.79765025e-01 -3.62969583e-02 4.51159990e+02] [-5.79113616e-01 8.14782568e-01 2.75097563e-02 1.24012734e+02] [ 4.55233235e-02 -1.37218680e-03 9.98962334e-01 1.13874953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:451.21, Y:123.98, Z:113.88 [[ 8.13256293e-01 5.80773007e-01 -3.62893282e-02 4.51209430e+02] [-5.80122151e-01 8.14064462e-01 2.75198178e-02 1.23977334e+02] [ 4.55246198e-02 -1.32842189e-03 9.98962334e-01 1.13880725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.350385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:451.26, Y:123.94, Z:113.88 [[ 8.11683362e-01 5.82969733e-01 -3.62823664e-02 4.51260623e+02] [-5.82320655e-01 8.12492960e-01 2.75289933e-02 1.23941617e+02] [ 4.55277371e-02 -1.21685448e-03 9.98962334e-01 1.13884817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.410385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.31, Y:123.91, Z:113.89 [[ 8.09689005e-01 5.85737010e-01 -3.62749362e-02 4.51312000e+02] [-5.85090261e-01 8.10500464e-01 2.75387807e-02 1.23905685e+02] [ 4.55313356e-02 -1.07373606e-03 9.98962334e-01 1.13887420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.36, Y:123.87, Z:113.89 [[ 8.08746523e-01 5.87038098e-01 -3.62675154e-02 4.51363411e+02] [-5.86392217e-01 8.09558673e-01 2.75485501e-02 1.23869257e+02] [ 4.55327301e-02 -1.01280533e-03 9.98962334e-01 1.13890436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:451.41, Y:123.83, Z:113.89 [[ 8.08509436e-01 5.87365058e-01 -3.62599098e-02 4.51413583e+02] [-5.86719057e-01 8.09321490e-01 2.75585570e-02 1.23832939e+02] [ 4.55328577e-02 -1.00697330e-03 9.98962334e-01 1.13892273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.46, Y:123.80, Z:113.90 [[ 8.08348003e-01 5.87587640e-01 -3.62528854e-02 4.51463572e+02] [-5.86941449e-01 8.09159906e-01 2.75677945e-02 1.23796858e+02] [ 4.55328766e-02 -1.00605057e-03 9.98962334e-01 1.13895416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.650385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.52, Y:123.76, Z:113.90 [[ 8.09243711e-01 5.86353844e-01 -3.62461803e-02 4.51515102e+02] [-5.85706020e-01 8.10054312e-01 2.75766075e-02 1.23760667e+02] [ 4.55310245e-02 -1.08659022e-03 9.98962334e-01 1.13897875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.710385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.56, Y:123.72, Z:113.90 [[ 8.10222267e-01 5.85001431e-01 -3.62381457e-02 4.51561693e+02] [-5.84351782e-01 8.11031407e-01 2.75871617e-02 1.23721180e+02] [ 4.55288034e-02 -1.17590765e-03 9.98962334e-01 1.13900992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.61, Y:123.68, Z:113.90 [[ 8.10259672e-01 5.84950019e-01 -3.62317452e-02 4.51611903e+02] [-5.84299944e-01 8.11068468e-01 2.75955652e-02 1.23683204e+02] [ 4.55284525e-02 -1.18936690e-03 9.98962334e-01 1.13902259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.830385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:451.66, Y:123.64, Z:113.90 [[ 8.11047125e-01 5.83858182e-01 -3.62240864e-02 4.51660664e+02] [-5.83206569e-01 8.11854684e-01 2.76056152e-02 1.23644716e+02] [ 4.55264585e-02 -1.26332972e-03 9.98962334e-01 1.13902448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.71, Y:123.60, Z:113.91 [[ 8.12313975e-01 5.82094788e-01 -3.62169056e-02 4.51706985e+02] [-5.81441003e-01 8.13119776e-01 2.76150327e-02 1.23604169e+02] [ 4.55232488e-02 -1.37408311e-03 9.98962334e-01 1.13907875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.950385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:451.75, Y:123.56, Z:113.91 [[ 8.11492142e-01 5.83240420e-01 -3.62093280e-02 4.51754125e+02] [-5.82587331e-01 8.12298507e-01 2.76249651e-02 1.23564240e+02] [ 4.55247793e-02 -1.32234637e-03 9.98962335e-01 1.13913796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.80, Y:123.53, Z:113.91 [[ 8.10618433e-01 5.84454591e-01 -3.62020283e-02 4.51801921e+02] [-5.83802282e-01 8.11425430e-01 2.76345279e-02 1.23526273e+02] [ 4.55263730e-02 -1.26623094e-03 9.98962335e-01 1.13912663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.85, Y:123.48, Z:113.92 [[ 8.07967291e-01 5.88114574e-01 -3.61953750e-02 4.51848096e+02] [-5.87465532e-01 8.08776916e-01 2.76432396e-02 1.23484978e+02] [ 4.55313758e-02 -1.07129815e-03 9.98962335e-01 1.13922374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.90, Y:123.44, Z:113.93 [[ 8.05005776e-01 5.92162219e-01 -3.61885059e-02 4.51895264e+02] [-5.91516844e-01 8.05818328e-01 2.76522292e-02 1.23443882e+02] [ 4.55359667e-02 -8.54093411e-04 9.98962335e-01 1.13928349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.190385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:451.94, Y:123.41, Z:113.92 [[ 8.06241234e-01 5.90479167e-01 -3.61859985e-02 4.51944975e+02] [-5.89831949e-01 8.07052319e-01 2.76555099e-02 1.23409290e+02] [ 4.55339965e-02 -9.53354405e-04 9.98962335e-01 1.13923395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.99, Y:123.37, Z:113.93 [[ 8.05869736e-01 5.90986308e-01 -3.61822066e-02 4.51994078e+02] [-5.90339378e-01 8.06681051e-01 2.76604701e-02 1.23370533e+02] [ 4.55344595e-02 -9.30954420e-04 9.98962335e-01 1.13926092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.04, Y:123.33, Z:113.93 [[ 8.05286302e-01 5.91781264e-01 -3.61788386e-02 4.52042579e+02] [-5.91134937e-01 8.06098097e-01 2.76648746e-02 1.23330838e+02] [ 4.55352474e-02 -8.91569117e-04 9.98962335e-01 1.13927644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.09, Y:123.29, Z:113.93 [[ 8.04801149e-01 5.92441032e-01 -3.61764377e-02 4.52090254e+02] [-5.91795230e-01 8.05613361e-01 2.76680138e-02 1.23290245e+02] [ 4.55358882e-02 -8.58206010e-04 9.98962335e-01 1.13931320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.14, Y:123.25, Z:113.94 [[ 8.06076945e-01 5.90704483e-01 -3.61686727e-02 4.52136683e+02] [-5.90056476e-01 8.06887399e-01 2.76781608e-02 1.23249582e+02] [ 4.55336599e-02 -9.69167671e-04 9.98962335e-01 1.13935186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.18, Y:123.21, Z:113.94 [[ 8.07331040e-01 5.88989760e-01 -3.61615079e-02 4.52184298e+02] [-5.88339613e-01 8.08139778e-01 2.76875184e-02 1.23208245e+02] [ 4.55312178e-02 -1.07774543e-03 9.98962335e-01 1.13938921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.550385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:452.23, Y:123.17, Z:113.94 [[ 8.08008152e-01 5.88060997e-01 -3.61537033e-02 4.52233471e+02] [-5.87409465e-01 8.08815775e-01 2.76977057e-02 1.23168327e+02] [ 4.55296260e-02 -1.14294446e-03 9.98962335e-01 1.13940999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.28, Y:123.13, Z:113.94 [[ 8.08346408e-01 5.87596430e-01 -3.61458285e-02 4.52281182e+02] [-5.86943975e-01 8.09153285e-01 2.77079787e-02 1.23129310e+02] [ 4.55286252e-02 -1.18206881e-03 9.98962335e-01 1.13942966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.33, Y:123.09, Z:113.94 [[ 8.08283808e-01 5.87682984e-01 -3.61385568e-02 4.52328286e+02] [-5.87030192e-01 8.09090413e-01 2.77174596e-02 1.23088200e+02] [ 4.55284392e-02 -1.18914986e-03 9.98962335e-01 1.13944040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.38, Y:123.05, Z:113.95 [[ 8.07613973e-01 5.88603588e-01 -3.61315252e-02 4.52376133e+02] [-5.87951306e-01 8.08420990e-01 2.77266228e-02 1.23048619e+02] [ 4.55294730e-02 -1.14883059e-03 9.98962335e-01 1.13946152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.790385723 meters Centerline goodness : 0.997248 with order 1 Centerline is valid? [True, True] Translation: X:452.42, Y:123.01, Z:113.94 [[ 8.04366054e-01 5.93034807e-01 -3.61243536e-02 4.52420924e+02] [-5.92386553e-01 8.05176309e-01 2.77359633e-02 1.23006586e+02] [ 4.55348654e-02 -9.10286034e-04 9.98962335e-01 1.13943391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.850385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:452.47, Y:122.97, Z:113.95 [[ 8.03190596e-01 5.94626360e-01 -3.61159003e-02 4.52467382e+02] [-5.93979216e-01 8.04001739e-01 2.77469664e-02 1.22966946e+02] [ 4.55363242e-02 -8.34008305e-04 9.98962335e-01 1.13949047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.52, Y:122.93, Z:113.95 [[ 8.02786234e-01 5.95172631e-01 -3.61081943e-02 4.52515495e+02] [-5.94525589e-01 8.03597457e-01 2.77569907e-02 1.22928124e+02] [ 4.55366544e-02 -8.15684556e-04 9.98962336e-01 1.13954450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.56, Y:122.89, Z:113.96 [[ 8.02949766e-01 5.94952435e-01 -3.61008844e-02 4.52562008e+02] [-5.94304743e-01 8.03760471e-01 2.77664949e-02 1.22886805e+02] [ 4.55362076e-02 -8.40173779e-04 9.98962336e-01 1.13958545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:452.61, Y:122.85, Z:113.96 [[ 8.03558253e-01 5.94130765e-01 -3.60938812e-02 4.52609519e+02] [-5.93481836e-01 8.04367967e-01 2.77755954e-02 1.22846613e+02] [ 4.55350976e-02 -8.98246034e-04 9.98962336e-01 1.13962914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.66, Y:122.81, Z:113.97 [[ 8.03418929e-01 5.94319544e-01 -3.60874442e-02 4.52657710e+02] [-5.93670430e-01 8.04228495e-01 2.77839561e-02 1.22807127e+02] [ 4.55350991e-02 -8.98107716e-04 9.98962336e-01 1.13965030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.70, Y:122.77, Z:113.97 [[ 8.03365405e-01 5.94392308e-01 -3.60806105e-02 4.52704201e+02] [-5.93742868e-01 8.04174710e-01 2.77928276e-02 1.22766500e+02] [ 4.55349575e-02 -9.05191041e-04 9.98962336e-01 1.13970518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.75, Y:122.73, Z:113.97 [[ 8.04815940e-01 5.92427225e-01 -3.60733433e-02 4.52751457e+02] [-5.91775387e-01 8.05623315e-01 2.78022569e-02 1.22726392e+02] [ 4.55323403e-02 -1.02838279e-03 9.98962336e-01 1.13971646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.80, Y:122.69, Z:113.97 [[ 8.05036303e-01 5.92128212e-01 -3.60656607e-02 4.52798410e+02] [-5.91475629e-01 8.05843075e-01 2.78122193e-02 1.22686471e+02] [ 4.55316626e-02 -1.05788689e-03 9.98962336e-01 1.13973653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.85, Y:122.65, Z:113.98 [[ 8.05063701e-01 5.92091384e-01 -3.60587230e-02 4.52846145e+02] [-5.91438361e-01 8.05870117e-01 2.78212112e-02 1.22647220e+02] [ 4.55313467e-02 -1.07133525e-03 9.98962336e-01 1.13980202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.89, Y:122.61, Z:113.98 [[ 8.08774137e-01 5.87013366e-01 -3.60513943e-02 4.52893773e+02] [-5.86354859e-01 8.09576081e-01 2.78307046e-02 1.22609721e+02] [ 4.55233421e-02 -1.36984385e-03 9.98962336e-01 1.13980080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.94, Y:122.57, Z:113.98 [[ 8.10321893e-01 5.84875201e-01 -3.60475980e-02 4.52943302e+02] [-5.84214360e-01 8.11121915e-01 2.78356209e-02 1.22572491e+02] [ 4.55193611e-02 -1.49628858e-03 9.98962336e-01 1.13984392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.99, Y:122.53, Z:113.99 [[ 8.08715233e-01 5.87095163e-01 -3.60408428e-02 4.52991368e+02] [-5.86436128e-01 8.09516744e-01 2.78443646e-02 1.22533139e+02] [ 4.55229575e-02 -1.38250953e-03 9.98962336e-01 1.13991013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.570385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:453.04, Y:122.50, Z:113.99 [[ 8.08548979e-01 5.87324262e-01 -3.60382958e-02 4.53042502e+02] [-5.86665308e-01 8.09350557e-01 2.78476608e-02 1.22499011e+02] [ 4.55232216e-02 -1.37377977e-03 9.98962336e-01 1.13988569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.09, Y:122.46, Z:113.99 [[ 8.06918492e-01 5.89562775e-01 -3.60316818e-02 4.53093720e+02] [-5.88905664e-01 8.07721580e-01 2.78562159e-02 1.22463789e+02] [ 4.55265549e-02 -1.25843427e-03 9.98962336e-01 1.13988900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.14, Y:122.43, Z:113.99 [[ 8.06025028e-01 5.90784102e-01 -3.60249718e-02 4.53143195e+02] [-5.90127820e-01 8.06828795e-01 2.78648908e-02 1.22426749e+02] [ 4.55281191e-02 -1.20046132e-03 9.98962336e-01 1.13990305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.19, Y:122.39, Z:114.00 [[ 8.06902901e-01 5.89584936e-01 -3.60182095e-02 4.53192635e+02] [-5.88927070e-01 8.07705371e-01 2.78736291e-02 1.22388803e+02] [ 4.55259731e-02 -1.27921363e-03 9.98962336e-01 1.13997654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.24, Y:122.35, Z:114.00 [[ 8.07968861e-01 5.88123481e-01 -3.60151492e-02 4.53243352e+02] [-5.87463988e-01 8.08769994e-01 2.78775828e-02 1.22354780e+02] [ 4.55234330e-02 -1.36661563e-03 9.98962336e-01 1.13997387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.29, Y:122.32, Z:114.01 [[ 8.07054398e-01 5.89378135e-01 -3.60085202e-02 4.53291357e+02] [-5.88719506e-01 8.07856241e-01 2.78861425e-02 1.22316470e+02] [ 4.55251905e-02 -1.30671573e-03 9.98962336e-01 1.14008402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.34, Y:122.28, Z:114.01 [[ 8.06017076e-01 5.90796075e-01 -3.60065328e-02 4.53342787e+02] [-5.90138742e-01 8.06819983e-01 2.78887084e-02 1.22284261e+02] [ 4.55273297e-02 -1.22992527e-03 9.98962336e-01 1.14005942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.39, Y:122.25, Z:114.01 [[ 8.02678954e-01 5.95323489e-01 -3.60061017e-02 4.53394846e+02] [-5.94670661e-01 8.03485528e-01 2.78892650e-02 1.22248501e+02] [ 4.55335162e-02 -9.74353747e-04 9.98962336e-01 1.14007783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.050385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:453.45, Y:122.21, Z:114.01 [[ 8.00912151e-01 5.97698647e-01 -3.60007491e-02 4.53445023e+02] [-5.97047900e-01 8.01720405e-01 2.78961727e-02 1.22211147e+02] [ 4.55360398e-02 -8.48211969e-04 9.98962336e-01 1.14010098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:453.50, Y:122.17, Z:114.01 [[ 7.98740431e-01 6.00598240e-01 -3.59927548e-02 4.53496412e+02] [-5.99949963e-01 7.99550668e-01 2.79064834e-02 1.22174761e+02] [ 4.55386160e-02 -6.96184709e-04 9.98962337e-01 1.14013600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.55, Y:122.14, Z:114.02 [[ 7.99003994e-01 6.00248022e-01 -3.59851407e-02 4.53547784e+02] [-5.99598948e-01 7.99813592e-01 2.79162983e-02 1.22138934e+02] [ 4.55381075e-02 -7.28581295e-04 9.98962337e-01 1.14015444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.60, Y:122.10, Z:114.02 [[ 8.00676196e-01 5.98016087e-01 -3.59776121e-02 4.53597256e+02] [-5.97364321e-01 8.01483628e-01 2.79259975e-02 1.22102174e+02] [ 4.55356629e-02 -8.67939617e-04 9.98962337e-01 1.14018427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:453.65, Y:122.07, Z:114.02 [[ 8.02083958e-01 5.96127031e-01 -3.59706534e-02 4.53647490e+02] [-5.95472962e-01 8.02889525e-01 2.79349580e-02 1.22065599e+02] [ 4.55332444e-02 -9.86630215e-04 9.98962337e-01 1.14023129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.350385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:453.70, Y:122.03, Z:114.03 [[ 8.02052165e-01 5.96170189e-01 -3.59642749e-02 4.53698197e+02] [-5.95515796e-01 8.02857469e-01 2.79431675e-02 1.22028935e+02] [ 4.55330702e-02 -9.94584213e-04 9.98962337e-01 1.14027234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.410385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:453.75, Y:121.99, Z:114.03 [[ 8.00957209e-01 5.97640916e-01 -3.59567116e-02 4.53750300e+02] [-5.96987565e-01 8.01763359e-01 2.79528963e-02 1.21994138e+02] [ 4.55345684e-02 -9.23364089e-04 9.98962337e-01 1.14029239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.80, Y:121.96, Z:114.03 [[ 7.99495732e-01 5.99595064e-01 -3.59490468e-02 4.53803538e+02] [-5.98943240e-01 8.00303117e-01 2.79627502e-02 1.21959431e+02] [ 4.55364612e-02 -8.24660883e-04 9.98962337e-01 1.14032536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.86, Y:121.93, Z:114.03 [[ 7.99563349e-01 5.99505358e-01 -3.59412899e-02 4.53856981e+02] [-5.98852996e-01 8.00370299e-01 2.79727169e-02 1.21926193e+02] [ 4.55361346e-02 -8.42410118e-04 9.98962337e-01 1.14034411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.91, Y:121.89, Z:114.04 [[ 7.99502715e-01 5.99586679e-01 -3.59335976e-02 4.53909776e+02] [-5.98933955e-01 8.00309372e-01 2.79825948e-02 1.21892076e+02] [ 4.55359861e-02 -8.50308774e-04 9.98962337e-01 1.14037382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.96, Y:121.86, Z:114.04 [[ 7.99544024e-01 5.99532053e-01 -3.59259228e-02 4.53961503e+02] [-5.98878832e-01 8.00350278e-01 2.79924448e-02 1.21856145e+02] [ 4.55356902e-02 -8.65917210e-04 9.98962337e-01 1.14040726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.02, Y:121.82, Z:114.04 [[ 7.99475245e-01 5.99624224e-01 -3.59182871e-02 4.54016994e+02] [-5.98970656e-01 8.00281218e-01 2.80022390e-02 1.21824606e+02] [ 4.55355514e-02 -8.73096893e-04 9.98962337e-01 1.14042883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.770385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:454.07, Y:121.79, Z:114.05 [[ 7.99503993e-01 5.99586346e-01 -3.59107159e-02 4.54068327e+02] [-5.98932304e-01 8.00309581e-01 2.80119452e-02 1.21788409e+02] [ 4.55352699e-02 -8.87574198e-04 9.98962337e-01 1.14045027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:454.12, Y:121.76, Z:114.05 [[ 7.99679672e-01 5.99352473e-01 -3.59031421e-02 4.54121724e+02] [-5.98697760e-01 8.00484715e-01 2.80216493e-02 1.21755037e+02] [ 4.55347613e-02 -9.13212566e-04 9.98962337e-01 1.14047298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.17, Y:121.72, Z:114.06 [[ 7.99771045e-01 5.99230993e-01 -3.58955887e-02 4.54173475e+02] [-5.98575724e-01 8.00575635e-01 2.80313218e-02 1.21721394e+02] [ 4.55343705e-02 -9.32411595e-04 9.98962337e-01 1.14056831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.23, Y:121.69, Z:114.06 [[ 7.99703015e-01 5.99322205e-01 -3.58884721e-02 4.54226140e+02] [-5.98666619e-01 8.00507348e-01 2.80404302e-02 1.21687992e+02] [ 4.55342381e-02 -9.38786305e-04 9.98962338e-01 1.14060322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.28, Y:121.65, Z:114.07 [[ 7.97528663e-01 6.02213053e-01 -3.58813533e-02 4.54275664e+02] [-6.01559973e-01 7.98335031e-01 2.80495367e-02 1.21651217e+02] [ 4.55371384e-02 -7.85523601e-04 9.98962338e-01 1.14065928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.070385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:454.33, Y:121.62, Z:114.06 [[ 7.96623215e-01 6.03410723e-01 -3.58741186e-02 4.54327686e+02] [-6.02758440e-01 7.97430227e-01 2.80587865e-02 1.21618353e+02] [ 4.55380792e-02 -7.28852884e-04 9.98962338e-01 1.14059397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.38, Y:121.58, Z:114.06 [[ 7.96207960e-01 6.03958941e-01 -3.58675475e-02 4.54377148e+02] [-6.03306835e-01 7.97015116e-01 2.80671838e-02 1.21580829e+02] [ 4.55384042e-02 -7.08178556e-04 9.98962338e-01 1.14062261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.43, Y:121.54, Z:114.06 [[ 7.96055172e-01 6.04160598e-01 -3.58627374e-02 4.54426555e+02] [-6.03508420e-01 7.96862269e-01 2.80733286e-02 1.21542417e+02] [ 4.55384613e-02 -7.04454483e-04 9.98962338e-01 1.14064786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.48, Y:121.50, Z:114.07 [[ 7.95514183e-01 6.04873220e-01 -3.58548731e-02 4.54477154e+02] [-6.04221313e-01 7.96321499e-01 2.80833692e-02 1.21504365e+02] [ 4.55388842e-02 -6.76440017e-04 9.98962338e-01 1.14067443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.53, Y:121.47, Z:114.07 [[ 7.93809228e-01 6.07109471e-01 -3.58468886e-02 4.54525556e+02] [-6.06459378e-01 7.94618006e-01 2.80935572e-02 1.21465575e+02] [ 4.55404478e-02 -5.61243200e-04 9.98962338e-01 1.14074611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.57, Y:121.42, Z:114.08 [[ 7.93097887e-01 6.08038861e-01 -3.58397183e-02 4.54573432e+02] [-6.07389303e-01 7.93907094e-01 2.81027017e-02 1.21424124e+02] [ 4.55409413e-02 -5.19531858e-04 9.98962338e-01 1.14077559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.62, Y:121.39, Z:114.08 [[ 7.93632658e-01 6.07341179e-01 -3.58315128e-02 4.54622827e+02] [-6.06690436e-01 7.94440913e-01 2.81131599e-02 1.21385499e+02] [ 4.55402994e-02 -5.72885707e-04 9.98962338e-01 1.14080320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.67, Y:121.35, Z:114.08 [[ 7.97037687e-01 6.02866161e-01 -3.58234252e-02 4.54670278e+02] [-6.02210418e-01 7.97841891e-01 2.81234619e-02 1.21347379e+02] [ 4.55361128e-02 -8.42219141e-04 9.98962338e-01 1.14079299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.72, Y:121.31, Z:114.08 [[ 7.99155601e-01 6.00056065e-01 -3.58196153e-02 4.54717093e+02] [-5.99397277e-01 7.99957313e-01 2.81283135e-02 1.21306123e+02] [ 4.55327283e-02 -1.00871941e-03 9.98962338e-01 1.14083689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.77, Y:121.27, Z:114.08 [[ 7.99989156e-01 5.98944809e-01 -3.58115414e-02 4.54766497e+02] [-5.98284448e-01 8.00789572e-01 2.81385890e-02 1.21267362e+02] [ 4.55309708e-02 -1.08507778e-03 9.98962338e-01 1.14084740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.81, Y:121.23, Z:114.09 [[ 7.99437826e-01 5.99680983e-01 -3.58033659e-02 4.54814721e+02] [-5.99020894e-01 8.00238466e-01 2.81489876e-02 1.21228385e+02] [ 4.55316432e-02 -1.05640121e-03 9.98962338e-01 1.14086791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.730385723 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:454.86, Y:121.19, Z:114.09 [[ 7.98569115e-01 6.00837622e-01 -3.57983310e-02 4.54862522e+02] [-6.00178406e-01 7.99370474e-01 2.81553893e-02 1.21187474e+02] [ 4.55329460e-02 -9.98639103e-04 9.98962338e-01 1.14089788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.91, Y:121.15, Z:114.09 [[ 7.96469384e-01 6.03618734e-01 -3.57902804e-02 4.54911486e+02] [-6.02961858e-01 7.97272661e-01 2.81656193e-02 1.21148802e+02] [ 4.55359076e-02 -8.52879471e-04 9.98962338e-01 1.14090735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.96, Y:121.11, Z:114.09 [[ 7.95047357e-01 6.05490948e-01 -3.57828573e-02 4.54958995e+02] [-6.04835539e-01 7.95851832e-01 2.81750468e-02 1.21107165e+02] [ 4.55375883e-02 -7.57752761e-04 9.98962339e-01 1.14093385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.01, Y:121.07, Z:114.10 [[ 7.94726696e-01 6.05912095e-01 -3.57772531e-02 4.55006634e+02] [-6.05256792e-01 7.95531257e-01 2.81821613e-02 1.21065829e+02] [ 4.55378356e-02 -7.42690426e-04 9.98962339e-01 1.14097925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9703857229999 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:455.06, Y:121.03, Z:114.10 [[ 7.94208809e-01 6.06591256e-01 -3.57689169e-02 4.55055715e+02] [-6.05936165e-01 7.95013543e-01 2.81927377e-02 1.21027178e+02] [ 4.55382415e-02 -7.17240291e-04 9.98962339e-01 1.14098811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.030385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:455.10, Y:120.98, Z:114.11 [[ 7.94140083e-01 6.06681699e-01 -3.57609466e-02 4.55100892e+02] [-6.06026244e-01 7.94944521e-01 2.82028440e-02 1.20983598e+02] [ 4.55381178e-02 -7.24936699e-04 9.98962339e-01 1.14105604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.15, Y:120.94, Z:114.11 [[ 7.94758789e-01 6.05871431e-01 -3.57529929e-02 4.55149603e+02] [-6.05214703e-01 7.95562188e-01 2.82129233e-02 1.20943729e+02] [ 4.55371335e-02 -7.84231812e-04 9.98962339e-01 1.14107393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.20, Y:120.90, Z:114.11 [[ 7.94108739e-01 6.06723657e-01 -3.57451420e-02 4.55197439e+02] [-6.06067344e-01 7.94912476e-01 2.82228668e-02 1.20904460e+02] [ 4.55377403e-02 -7.48061858e-04 9.98962339e-01 1.14107435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:455.24, Y:120.86, Z:114.11 [[ 7.92851727e-01 6.08365768e-01 -3.57383587e-02 4.55242815e+02] [-6.07710733e-01 7.93656506e-01 2.82314538e-02 1.20860348e+02] [ 4.55390310e-02 -6.64772805e-04 9.98962339e-01 1.14111404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.29, Y:120.82, Z:114.11 [[ 7.92601413e-01 6.08692316e-01 -3.57304415e-02 4.55290475e+02] [-6.08037160e-01 7.93406095e-01 2.82414705e-02 1.20820717e+02] [ 4.55391161e-02 -6.58793265e-04 9.98962339e-01 1.14113182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.34, Y:120.78, Z:114.12 [[ 7.92204285e-01 6.09209511e-01 -3.57231309e-02 4.55337015e+02] [-6.08554464e-01 7.93009055e-01 2.82507147e-02 1.20778487e+02] [ 4.55393704e-02 -6.40866461e-04 9.98962339e-01 1.14115495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.390385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:455.38, Y:120.73, Z:114.12 [[ 7.90571565e-01 6.11327256e-01 -3.57153642e-02 4.55381648e+02] [-6.10673922e-01 7.91377725e-01 2.82605302e-02 1.20734665e+02] [ 4.55407761e-02 -5.31530109e-04 9.98962339e-01 1.14119921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.450385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:455.43, Y:120.69, Z:114.12 [[ 7.87370533e-01 6.15445018e-01 -3.57081795e-02 4.55428790e+02] [-6.14795488e-01 7.88179762e-01 2.82696054e-02 1.20693493e+02] [ 4.55428522e-02 -3.05426599e-04 9.98962339e-01 1.14121408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.47, Y:120.65, Z:114.13 [[ 7.84670006e-01 6.18884852e-01 -3.57004362e-02 4.55473848e+02] [-6.18238425e-01 7.85481716e-01 2.82793807e-02 1.20648830e+02] [ 4.55437202e-02 -1.18600424e-04 9.98962339e-01 1.14125053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.52, Y:120.61, Z:114.13 [[ 7.82845812e-01 6.21191171e-01 -3.56926355e-02 4.55518752e+02] [-6.20546687e-01 7.83659064e-01 2.82892229e-02 1.20605619e+02] [ 4.55438728e-02 2.84701622e-06 9.98962339e-01 1.14126700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.57, Y:120.57, Z:114.13 [[ 7.84558019e-01 6.19027677e-01 -3.56854310e-02 4.55567262e+02] [-6.18380538e-01 7.85369159e-01 2.82983082e-02 1.20566983e+02] [ 4.55436729e-02 -1.34488610e-04 9.98962340e-01 1.14125839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.61, Y:120.52, Z:114.13 [[ 7.82808354e-01 6.21239206e-01 -3.56781441e-02 4.55610101e+02] [-6.20593939e-01 7.83620985e-01 2.83074923e-02 1.20519759e+02] [ 4.55438665e-02 -1.77014423e-05 9.98962340e-01 1.14130799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.65, Y:120.47, Z:114.13 [[ 7.83057029e-01 6.20926198e-01 -3.56699700e-02 4.55651787e+02] [-6.20280137e-01 7.83869029e-01 2.83177887e-02 1.20472468e+02] [ 4.55438416e-02 -4.90695977e-05 9.98962340e-01 1.14134961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.70, Y:120.43, Z:114.14 [[ 7.84070233e-01 6.19646714e-01 -3.56625726e-02 4.55695782e+02] [-6.18998905e-01 7.84880839e-01 2.83271017e-02 1.20425999e+02] [ 4.55436654e-02 -1.35343848e-04 9.98962340e-01 1.14136792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.870385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:455.74, Y:120.38, Z:114.14 [[ 7.84946269e-01 6.18537092e-01 -3.56541817e-02 4.55736227e+02] [-6.17887657e-01 7.85755573e-01 2.83376591e-02 1.20378260e+02] [ 4.55433652e-02 -2.13260970e-04 9.98962340e-01 1.14140790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.78, Y:120.33, Z:114.14 [[ 7.87480566e-01 6.15307651e-01 -3.56490286e-02 4.55780945e+02] [-6.14654604e-01 7.88286958e-01 2.83441402e-02 1.20334864e+02] [ 4.55420307e-02 -4.08619995e-04 9.98962340e-01 1.14144509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.83, Y:120.29, Z:114.15 [[ 7.85967213e-01 6.17239724e-01 -3.56463752e-02 4.55826779e+02] [-6.16588508e-01 7.86775084e-01 2.83474768e-02 1.20294912e+02] [ 4.55428686e-02 -3.01042031e-04 9.98962340e-01 1.14148480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.88, Y:120.26, Z:114.15 [[ 7.84815867e-01 6.18703388e-01 -3.56394821e-02 4.55876693e+02] [-6.18053285e-01 7.85624634e-01 2.83561404e-02 1.20257994e+02] [ 4.55432953e-02 -2.27249902e-04 9.98962340e-01 1.14149770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.92, Y:120.22, Z:114.15 [[ 7.84175472e-01 6.19515009e-01 -3.56368352e-02 4.55924984e+02] [-6.18865592e-01 7.84984790e-01 2.83594666e-02 1.20218008e+02] [ 4.55434888e-02 -1.84387008e-04 9.98962340e-01 1.14154370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.97, Y:120.18, Z:114.16 [[ 7.83728019e-01 6.20081488e-01 -3.56277961e-02 4.55973233e+02] [-6.19432140e-01 7.84537393e-01 2.83708178e-02 1.20180433e+02] [ 4.55435572e-02 -1.66002873e-04 9.98962340e-01 1.14157005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.02, Y:120.15, Z:114.16 [[ 7.84480753e-01 6.19129323e-01 -3.56206281e-02 4.56023697e+02] [-6.18478584e-01 7.85289009e-01 2.83798146e-02 1.20145751e+02] [ 4.55432632e-02 -2.32822739e-04 9.98962340e-01 1.14157020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.07, Y:120.11, Z:114.16 [[ 7.86705502e-01 6.16300310e-01 -3.56143270e-02 4.56071496e+02] [-6.15646307e-01 7.87511119e-01 2.83877198e-02 1.20106448e+02] [ 4.55420390e-02 -4.06946415e-04 9.98962340e-01 1.14160008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.12, Y:120.07, Z:114.16 [[ 7.90648548e-01 6.11233741e-01 -3.56116338e-02 4.56122565e+02] [-6.10574423e-01 7.91449821e-01 2.83910980e-02 1.20070908e+02] [ 4.55384182e-02 -7.03827672e-04 9.98962340e-01 1.14164024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.410385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:456.17, Y:120.03, Z:114.17 [[ 7.92201134e-01 6.09220591e-01 -3.56038631e-02 4.56169960e+02] [-6.08558800e-01 7.93000365e-01 2.84008395e-02 1.20031977e+02] [ 4.55362526e-02 -8.32133003e-04 9.98962340e-01 1.14165333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.22, Y:119.99, Z:114.17 [[ 7.92930128e-01 6.08271848e-01 -3.55973524e-02 4.56219150e+02] [-6.07608735e-01 7.93728262e-01 2.84089976e-02 1.19994035e+02] [ 4.55350181e-02 -8.97087850e-04 9.98962340e-01 1.14168836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.530385723 meters Centerline goodness : 0.995233 with order 1 Centerline is valid? [True, True] Translation: X:456.27, Y:119.96, Z:114.17 [[ 7.89956018e-01 6.12129780e-01 -3.55896232e-02 4.56269082e+02] [-6.11470129e-01 7.90757017e-01 2.84186771e-02 1.19956041e+02] [ 4.55386628e-02 -6.87513447e-04 9.98962340e-01 1.14166785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:456.32, Y:119.92, Z:114.17 [[ 7.87586898e-01 6.15175280e-01 -3.55844494e-02 4.56318909e+02] [-6.14518434e-01 7.88390198e-01 2.84251540e-02 1.19918103e+02] [ 4.55408832e-02 -5.19978693e-04 9.98962340e-01 1.14171330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.37, Y:119.88, Z:114.17 [[ 7.88625090e-01 6.13844345e-01 -3.55751026e-02 4.56369571e+02] [-6.13185616e-01 7.89426847e-01 2.84368471e-02 1.19880126e+02] [ 4.55397388e-02 -6.11869855e-04 9.98962341e-01 1.14173342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.42, Y:119.84, Z:114.18 [[ 7.88427334e-01 6.14098774e-01 -3.55673338e-02 4.56415992e+02] [-6.13439866e-01 7.89228943e-01 2.84465606e-02 1.19837121e+02] [ 4.55397672e-02 -6.09625431e-04 9.98962341e-01 1.14177895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.46, Y:119.80, Z:114.18 [[ 7.90361515e-01 6.11607628e-01 -3.55638173e-02 4.56464408e+02] [-6.10945995e-01 7.91160877e-01 2.84509562e-02 1.19799238e+02] [ 4.55375227e-02 -7.58969078e-04 9.98962341e-01 1.14181181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.51, Y:119.76, Z:114.18 [[ 7.90724954e-01 6.11138116e-01 -3.55563006e-02 4.56512046e+02] [-6.10475587e-01 7.91523573e-01 2.84603470e-02 1.19760952e+02] [ 4.55368530e-02 -7.98053114e-04 9.98962341e-01 1.14183501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.56, Y:119.72, Z:114.19 [[ 7.90167378e-01 6.11859209e-01 -3.55502862e-02 4.56559659e+02] [-6.11197071e-01 7.90966321e-01 2.84678577e-02 1.19719515e+02] [ 4.55374000e-02 -7.66141710e-04 9.98962341e-01 1.14187862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.61, Y:119.68, Z:114.19 [[ 7.89184887e-01 6.13126369e-01 -3.55425071e-02 4.56608862e+02] [-6.12465076e-01 7.89984530e-01 2.84775668e-02 1.19681072e+02] [ 4.55383779e-02 -7.05521027e-04 9.98962341e-01 1.14190922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.66, Y:119.64, Z:114.19 [[ 7.88509691e-01 6.13994875e-01 -3.55353385e-02 4.56657077e+02] [-6.13334061e-01 7.89309729e-01 2.84865092e-02 1.19643385e+02] [ 4.55389591e-02 -6.66855141e-04 9.98962341e-01 1.14192893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.71, Y:119.61, Z:114.20 [[ 7.88133223e-01 6.14478419e-01 -3.55287932e-02 4.56706551e+02] [-6.13817728e-01 7.88933363e-01 2.84946702e-02 1.19606233e+02] [ 4.55392102e-02 -6.49393141e-04 9.98962341e-01 1.14195056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.75, Y:119.57, Z:114.20 [[ 7.87540118e-01 6.15238780e-01 -3.55219100e-02 4.56753735e+02] [-6.14578474e-01 7.88340576e-01 2.85032484e-02 1.19565394e+02] [ 4.55396667e-02 -6.16450334e-04 9.98962341e-01 1.14199536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.80, Y:119.53, Z:114.20 [[ 7.88934280e-01 6.13450452e-01 -3.55140060e-02 4.56804063e+02] [-6.12787889e-01 7.89732871e-01 2.85130931e-02 1.19527638e+02] [ 4.55379477e-02 -7.32403831e-04 9.98962341e-01 1.14204539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.85, Y:119.49, Z:114.21 [[ 7.89766551e-01 6.12379073e-01 -3.55058573e-02 4.56853034e+02] [-6.11714971e-01 7.90563861e-01 2.85232367e-02 1.19489497e+02] [ 4.55366809e-02 -8.07233802e-04 9.98962341e-01 1.14205654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.90, Y:119.45, Z:114.21 [[ 7.91074691e-01 6.10688710e-01 -3.54983425e-02 4.56902320e+02] [-6.10022485e-01 7.91870229e-01 2.85325861e-02 1.19452283e+02] [ 4.55346088e-02 -9.16619662e-04 9.98962341e-01 1.14209811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.95, Y:119.41, Z:114.21 [[ 7.92432176e-01 6.08926618e-01 -3.54911353e-02 4.56950605e+02] [-6.08258223e-01 7.93225891e-01 2.85415481e-02 1.19414213e+02] [ 4.55321958e-02 -1.02946618e-03 9.98962341e-01 1.14211477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.00, Y:119.38, Z:114.21 [[ 7.94058160e-01 6.06805145e-01 -3.54845611e-02 4.57002688e+02] [-6.06134265e-01 7.94849776e-01 2.85497193e-02 1.19378186e+02] [ 4.55290120e-02 -1.16172924e-03 9.98962341e-01 1.14213730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.05, Y:119.34, Z:114.22 [[ 7.94970801e-01 6.05609469e-01 -3.54767168e-02 4.57051397e+02] [-6.04936964e-01 7.95761036e-01 2.85594635e-02 1.19340281e+02] [ 4.55268704e-02 -1.24276221e-03 9.98962341e-01 1.14217953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.10, Y:119.30, Z:114.22 [[ 7.94531864e-01 6.06185639e-01 -3.54695391e-02 4.57101010e+02] [-6.05513310e-01 7.95322249e-01 2.85683751e-02 1.19302836e+02] [ 4.55274523e-02 -1.22120633e-03 9.98962342e-01 1.14221574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.15, Y:119.27, Z:114.22 [[ 7.92920401e-01 6.08292410e-01 -3.54623918e-02 4.57150491e+02] [-6.07621784e-01 7.93712233e-01 2.85772444e-02 1.19265598e+02] [ 4.55302550e-02 -1.11175833e-03 9.98962342e-01 1.14220541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.20, Y:119.23, Z:114.23 [[ 7.92186922e-01 6.09247488e-01 -3.54595501e-02 4.57200639e+02] [-6.08577659e-01 7.92979427e-01 2.85807700e-02 1.19228980e+02] [ 4.55314561e-02 -1.06142224e-03 9.98962342e-01 1.14226700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.25, Y:119.19, Z:114.23 [[ 7.89259200e-01 6.13035977e-01 -3.54514579e-02 4.57251707e+02] [-6.12369502e-01 7.90054529e-01 2.85908041e-02 1.19193494e+02] [ 4.55357763e-02 -8.56163538e-04 9.98962342e-01 1.14230414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.30, Y:119.16, Z:114.24 [[ 7.86792531e-01 6.16199057e-01 -3.54434104e-02 4.57301125e+02] [-6.15535331e-01 7.87590155e-01 2.86007769e-02 1.19156404e+02] [ 4.55386528e-02 -6.86206252e-04 9.98962342e-01 1.14236120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.850385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:457.35, Y:119.12, Z:114.24 [[ 7.86775281e-01 6.16221233e-01 -3.54407869e-02 4.57352226e+02] [-6.15557384e-01 7.87572801e-01 2.86040274e-02 1.19120943e+02] [ 4.55386089e-02 -6.89103603e-04 9.98962342e-01 1.14237139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.40, Y:119.09, Z:114.24 [[ 7.85948638e-01 6.17275377e-01 -3.54379269e-02 4.57403921e+02] [-6.16612438e-01 7.86746915e-01 2.86075703e-02 1.19086325e+02] [ 4.55394284e-02 -6.32614458e-04 9.98962342e-01 1.14236763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9703857229999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:457.45, Y:119.05, Z:114.24 [[ 7.86598154e-01 6.16447976e-01 -3.54293417e-02 4.57454465e+02] [-6.15783718e-01 7.87395334e-01 2.86181987e-02 1.19049283e+02] [ 4.55385290e-02 -6.94210526e-04 9.98962342e-01 1.14236339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.50, Y:119.01, Z:114.24 [[ 7.87184598e-01 6.15699336e-01 -3.54222688e-02 4.57503770e+02] [-6.15033926e-01 7.87980816e-01 2.86269506e-02 1.19011178e+02] [ 4.55376628e-02 -7.48797536e-04 9.98962342e-01 1.14241685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.55, Y:118.97, Z:114.24 [[ 7.88775283e-01 6.13660643e-01 -3.54142261e-02 4.57552984e+02] [-6.12992730e-01 7.89569403e-01 2.86368968e-02 1.18974374e+02] [ 4.55353258e-02 -8.79413289e-04 9.98962342e-01 1.14243520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.60, Y:118.94, Z:114.25 [[ 7.90394737e-01 6.11573775e-01 -3.54073115e-02 4.57603035e+02] [-6.10903382e-01 7.91186765e-01 2.86454435e-02 1.18937708e+02] [ 4.55325983e-02 -1.01076146e-03 9.98962342e-01 1.14250219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.65, Y:118.90, Z:114.25 [[ 7.90975260e-01 6.10823204e-01 -3.53998745e-02 4.57653870e+02] [-6.10151649e-01 7.91766302e-01 2.86546313e-02 1.18903592e+02] [ 4.55313414e-02 -1.06581266e-03 9.98962342e-01 1.14248844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.71, Y:118.87, Z:114.25 [[ 7.91478786e-01 6.10171006e-01 -3.53931332e-02 4.57705066e+02] [-6.09498428e-01 7.92268958e-01 2.86629554e-02 1.18867034e+02] [ 4.55301851e-02 -1.11406211e-03 9.98962342e-01 1.14252235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.330385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:457.76, Y:118.83, Z:114.26 [[ 7.91668312e-01 6.09925543e-01 -3.53852409e-02 4.57756300e+02] [-6.09252284e-01 7.92457905e-01 2.86726953e-02 1.18829882e+02] [ 4.55295232e-02 -1.14072542e-03 9.98962342e-01 1.14256682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.81, Y:118.79, Z:114.26 [[ 7.91388971e-01 6.10288417e-01 -3.53771726e-02 4.57806148e+02] [-6.09615075e-01 7.92178494e-01 2.86826469e-02 1.18793846e+02] [ 4.55297224e-02 -1.13267268e-03 9.98962342e-01 1.14258828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.450385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:457.86, Y:118.76, Z:114.26 [[ 7.88848774e-01 6.13568736e-01 -3.53697231e-02 4.57857184e+02] [-6.12898267e-01 7.89640737e-01 2.86918301e-02 1.18758725e+02] [ 4.55337842e-02 -9.55473054e-04 9.98962342e-01 1.14257991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.91, Y:118.72, Z:114.26 [[ 7.87049921e-01 6.15874899e-01 -3.53628421e-02 4.57907869e+02] [-6.15206370e-01 7.87843522e-01 2.87003085e-02 1.18720840e+02] [ 4.55361857e-02 -8.33129852e-04 9.98962342e-01 1.14263353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.96, Y:118.68, Z:114.27 [[ 7.85822844e-01 6.17440278e-01 -3.53547788e-02 4.57956055e+02] [-6.16772884e-01 7.86617399e-01 2.87102380e-02 1.18683029e+02] [ 4.55375415e-02 -7.55292036e-04 9.98962343e-01 1.14269144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:458.01, Y:118.65, Z:114.27 [[ 7.85558126e-01 6.17777408e-01 -3.53483313e-02 4.58006355e+02] [-6.17109998e-01 7.86352667e-01 2.87181739e-02 1.18645376e+02] [ 4.55376937e-02 -7.45986246e-04 9.98962343e-01 1.14272316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.05, Y:118.61, Z:114.28 [[ 7.85245565e-01 6.18175113e-01 -3.53402284e-02 4.58054736e+02] [-6.17507656e-01 7.86040068e-01 2.87281419e-02 1.18606300e+02] [ 4.55378579e-02 -7.35784378e-04 9.98962343e-01 1.14275538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.10, Y:118.57, Z:114.28 [[ 7.83744945e-01 6.20076977e-01 -3.53327427e-02 4.58103881e+02] [-6.19411034e-01 7.84540717e-01 2.87373456e-02 1.18566921e+02] [ 4.55393417e-02 -6.37258714e-04 9.98962343e-01 1.14278129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.810385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:458.15, Y:118.53, Z:114.28 [[ 7.82956409e-01 6.21072797e-01 -3.53248053e-02 4.58152617e+02] [-6.20407426e-01 7.83752659e-01 2.87470992e-02 1.18527804e+02] [ 4.55399514e-02 -5.91954105e-04 9.98962343e-01 1.14278714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.20, Y:118.49, Z:114.28 [[ 7.83414949e-01 6.20494692e-01 -3.53179245e-02 4.58198102e+02] [-6.19828352e-01 7.84210388e-01 2.87555502e-02 1.18486425e+02] [ 4.55393496e-02 -6.36476969e-04 9.98962343e-01 1.14281997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.930385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:458.25, Y:118.45, Z:114.29 [[ 7.82688050e-01 6.21411760e-01 -3.53106329e-02 4.58246527e+02] [-6.20745949e-01 7.83483931e-01 2.87645012e-02 1.18445777e+02] [ 4.55399128e-02 -5.94699015e-04 9.98962343e-01 1.14285761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.990385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:458.29, Y:118.40, Z:114.29 [[ 7.81691769e-01 6.22664996e-01 -3.53027042e-02 4.58292005e+02] [-6.22000021e-01 7.82488350e-01 2.87742288e-02 1.18403950e+02] [ 4.55406599e-02 -5.34295076e-04 9.98962343e-01 1.14285863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.050385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:458.34, Y:118.36, Z:114.29 [[ 7.80518073e-01 6.24135995e-01 -3.52958513e-02 4.58337896e+02] [-6.23472142e-01 7.81315588e-01 2.87826325e-02 1.18361701e+02] [ 4.55414758e-02 -4.59384876e-04 9.98962343e-01 1.14291248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.38, Y:118.32, Z:114.29 [[ 7.81271541e-01 6.23193027e-01 -3.52878079e-02 4.58384613e+02] [-6.22527766e-01 7.82067883e-01 2.87924904e-02 1.18318841e+02] [ 4.55407405e-02 -5.27113096e-04 9.98962343e-01 1.14294237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.170385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:458.43, Y:118.27, Z:114.30 [[ 7.82777594e-01 6.21300713e-01 -3.52797784e-02 4.58428111e+02] [-6.20633084e-01 7.83571951e-01 2.88023257e-02 1.18273292e+02] [ 4.55391503e-02 -6.50017515e-04 9.98962343e-01 1.14297962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.47, Y:118.23, Z:114.30 [[ 7.84315225e-01 6.19358962e-01 -3.52718563e-02 4.58474527e+02] [-6.18688930e-01 7.85107557e-01 2.88120240e-02 1.18230937e+02] [ 4.55371862e-02 -7.75402060e-04 9.98962343e-01 1.14302110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.52, Y:118.19, Z:114.30 [[ 7.85156155e-01 6.18293022e-01 -3.52640055e-02 4.58521358e+02] [-6.17621484e-01 7.85947210e-01 2.88216297e-02 1.18188085e+02] [ 4.55358593e-02 -8.49672516e-04 9.98962343e-01 1.14303827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.350385723 meters Centerline goodness : 0.996495 with order 1 Centerline is valid? [True, True] Translation: X:458.99, Y:118.78, Z:115.29 [[ 8.08902079e-01 5.86885380e-01 -3.52558884e-02 4.58990463e+02] [-5.86182772e-01 8.09665671e-01 2.88315555e-02 1.18782126e+02] [ 4.54663009e-02 -2.65551083e-03 9.98962344e-01 1.15285597e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 659.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.45, Y:119.41, Z:116.27 [[ 8.29800036e-01 5.56878191e-01 -3.63122690e-02 4.59445414e+02] [-5.56207981e-01 8.30590206e-01 2.74333908e-02 1.19408444e+02] [ 4.54376721e-02 -2.56705483e-03 9.98963877e-01 1.16266979e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 659.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.49, Y:119.37, Z:116.27 [[ 8.27247422e-01 5.60603687e-01 -3.72183942e-02 4.59494694e+02] [-5.59994310e-01 8.28083866e-01 2.61435123e-02 1.19369157e+02] [ 4.54761012e-02 -7.85064210e-04 9.98965118e-01 1.16265149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.530385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:459.54, Y:119.33, Z:116.27 [[ 8.26036649e-01 5.62386704e-01 -3.72108832e-02 4.59541865e+02] [-5.61778651e-01 8.26874057e-01 2.61541986e-02 1.19328790e+02] [ 4.54774875e-02 -7.00046782e-04 9.98965119e-01 1.16267161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5903857229999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:459.59, Y:119.29, Z:116.27 [[ 8.24203075e-01 5.65070779e-01 -3.72062493e-02 4.59589766e+02] [-5.64465156e-01 8.25042242e-01 2.61607891e-02 1.19289553e+02] [ 4.54794248e-02 -5.60171493e-04 9.98965119e-01 1.16273787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:459.64, Y:119.25, Z:116.28 [[ 8.22327904e-01 5.67796634e-01 -3.71994860e-02 4.59636608e+02] [-5.67193358e-01 8.23168759e-01 2.61704026e-02 1.19246554e+02] [ 4.54809212e-02 -4.21350981e-04 9.98965119e-01 1.16275137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.68, Y:119.21, Z:116.28 [[ 8.19095622e-01 5.72450098e-01 -3.71920451e-02 4.59683791e+02] [-5.71851119e-01 8.19939543e-01 2.61809729e-02 1.19205983e+02] [ 4.54825290e-02 -1.76407691e-04 9.98965119e-01 1.16281031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.770385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:459.73, Y:119.16, Z:116.28 [[ 8.16497085e-01 5.76150826e-01 -3.71851573e-02 4.59731390e+02] [-5.75555227e-01 8.17343395e-01 2.61907522e-02 1.19163379e+02] [ 4.54828662e-02 1.74387746e-05 9.98965119e-01 1.16279378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.830385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:459.78, Y:119.12, Z:116.29 [[ 8.17489937e-01 5.74741772e-01 -3.71765826e-02 4.59777917e+02] [-5.74144161e-01 8.18334827e-01 2.62029179e-02 1.19121911e+02] [ 4.54828038e-02 -7.59039072e-05 9.98965119e-01 1.16286011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.83, Y:119.09, Z:116.29 [[ 8.15055609e-01 5.78189290e-01 -3.71685365e-02 4.59830253e+02] [-5.77594732e-01 8.15902650e-01 2.62143262e-02 1.19086998e+02] [ 4.54827501e-02 1.02217291e-04 9.98965119e-01 1.16288775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.950385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:459.88, Y:119.05, Z:116.29 [[ 8.15176651e-01 5.78019081e-01 -3.71613949e-02 4.59882552e+02] [-5.77423885e-01 8.16023244e-01 2.62244463e-02 1.19052538e+02] [ 4.54827924e-02 8.03207242e-05 9.98965119e-01 1.16287821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.010385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:459.93, Y:119.02, Z:116.29 [[ 8.16916230e-01 5.75558400e-01 -3.71537588e-02 4.59933932e+02] [-5.74960162e-01 8.17760676e-01 2.62352603e-02 1.19016032e+02] [ 4.54828074e-02 -7.00787326e-05 9.98965119e-01 1.16290822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.070385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:459.99, Y:118.98, Z:116.30 [[ 8.20828002e-01 5.69966268e-01 -3.71462626e-02 4.59985611e+02] [-5.69361797e-01 8.21667997e-01 2.62458698e-02 1.18980051e+02] [ 4.54811557e-02 -3.93682055e-04 9.98965119e-01 1.16295562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.130385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:460.04, Y:118.94, Z:116.30 [[ 8.25303320e-01 5.63467074e-01 -3.71387494e-02 4.60037323e+02] [-5.62855511e-01 8.26138166e-01 2.62564970e-02 1.18943576e+02] [ 4.54764099e-02 -7.65824418e-04 9.98965119e-01 1.16299112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.09, Y:118.91, Z:116.30 [[ 8.28622393e-01 5.58574889e-01 -3.71351899e-02 4.60089420e+02] [-5.57958173e-01 8.29453440e-01 2.62615304e-02 1.18910108e+02] [ 4.54709424e-02 -1.04100946e-03 9.98965119e-01 1.16303079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.14, Y:118.88, Z:116.31 [[ 8.29932198e-01 5.56627424e-01 -3.71275797e-02 4.60141696e+02] [-5.56008277e-01 8.30761435e-01 2.62722849e-02 1.18875107e+02] [ 4.54680357e-02 -1.16097355e-03 9.98965119e-01 1.16305498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.310385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:460.19, Y:118.84, Z:116.31 [[ 8.30410065e-01 5.55914736e-01 -3.71204835e-02 4.60194393e+02] [-5.55294429e-01 8.31238436e-01 2.62823075e-02 1.18840476e+02] [ 4.54666946e-02 -1.21229498e-03 9.98965120e-01 1.16308062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.24, Y:118.80, Z:116.32 [[ 8.28219353e-01 5.59173765e-01 -3.71133937e-02 4.60243646e+02] [-5.58556271e-01 8.29049821e-01 2.62923152e-02 1.18802932e+02] [ 4.54708253e-02 -1.04588553e-03 9.98965120e-01 1.16315975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.430385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:460.30, Y:118.77, Z:116.31 [[ 8.28587772e-01 5.58628140e-01 -3.71066719e-02 4.60297068e+02] [-5.58009674e-01 8.29417518e-01 2.63017983e-02 1.18772959e+02] [ 4.54698484e-02 -1.08746657e-03 9.98965120e-01 1.16313684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.35, Y:118.74, Z:116.32 [[ 8.27868840e-01 5.59693430e-01 -3.71005134e-02 4.60348239e+02] [-5.59075644e-01 8.28699091e-01 2.63104824e-02 1.18737685e+02] [ 4.54709659e-02 -1.03963516e-03 9.98965120e-01 1.16316666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:460.40, Y:118.70, Z:116.32 [[ 8.26471732e-01 5.61754579e-01 -3.70981020e-02 4.60399616e+02] [-5.61138711e-01 8.27303407e-01 2.63138820e-02 1.18701807e+02] [ 4.54733299e-02 -9.30498503e-04 9.98965120e-01 1.16323565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.45, Y:118.67, Z:116.33 [[ 8.25083577e-01 5.63792014e-01 -3.70898334e-02 4.60451488e+02] [-5.63177676e-01 8.25916383e-01 2.63255317e-02 1.18666920e+02] [ 4.54752256e-02 -8.32597738e-04 9.98965120e-01 1.16327543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:460.50, Y:118.63, Z:116.33 [[ 8.24211856e-01 5.65066142e-01 -3.70819509e-02 4.60502845e+02] [-5.64452592e-01 8.25045243e-01 2.63366302e-02 1.18634552e+02] [ 4.54762252e-02 -7.75959537e-04 9.98965120e-01 1.16329090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:460.55, Y:118.60, Z:116.34 [[ 8.20011185e-01 5.71145198e-01 -3.70785523e-02 4.60551891e+02] [-5.70537611e-01 8.20848929e-01 2.63414141e-02 1.18597532e+02] [ 4.54806622e-02 -4.45545582e-04 9.98965120e-01 1.16336598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:460.60, Y:118.57, Z:116.33 [[ 8.20807881e-01 5.70000101e-01 -3.70716464e-02 4.60604637e+02] [-5.69390906e-01 8.21644457e-01 2.63511297e-02 1.18566810e+02] [ 4.54798593e-02 -5.20956603e-04 9.98965120e-01 1.16334929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.850385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:460.65, Y:118.53, Z:116.34 [[ 8.17930949e-01 5.74121115e-01 -3.70662692e-02 4.60653439e+02] [-5.73515793e-01 8.18770330e-01 2.63586911e-02 1.18528283e+02] [ 4.54818427e-02 -3.01498444e-04 9.98965120e-01 1.16340648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.71, Y:118.50, Z:116.34 [[ 8.18986666e-01 5.72614556e-01 -3.70595694e-02 4.60706878e+02] [-5.72007264e-01 8.19824623e-01 2.63681076e-02 1.18497690e+02] [ 4.54811097e-02 -3.96785605e-04 9.98965120e-01 1.16338391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9703857229999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:460.76, Y:118.46, Z:116.34 [[ 8.20154855e-01 5.70940501e-01 -3.70534362e-02 4.60758022e+02] [-5.70331110e-01 8.20991287e-01 2.63767233e-02 1.18460867e+02] [ 4.54800879e-02 -5.00270269e-04 9.98965120e-01 1.16341151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.81, Y:118.42, Z:116.34 [[ 8.22512973e-01 5.67538525e-01 -3.70463318e-02 4.60808202e+02] [-5.66925226e-01 8.23346544e-01 2.63866978e-02 1.18423612e+02] [ 4.54774368e-02 -7.00901233e-04 9.98965120e-01 1.16342743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0903857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:460.86, Y:118.39, Z:116.34 [[ 8.25729746e-01 5.62848314e-01 -3.70427084e-02 4.60861386e+02] [-5.62230052e-01 8.26559643e-01 2.63917835e-02 1.18391315e+02] [ 4.54725786e-02 -9.65956875e-04 9.98965120e-01 1.16344665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.150385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:460.91, Y:118.36, Z:116.35 [[ 8.26798736e-01 5.61277310e-01 -3.70355488e-02 4.60913242e+02] [-5.60657022e-01 8.27627119e-01 2.64018268e-02 1.18356246e+02] [ 4.54703708e-02 -1.06475654e-03 9.98965120e-01 1.16347341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.210385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:460.97, Y:118.32, Z:116.35 [[ 8.26218829e-01 5.62131106e-01 -3.70279141e-02 4.60965553e+02] [-5.61511194e-01 8.27047494e-01 2.64125299e-02 1.18323063e+02] [ 4.54711482e-02 -1.03094124e-03 9.98965120e-01 1.16348298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.270385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:461.01, Y:118.29, Z:116.36 [[ 8.24293576e-01 5.64950906e-01 -3.70212605e-02 4.61014203e+02] [-5.64333411e-01 8.25124043e-01 2.64218526e-02 1.18285904e+02] [ 4.54741817e-02 -8.87029088e-04 9.98965121e-01 1.16355130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.07, Y:118.25, Z:116.36 [[ 8.22609949e-01 5.67399991e-01 -3.70151648e-02 4.61067288e+02] [-5.66784585e-01 8.23441964e-01 2.64303895e-02 1.18253319e+02] [ 4.54764428e-02 -7.62276488e-04 9.98965121e-01 1.16358196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.390385723 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:461.12, Y:118.22, Z:116.36 [[ 8.20435554e-01 5.70539950e-01 -3.70090214e-02 4.61120807e+02] [-5.69927340e-01 8.21269631e-01 2.64389890e-02 1.18220647e+02] [ 4.54788848e-02 -5.99033425e-04 9.98965121e-01 1.16359455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.450385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:461.17, Y:118.19, Z:116.36 [[ 8.18641806e-01 5.73111176e-01 -3.70023397e-02 4.61172661e+02] [-5.72500764e-01 8.19477493e-01 2.64483369e-02 1.18185759e+02] [ 4.54804221e-02 -4.67846525e-04 9.98965121e-01 1.16363771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.23, Y:118.15, Z:116.36 [[ 8.18786412e-01 5.72905056e-01 -3.69947080e-02 4.61226829e+02] [-5.72293951e-01 8.19621592e-01 2.64590076e-02 1.18153415e+02] [ 4.54801607e-02 -4.92428291e-04 9.98965121e-01 1.16362633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.570385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:461.27, Y:118.12, Z:116.37 [[ 8.16827777e-01 5.75694651e-01 -3.69871814e-02 4.61273717e+02] [-5.75085922e-01 8.17664690e-01 2.64695249e-02 1.18115054e+02] [ 4.54814761e-02 -3.50235867e-04 9.98965121e-01 1.16370151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.32, Y:118.08, Z:116.38 [[ 8.16476270e-01 5.76193305e-01 -3.69834655e-02 4.61324959e+02] [-5.75584852e-01 8.17313384e-01 2.64747157e-02 1.18078392e+02] [ 4.54816353e-02 -3.28854634e-04 9.98965121e-01 1.16375194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.690385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:461.38, Y:118.05, Z:116.37 [[ 8.17988013e-01 5.74045624e-01 -3.69761157e-02 4.61378488e+02] [-5.73434509e-01 8.18823186e-01 2.64849768e-02 1.18045931e+02] [ 4.54804859e-02 -4.61012759e-04 9.98965121e-01 1.16370102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.43, Y:118.01, Z:116.37 [[ 8.16796418e-01 5.75740285e-01 -3.69693994e-02 4.61427021e+02] [-5.75130479e-01 8.17632547e-01 2.64943487e-02 1.18006565e+02] [ 4.54812480e-02 -3.78260701e-04 9.98965121e-01 1.16374946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.810385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:461.47, Y:117.97, Z:116.38 [[ 8.15551294e-01 5.77503114e-01 -3.69626945e-02 4.61474128e+02] [-5.76894691e-01 8.16388430e-01 2.65036994e-02 1.17967188e+02] [ 4.54818851e-02 -2.91544147e-04 9.98965121e-01 1.16381541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.53, Y:117.93, Z:116.38 [[ 8.17874442e-01 5.74208680e-01 -3.69565812e-02 4.61525205e+02] [-5.73596501e-01 8.18708835e-01 2.65122211e-02 1.17931087e+02] [ 4.54802270e-02 -4.85502353e-04 9.98965121e-01 1.16380111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.930385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:461.57, Y:117.89, Z:116.39 [[ 8.17801528e-01 5.74312952e-01 -3.69498902e-02 4.61571780e+02] [-5.73700458e-01 8.18635689e-01 2.65215429e-02 1.17892042e+02] [ 4.54801645e-02 -4.91189334e-04 9.98965121e-01 1.16387642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.62, Y:117.85, Z:116.39 [[ 8.20314293e-01 5.70718509e-01 -3.69438020e-02 4.61620941e+02] [-5.70101978e-01 8.21145476e-01 2.65300210e-02 1.17853140e+02] [ 4.54774099e-02 -7.01220828e-04 9.98965121e-01 1.16390201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.67, Y:117.82, Z:116.39 [[ 8.23176463e-01 5.66582922e-01 -3.69364617e-02 4.61671207e+02] [-5.65961759e-01 8.24004189e-01 2.65402366e-02 1.17816465e+02] [ 4.54730440e-02 -9.42673301e-04 9.98965121e-01 1.16389968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.72, Y:117.78, Z:116.39 [[ 8.21630575e-01 5.68822538e-01 -3.69339856e-02 4.61718728e+02] [-5.68203476e-01 8.22459873e-01 2.65436820e-02 1.17777508e+02] [ 4.54753656e-02 -8.23081688e-04 9.98965121e-01 1.16393169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.77, Y:117.74, Z:116.40 [[ 8.21111548e-01 5.69571928e-01 -3.69275556e-02 4.61768273e+02] [-5.68953221e-01 8.21941111e-01 2.65526243e-02 1.17740377e+02] [ 4.54759055e-02 -7.92614772e-04 9.98965121e-01 1.16397851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:461.82, Y:117.70, Z:116.40 [[ 8.19268929e-01 5.72219581e-01 -3.69211763e-02 4.61817459e+02] [-5.71603155e-01 8.20100189e-01 2.65614917e-02 1.17701949e+02] [ 4.54780693e-02 -6.56744017e-04 9.98965121e-01 1.16400057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.87, Y:117.66, Z:116.41 [[ 8.17525809e-01 5.74707501e-01 -3.69166712e-02 4.61867764e+02] [-5.74093322e-01 8.18358730e-01 2.65677517e-02 1.17664684e+02] [ 4.54797664e-02 -5.26208221e-04 9.98965122e-01 1.16405212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.92, Y:117.63, Z:116.41 [[ 8.15650028e-01 5.77367068e-01 -3.69093538e-02 4.61917948e+02] [-5.76755146e-01 8.16484609e-01 2.65779135e-02 1.17628700e+02] [ 4.54811313e-02 -3.90616178e-04 9.98965122e-01 1.16407039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.97, Y:117.59, Z:116.41 [[ 8.15238711e-01 5.77948134e-01 -3.69025673e-02 4.61965186e+02] [-5.77336380e-01 8.16073415e-01 2.65873330e-02 1.17587687e+02] [ 4.54813036e-02 -3.69828424e-04 9.98965122e-01 1.16412106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.01, Y:117.55, Z:116.41 [[ 8.16617739e-01 5.75998451e-01 -3.68951623e-02 4.62014302e+02] [-5.75384241e-01 8.17450636e-01 2.65976049e-02 1.17549937e+02] [ 4.54801532e-02 -4.91181035e-04 9.98965122e-01 1.16413989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.06, Y:117.51, Z:116.42 [[ 8.17211029e-01 5.75156836e-01 -3.68883280e-02 4.62063135e+02] [-5.74541340e-01 8.18042977e-01 2.66070802e-02 1.17510935e+02] [ 4.54794817e-02 -5.49729975e-04 9.98965122e-01 1.16416021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.11, Y:117.47, Z:116.42 [[ 8.18712605e-01 5.73017540e-01 -3.68858952e-02 4.62111588e+02] [-5.72399719e-01 8.19542827e-01 2.66104523e-02 1.17471645e+02] [ 4.54778268e-02 -6.72836705e-04 9.98965122e-01 1.16421838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:462.16, Y:117.43, Z:116.42 [[ 8.19274710e-01 5.72214090e-01 -3.68779769e-02 4.62160598e+02] [-5.71594961e-01 8.20103957e-01 2.66214214e-02 1.17432282e+02] [ 4.54769272e-02 -7.30991533e-04 9.98965122e-01 1.16420675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.21, Y:117.40, Z:116.43 [[ 8.20188072e-01 5.70904511e-01 -3.68722816e-02 4.62210379e+02] [-5.70283703e-01 8.21016064e-01 2.66293074e-02 1.17395409e+02] [ 4.54755272e-02 -8.13379057e-04 9.98965122e-01 1.16426346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:462.26, Y:117.36, Z:116.43 [[ 8.20734843e-01 5.70118526e-01 -3.68671165e-02 4.62259933e+02] [-5.69496605e-01 8.21561998e-01 2.66364564e-02 1.17356568e+02] [ 4.54745591e-02 -8.65770180e-04 9.98965122e-01 1.16430109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.830385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:462.31, Y:117.32, Z:116.43 [[ 8.19884605e-01 5.71341047e-01 -3.68597687e-02 4.62310069e+02] [-5.70719902e-01 8.20712343e-01 2.66466204e-02 1.17318886e+02] [ 4.54755752e-02 -8.10550198e-04 9.98965122e-01 1.16432801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.36, Y:117.28, Z:116.44 [[ 8.18229521e-01 5.73709295e-01 -3.68523535e-02 4.62357793e+02] [-5.73090084e-01 8.19058708e-01 2.66568718e-02 1.17281450e+02] [ 4.54775361e-02 -6.91721078e-04 9.98965122e-01 1.16436434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.41, Y:117.24, Z:116.44 [[ 8.15895713e-01 5.77023854e-01 -3.68464025e-02 4.62408273e+02] [-5.76407640e-01 8.16727130e-01 2.66650949e-02 1.17243777e+02] [ 4.54798524e-02 -5.17388634e-04 9.98965122e-01 1.16439196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.46, Y:117.21, Z:116.44 [[ 8.13217529e-01 5.80792679e-01 -3.68390522e-02 4.62457757e+02] [-5.80179859e-01 8.14051449e-01 2.66752458e-02 1.17206570e+02] [ 4.54816713e-02 -3.19501331e-04 9.98965122e-01 1.16441707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.51, Y:117.17, Z:116.45 [[ 8.11277398e-01 5.83499827e-01 -3.68366109e-02 4.62506249e+02] [-5.82889637e-01 8.12113245e-01 2.66786167e-02 1.17169075e+02] [ 4.54824678e-02 -1.72080014e-04 9.98965122e-01 1.16447607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.56, Y:117.13, Z:116.45 [[ 8.10114791e-01 5.85113286e-01 -3.68302683e-02 4.62556038e+02] [-5.84504363e-01 8.10951561e-01 2.66873699e-02 1.17132133e+02] [ 4.54826982e-02 -9.23806161e-05 9.98965122e-01 1.16449821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.61, Y:117.09, Z:116.45 [[ 8.09897373e-01 5.85414611e-01 -3.68236264e-02 4.62605074e+02] [-5.84805582e-01 8.10734066e-01 2.66965313e-02 1.17094996e+02] [ 4.54827079e-02 -8.67882352e-05 9.98965122e-01 1.16451699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.65, Y:117.06, Z:116.46 [[ 8.11900340e-01 5.82633969e-01 -3.68170668e-02 4.62654399e+02] [-5.82021665e-01 8.12734639e-01 2.67055745e-02 1.17055555e+02] [ 4.54820804e-02 -2.53934525e-04 9.98965122e-01 1.16457081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.71, Y:117.02, Z:116.46 [[ 8.13979427e-01 5.79726245e-01 -3.68099684e-02 4.62705709e+02] [-5.79110519e-01 8.14811203e-01 2.67153552e-02 1.17019044e+02] [ 4.54807672e-02 -4.28709589e-04 9.98965123e-01 1.16459271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.76, Y:116.98, Z:116.46 [[ 8.15986167e-01 5.76898721e-01 -3.68027280e-02 4.62755526e+02] [-5.76279663e-01 8.16815467e-01 2.67253257e-02 1.16981835e+02] [ 4.54788437e-02 -5.98832418e-04 9.98965123e-01 1.16461690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.81, Y:116.94, Z:116.47 [[ 8.18022624e-01 5.74007846e-01 -3.67964605e-02 4.62806505e+02] [-5.73385470e-01 8.18849436e-01 2.67339523e-02 1.16944440e+02] [ 4.54762593e-02 -7.70422067e-04 9.98965123e-01 1.16465405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.86, Y:116.91, Z:116.47 [[ 8.19017954e-01 5.72587234e-01 -3.67892599e-02 4.62859400e+02] [-5.71962979e-01 8.19843349e-01 2.67438576e-02 1.16909782e+02] [ 4.54746215e-02 -8.61604886e-04 9.98965123e-01 1.16468499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.91, Y:116.88, Z:116.47 [[ 8.19147605e-01 5.72402213e-01 -3.67819072e-02 4.62911730e+02] [-5.71777317e-01 8.19972515e-01 2.67539662e-02 1.16875793e+02] [ 4.54741824e-02 -8.84387150e-04 9.98965123e-01 1.16470703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.96, Y:116.84, Z:116.48 [[ 8.16850112e-01 5.75676545e-01 -3.67751242e-02 4.62962325e+02] [-5.75054537e-01 8.17677201e-01 2.67632867e-02 1.16841315e+02] [ 4.54771770e-02 -7.13891713e-04 9.98965123e-01 1.16477421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.02, Y:116.81, Z:116.48 [[ 8.15453480e-01 5.77653588e-01 -3.67689304e-02 4.63015609e+02] [-5.77033202e-01 8.16281786e-01 2.67717934e-02 1.16807743e+02] [ 4.54786307e-02 -6.14258469e-04 9.98965123e-01 1.16479411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.730385723 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:463.06, Y:116.77, Z:116.48 [[ 8.14485917e-01 5.79017510e-01 -3.67615875e-02 4.63064160e+02] [-5.78398056e-01 8.15314921e-01 2.67818724e-02 1.16769450e+02] [ 4.54794439e-02 -5.50627211e-04 9.98965123e-01 1.16479984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.790385723 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:463.12, Y:116.73, Z:116.48 [[ 8.14574314e-01 5.78893411e-01 -3.67573961e-02 4.63115332e+02] [-5.78273571e-01 8.15403029e-01 2.67876238e-02 1.16732851e+02] [ 4.54792710e-02 -5.64679524e-04 9.98965123e-01 1.16481659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.850385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:463.60, Y:117.42, Z:117.44 [[ 8.42540694e-01 5.37377311e-01 -3.67533030e-02 4.63597639e+02] [-5.36716507e-01 8.43337129e-01 2.67932384e-02 1.17420817e+02] [ 4.53935035e-02 -2.84828925e-03 9.98965123e-01 1.17441222e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 663.910385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:463.65, Y:117.39, Z:117.44 [[ 8.43035943e-01 5.36517934e-01 -3.79329048e-02 4.63650703e+02] [-5.35935501e-01 8.43888585e-01 2.50038766e-02 1.17388281e+02] [ 4.54261736e-02 -7.49576335e-04 9.98967417e-01 1.17441992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.70, Y:117.36, Z:117.45 [[ 8.43387390e-01 5.35965800e-01 -3.79258623e-02 4.63704411e+02] [-5.35382329e-01 8.44239323e-01 2.50145541e-02 1.17357326e+02] [ 4.54254498e-02 -7.92123032e-04 9.98967417e-01 1.17445763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.030385723 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:463.76, Y:117.32, Z:117.45 [[ 8.42764419e-01 5.36945282e-01 -3.79196207e-02 4.63755898e+02] [-5.36362376e-01 8.43616738e-01 2.50240121e-02 1.17322139e+02] [ 4.54261520e-02 -7.50689168e-04 9.98967417e-01 1.17448450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0903857229999 meters Centerline goodness : 0.994703 with order 1 Centerline is valid? [True, True] Translation: X:464.20, Y:118.01, Z:118.40 [[ 8.66679843e-01 4.97421728e-01 -3.79166874e-02 4.64195883e+02] [-4.96799860e-01 8.67504165e-01 2.50284559e-02 1.18014771e+02] [ 4.53425821e-02 -2.85465325e-03 9.98967418e-01 1.18404093e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 664.150385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:464.25, Y:117.99, Z:118.41 [[ 8.66743938e-01 4.97224810e-01 -3.90183871e-02 4.64253400e+02] [-4.96685001e-01 8.67621455e-01 2.31736910e-02 1.17990180e+02] [ 4.53757239e-02 -7.05808556e-04 9.98969742e-01 1.18406181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.210385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:464.31, Y:117.96, Z:118.41 [[ 8.68395210e-01 4.94335789e-01 -3.90113655e-02 4.64310036e+02] [-4.93792530e-01 8.69270597e-01 2.31855052e-02 1.17962439e+02] [ 4.53728580e-02 -8.70660837e-04 9.98969742e-01 1.18409384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.37, Y:117.94, Z:118.41 [[ 8.69856837e-01 4.91759821e-01 -3.90046453e-02 4.64366774e+02] [-4.91213463e-01 8.70730292e-01 2.31968051e-02 1.17935580e+02] [ 4.53697829e-02 -1.01829263e-03 9.98969742e-01 1.18410364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.330385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:464.42, Y:117.91, Z:118.41 [[ 8.71139812e-01 4.89484031e-01 -3.89975836e-02 4.64423762e+02] [-4.88934861e-01 8.72011502e-01 2.32086709e-02 1.17909323e+02] [ 4.53666152e-02 -1.15071904e-03 9.98969742e-01 1.18410723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.48, Y:117.88, Z:118.42 [[ 8.70022944e-01 4.91466960e-01 -3.89910859e-02 4.64477269e+02] [-4.90919288e-01 8.70895576e-01 2.32195820e-02 1.17880658e+02] [ 4.53688216e-02 -1.06009298e-03 9.98969742e-01 1.18417983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.53, Y:117.86, Z:118.41 [[ 8.70100039e-01 4.91330880e-01 -3.89857409e-02 4.64534809e+02] [-4.90782670e-01 8.70972333e-01 2.32285528e-02 1.17856187e+02] [ 4.53684070e-02 -1.07763874e-03 9.98969742e-01 1.18414592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.59, Y:117.83, Z:118.42 [[ 8.69297942e-01 4.92749059e-01 -3.89801599e-02 4.64591237e+02] [-4.92201852e-01 8.70170866e-01 2.32379147e-02 1.17827832e+02] [ 4.53698601e-02 -1.01456456e-03 9.98969743e-01 1.18419302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:464.65, Y:117.80, Z:118.42 [[ 8.67355960e-01 4.96159965e-01 -3.89734210e-02 4.64646794e+02] [-4.95615685e-01 8.68230711e-01 2.32492113e-02 1.17801504e+02] [ 4.53732489e-02 -8.49503219e-04 9.98969743e-01 1.18424350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.70, Y:117.77, Z:118.43 [[ 8.66543795e-01 4.97577474e-01 -3.89680412e-02 4.64701604e+02] [-4.97034220e-01 8.67419183e-01 2.32582248e-02 1.17773139e+02] [ 4.53743953e-02 -7.85820452e-04 9.98969743e-01 1.18425267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.690385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:464.76, Y:117.75, Z:118.43 [[ 8.67151559e-01 4.96517784e-01 -3.89649005e-02 4.64757100e+02] [-4.95973223e-01 8.68026136e-01 2.32634853e-02 1.17745012e+02] [ 4.53732862e-02 -8.47420251e-04 9.98969743e-01 1.18428329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.750385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:464.81, Y:117.72, Z:118.43 [[ 8.66058296e-01 4.98422755e-01 -3.89587631e-02 4.64810822e+02] [-4.97879656e-01 8.66933781e-01 2.32737590e-02 1.17715711e+02] [ 4.53748389e-02 -7.59656433e-04 9.98969743e-01 1.18431544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.810385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:464.86, Y:117.68, Z:118.44 [[ 8.65036628e-01 5.00194073e-01 -3.89553738e-02 4.64864208e+02] [-4.99652512e-01 8.65913065e-01 2.32794306e-02 1.17683329e+02] [ 4.53762003e-02 -6.73409804e-04 9.98969743e-01 1.18435377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.870385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:464.92, Y:117.65, Z:118.44 [[ 8.64612635e-01 5.00927110e-01 -3.89489799e-02 4.64917903e+02] [-5.00385810e-01 8.65489233e-01 2.32901233e-02 1.17652032e+02] [ 4.53765769e-02 -6.47418028e-04 9.98969743e-01 1.18439648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.930385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:464.97, Y:117.62, Z:118.44 [[ 8.63527072e-01 5.02796602e-01 -3.89432116e-02 4.64972308e+02] [-5.02256765e-01 8.64404571e-01 2.32997646e-02 1.17621352e+02] [ 4.53777325e-02 -5.60485989e-04 9.98969743e-01 1.18440321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.990385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:465.02, Y:117.59, Z:118.44 [[ 8.62298856e-01 5.04900540e-01 -3.89374923e-02 4.65024844e+02] [-5.04362413e-01 8.63177405e-01 2.33093184e-02 1.17587692e+02] [ 4.53788510e-02 -4.60990987e-04 9.98969743e-01 1.18444486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.050385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:465.08, Y:117.56, Z:118.45 [[ 8.60753247e-01 5.07531505e-01 -3.89309500e-02 4.65077687e+02] [-5.06995570e-01 8.61633135e-01 2.33202402e-02 1.17555596e+02] [ 4.53799531e-02 -3.35153310e-04 9.98969743e-01 1.18446132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.110385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:465.13, Y:117.52, Z:118.45 [[ 8.59349539e-01 5.09904957e-01 -3.89269162e-02 4.65130049e+02] [-5.09371147e-01 8.60230718e-01 2.33269716e-02 1.17522292e+02] [ 4.53806675e-02 -2.17774406e-04 9.98969743e-01 1.18450488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.170385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:465.18, Y:117.49, Z:118.45 [[ 8.58656654e-01 5.11071035e-01 -3.89248880e-02 4.65180959e+02] [-5.10538268e-01 8.59538464e-01 2.33303555e-02 1.17486990e+02] [ 4.53809074e-02 -1.60120084e-04 9.98969743e-01 1.18452435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.230385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:465.23, Y:117.45, Z:118.45 [[ 8.58577858e-01 5.11203834e-01 -3.89191638e-02 4.65233014e+02] [-5.10670771e-01 8.59459489e-01 2.33399006e-02 1.17450827e+02] [ 4.53808913e-02 -1.64242492e-04 9.98969743e-01 1.18454948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:465.29, Y:117.42, Z:118.46 [[ 8.58632530e-01 5.11112497e-01 -3.89126493e-02 4.65285403e+02] [-5.10578848e-01 8.59513806e-01 2.33507565e-02 1.17415343e+02] [ 4.53808228e-02 -1.81743479e-04 9.98969743e-01 1.18458098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.34, Y:117.38, Z:118.46 [[ 8.59183861e-01 5.10185653e-01 -3.89061867e-02 4.65335622e+02] [-5.09650566e-01 8.60064265e-01 2.33615195e-02 1.17377302e+02] [ 4.53805329e-02 -2.43280437e-04 9.98969743e-01 1.18461773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:465.39, Y:117.34, Z:118.46 [[ 8.58947186e-01 5.10584510e-01 -3.88997481e-02 4.65385191e+02] [-5.10049346e-01 8.59827543e-01 2.33722356e-02 1.17340387e+02] [ 4.53805762e-02 -2.34724947e-04 9.98969743e-01 1.18463725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.44, Y:117.30, Z:118.47 [[ 8.58283923e-01 5.11699111e-01 -3.88937993e-02 4.65436586e+02] [-5.11164642e-01 8.59164702e-01 2.33821309e-02 1.17303267e+02] [ 4.53807950e-02 -1.87372014e-04 9.98969743e-01 1.18466468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.49, Y:117.27, Z:118.47 [[ 8.58402743e-01 5.11500243e-01 -3.88874288e-02 4.65488003e+02] [-5.10965090e-01 8.59283107e-01 2.33927209e-02 1.17268744e+02] [ 4.53806931e-02 -2.10257230e-04 9.98969744e-01 1.18467491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:465.54, Y:117.23, Z:118.47 [[ 8.59207382e-01 5.10147892e-01 -3.88819107e-02 4.65539207e+02] [-5.09610939e-01 8.60086648e-01 2.34018891e-02 1.17231708e+02] [ 4.53802367e-02 -2.92428869e-04 9.98969744e-01 1.18469882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.59, Y:117.20, Z:118.47 [[ 8.59903340e-01 5.08974405e-01 -3.88754424e-02 4.65591530e+02] [-5.08435766e-01 8.60781575e-01 2.34126294e-02 1.17196357e+02] [ 4.53796937e-02 -3.66932845e-04 9.98969744e-01 1.18472625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.64, Y:117.16, Z:118.48 [[ 8.60213756e-01 5.08450095e-01 -3.88689509e-02 4.65641260e+02] [-5.07910434e-01 8.61091363e-01 2.34234014e-02 1.17158360e+02] [ 4.53793486e-02 -4.07186373e-04 9.98969744e-01 1.18478860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:465.69, Y:117.12, Z:118.48 [[ 8.59773026e-01 5.09195455e-01 -3.88629858e-02 4.65690660e+02] [-5.08656108e-01 8.60650826e-01 2.34332943e-02 1.17120773e+02] [ 4.53795878e-02 -3.79419220e-04 9.98969744e-01 1.18480868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.74, Y:117.08, Z:118.48 [[ 8.59145108e-01 5.10254524e-01 -3.88587827e-02 4.65739961e+02] [-5.09715944e-01 8.60023378e-01 2.34402622e-02 1.17083621e+02] [ 4.53799614e-02 -3.31645530e-04 9.98969744e-01 1.18480367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.79, Y:117.04, Z:118.48 [[ 8.60235192e-01 5.08415064e-01 -3.88527547e-02 4.65789847e+02] [-5.07874155e-01 8.61112030e-01 2.34502495e-02 1.17043907e+02] [ 4.53790346e-02 -4.40419904e-04 9.98969744e-01 1.18484219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.84, Y:117.01, Z:118.49 [[ 8.60690107e-01 5.07645080e-01 -3.88460017e-02 4.65840699e+02] [-5.07102882e-01 8.61566149e-01 2.34614307e-02 1.17007374e+02] [ 4.53784799e-02 -4.94101861e-04 9.98969744e-01 1.18486654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.89, Y:116.97, Z:118.49 [[ 8.60848573e-01 5.07376801e-01 -3.88396247e-02 4.65890833e+02] [-5.06833853e-01 8.61724150e-01 2.34719828e-02 1.16970876e+02] [ 4.53781821e-02 -5.20586232e-04 9.98969744e-01 1.18488363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.94, Y:116.93, Z:118.49 [[ 8.60524440e-01 5.07926796e-01 -3.88337305e-02 4.65940647e+02] [-5.07383969e-01 8.61400091e-01 2.34817306e-02 1.16934147e+02] [ 4.53783792e-02 -5.02990760e-04 9.98969744e-01 1.18492644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.99, Y:116.90, Z:118.49 [[ 8.59058980e-01 5.10401863e-01 -3.88279121e-02 4.65994898e+02] [-5.09861123e-01 8.59935923e-01 2.34913476e-02 1.16902471e+02] [ 4.53795440e-02 -3.83610292e-04 9.98969744e-01 1.18494589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.05, Y:116.87, Z:118.50 [[ 8.58825509e-01 5.10795105e-01 -3.88214547e-02 4.66047835e+02] [-5.10254286e-01 8.59702402e-01 2.35020142e-02 1.16868515e+02] [ 4.53796116e-02 -3.75315676e-04 9.98969744e-01 1.18496974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.10, Y:116.84, Z:118.50 [[ 8.59526595e-01 5.09614973e-01 -3.88150944e-02 4.66101596e+02] [-5.09072475e-01 8.60402450e-01 2.35125138e-02 1.16837548e+02] [ 4.53789315e-02 -4.49934753e-04 9.98969744e-01 1.18498274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.16, Y:116.81, Z:118.50 [[ 8.59876398e-01 5.09024826e-01 -3.88111724e-02 4.66156552e+02] [-5.08481435e-01 8.60751699e-01 2.35189861e-02 1.16808530e+02] [ 4.53785304e-02 -4.88660429e-04 9.98969744e-01 1.18499744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.21, Y:116.78, Z:118.50 [[ 8.61053362e-01 5.07031800e-01 -3.88054387e-02 4.66212243e+02] [-5.06485956e-01 8.61927136e-01 2.35284427e-02 1.16779656e+02] [ 4.53771293e-02 -6.04834940e-04 9.98969744e-01 1.18503810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.27, Y:116.75, Z:118.51 [[ 8.61938814e-01 5.05525582e-01 -3.87990668e-02 4.66267942e+02] [-5.04977739e-01 8.62811336e-01 2.35389454e-02 1.16749658e+02] [ 4.53758137e-02 -6.96465675e-04 9.98969745e-01 1.18506044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.32, Y:116.72, Z:118.51 [[ 8.61661727e-01 5.05998230e-01 -3.87925261e-02 4.66322572e+02] [-5.05450381e-01 8.62534245e-01 2.35497196e-02 1.16719219e+02] [ 4.53759986e-02 -6.84194942e-04 9.98969745e-01 1.18508491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.38, Y:116.69, Z:118.51 [[ 8.59528280e-01 5.09614346e-01 -3.87860014e-02 4.66377439e+02] [-5.09069684e-01 8.60402790e-01 2.35604608e-02 1.16690278e+02] [ 4.53783327e-02 -5.06104924e-04 9.98969745e-01 1.18509965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.43, Y:116.66, Z:118.51 [[ 8.57126093e-01 5.13644775e-01 -3.87802220e-02 4.66431094e+02] [-5.13103795e-01 8.58002886e-01 2.35699698e-02 1.16658309e+02] [ 4.53801342e-02 -3.04157015e-04 9.98969745e-01 1.18513361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.670385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:466.48, Y:116.63, Z:118.52 [[ 8.55226153e-01 5.16802507e-01 -3.87736625e-02 4.66482897e+02] [-5.16264275e-01 8.56104635e-01 2.35807556e-02 1.16626399e+02] [ 4.53809058e-02 -1.49422127e-04 9.98969745e-01 1.18518611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.54, Y:116.59, Z:118.52 [[ 8.53066671e-01 5.20359745e-01 -3.87684218e-02 4.66537414e+02] [-5.19824784e-01 8.53947150e-01 2.35893685e-02 1.16594585e+02] [ 4.53811411e-02 2.94824739e-05 9.98969745e-01 1.18520635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.59, Y:116.56, Z:118.52 [[ 8.51106004e-01 5.23560946e-01 -3.87621613e-02 4.66590382e+02] [-5.23028829e-01 8.51988204e-01 2.35996512e-02 1.16559933e+02] [ 4.53807600e-02 1.87922984e-04 9.98969745e-01 1.18524653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.64, Y:116.53, Z:118.52 [[ 8.49598932e-01 5.26003468e-01 -3.87557218e-02 4.66642032e+02] [-5.25473405e-01 8.50482368e-01 2.36102217e-02 1.16528013e+02] [ 4.53801165e-02 3.05881964e-04 9.98969745e-01 1.18523926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.69, Y:116.49, Z:118.53 [[ 8.49517857e-01 5.26134778e-01 -3.87505666e-02 4.66694253e+02] [-5.25604465e-01 8.50401143e-01 2.36186796e-02 1.16493583e+02] [ 4.53801349e-02 3.02980806e-04 9.98969745e-01 1.18526100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.75, Y:116.46, Z:118.53 [[ 8.51368955e-01 5.23134514e-01 -3.87450949e-02 4.66745370e+02] [-5.22600680e-01 8.52250118e-01 2.36276522e-02 1.16460382e+02] [ 4.53809520e-02 1.32363434e-04 9.98969745e-01 1.18527602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.80, Y:116.43, Z:118.53 [[ 8.54960388e-01 5.17244565e-01 -3.87400952e-02 4.66797583e+02] [-5.16704290e-01 8.55837615e-01 2.36358469e-02 1.16425594e+02] [ 4.53807441e-02 -1.90539425e-04 9.98969745e-01 1.18531771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.85, Y:116.39, Z:118.53 [[ 8.57025512e-01 5.13816098e-01 -3.87335639e-02 4.66850227e+02] [-5.13271830e-01 8.57900268e-01 2.36465454e-02 1.16392514e+02] [ 4.53795105e-02 -3.84845395e-04 9.98969745e-01 1.18534633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.90, Y:116.36, Z:118.54 [[ 8.58125673e-01 5.11977029e-01 -3.87279133e-02 4.66902654e+02] [-5.11430469e-01 8.58998998e-01 2.36557962e-02 1.16360652e+02] [ 4.53784630e-02 -4.93011137e-04 9.98969745e-01 1.18538076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.96, Y:116.33, Z:118.54 [[ 8.57853062e-01 5.12434067e-01 -3.87227472e-02 4.66956171e+02] [-5.11887591e-01 8.58726439e-01 2.36642497e-02 1.16326980e+02] [ 4.53786145e-02 -4.78755275e-04 9.98969745e-01 1.18542568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.01, Y:116.30, Z:118.54 [[ 8.55196988e-01 5.16855053e-01 -3.87164763e-02 4.67010224e+02] [-5.16312627e-01 8.56072887e-01 2.36745050e-02 1.16295927e+02] [ 4.53804131e-02 -2.56559792e-04 9.98969745e-01 1.18544767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.06, Y:116.27, Z:118.55 [[ 8.52486131e-01 5.21314559e-01 -3.87108104e-02 4.67064727e+02] [-5.20776295e-01 8.53364594e-01 2.36837658e-02 1.16265539e+02] [ 4.53811269e-02 -3.04094655e-05 9.98969745e-01 1.18548584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.12, Y:116.23, Z:118.55 [[ 8.51817305e-01 5.22407194e-01 -3.87040285e-02 4.67117626e+02] [-5.21869554e-01 8.52696149e-01 2.36948436e-02 1.16234263e+02] [ 4.53811328e-02 1.47762454e-05 9.98969746e-01 1.18552403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.450385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:467.17, Y:116.20, Z:118.56 [[ 8.51483798e-01 5.22951072e-01 -3.86977791e-02 4.67172074e+02] [-5.22413529e-01 8.52362702e-01 2.37050456e-02 1.16202307e+02] [ 4.53811225e-02 3.17811042e-05 9.98969746e-01 1.18556322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.23, Y:116.17, Z:118.56 [[ 8.50881994e-01 5.23930167e-01 -3.86912373e-02 4.67226834e+02] [-5.23393150e-01 8.51761220e-01 2.37157183e-02 1.16172088e+02] [ 4.53810757e-02 7.14508776e-05 9.98969746e-01 1.18558381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.28, Y:116.14, Z:118.56 [[ 8.51082839e-01 5.23604023e-01 -3.86888670e-02 4.67280938e+02] [-5.23066493e-01 8.51961751e-01 2.37195844e-02 1.16141422e+02] [ 4.53811047e-02 4.95187901e-05 9.98969746e-01 1.18561051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.34, Y:116.11, Z:118.56 [[ 8.50732435e-01 5.24173679e-01 -3.86817499e-02 4.67335367e+02] [-5.23636210e-01 8.51611384e-01 2.37311853e-02 1.16110119e+02] [ 4.53810813e-02 6.62758454e-05 9.98969746e-01 1.18563327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.39, Y:116.08, Z:118.57 [[ 8.49817544e-01 5.25656125e-01 -3.86753080e-02 4.67387884e+02] [-5.25119713e-01 8.50697138e-01 2.37416792e-02 1.16077696e+02] [ 4.53809329e-02 1.33071098e-04 9.98969746e-01 1.18567870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.44, Y:116.05, Z:118.57 [[ 8.48695218e-01 5.27466679e-01 -3.86694920e-02 4.67442877e+02] [-5.26931711e-01 8.49575691e-01 2.37511483e-02 1.16047159e+02] [ 4.53805997e-02 2.18695559e-04 9.98969746e-01 1.18569824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.50, Y:116.02, Z:118.57 [[ 8.47968223e-01 5.28635115e-01 -3.86627511e-02 4.67497029e+02] [-5.28100860e-01 8.48849129e-01 2.37621162e-02 1.16016209e+02] [ 4.53803316e-02 2.68312643e-04 9.98969746e-01 1.18571294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.55, Y:115.99, Z:118.58 [[ 8.48981701e-01 5.27006245e-01 -3.86586136e-02 4.67551522e+02] [-5.26469994e-01 8.49861393e-01 2.37688457e-02 1.15986913e+02] [ 4.53807933e-02 1.73284985e-04 9.98969746e-01 1.18575827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:467.60, Y:115.96, Z:118.58 [[ 8.48342217e-01 5.28035475e-01 -3.86525437e-02 4.67604630e+02] [-5.27499842e-01 8.49222285e-01 2.37787123e-02 1.15956173e+02] [ 4.53806051e-02 2.16725135e-04 9.98969746e-01 1.18580779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.66, Y:115.92, Z:118.58 [[ 8.48395111e-01 5.27950733e-01 -3.86491860e-02 4.67659893e+02] [-5.27414763e-01 8.49274974e-01 2.37841685e-02 1.15924759e+02] [ 4.53806557e-02 2.05778984e-04 9.98969746e-01 1.18579865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.72, Y:115.90, Z:118.58 [[ 8.48171583e-01 5.28310000e-01 -3.86459524e-02 4.67715921e+02] [-5.27774164e-01 8.49051527e-01 2.37894215e-02 1.15895334e+02] [ 4.53805942e-02 2.18823968e-04 9.98969746e-01 1.18582383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:467.77, Y:115.86, Z:118.59 [[ 8.48044459e-01 5.28514594e-01 -3.86383142e-02 4.67768547e+02] [-5.27978404e-01 8.48924189e-01 2.38018209e-02 1.15863881e+02] [ 4.53806092e-02 2.15193104e-04 9.98969746e-01 1.18589349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.82, Y:115.83, Z:118.59 [[ 8.49733977e-01 5.25794398e-01 -3.86318425e-02 4.67823702e+02] [-5.25254914e-01 8.50611691e-01 2.38123203e-02 1.15832844e+02] [ 4.53810814e-02 5.74274459e-05 9.98969746e-01 1.18592692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.88, Y:115.80, Z:118.60 [[ 8.52013772e-01 5.22092547e-01 -3.86251769e-02 4.67877066e+02] [-5.21548760e-01 8.52888826e-01 2.38231274e-02 1.15801596e+02] [ 4.53808590e-02 -1.52719572e-04 9.98969746e-01 1.18595655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.93, Y:115.77, Z:118.60 [[ 8.54019490e-01 5.18805627e-01 -3.86190499e-02 4.67932616e+02] [-5.18258024e-01 8.54892160e-01 2.38330556e-02 1.15771429e+02] [ 4.53798464e-02 -3.39261523e-04 9.98969747e-01 1.18598573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.99, Y:115.74, Z:118.60 [[ 8.55148717e-01 5.16942688e-01 -3.86125582e-02 4.67987675e+02] [-5.16392709e-01 8.56019891e-01 2.38435683e-02 1.15741114e+02] [ 4.53788762e-02 -4.50553289e-04 9.98969747e-01 1.18602966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.04, Y:115.71, Z:118.61 [[ 8.56083649e-01 5.15393405e-01 -3.86060181e-02 4.68041895e+02] [-5.14841372e-01 8.56953523e-01 2.38541530e-02 1.15711896e+02] [ 4.53778363e-02 -5.45174991e-04 9.98969747e-01 1.18605016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:468.10, Y:115.68, Z:118.61 [[ 8.56940531e-01 5.13967867e-01 -3.85999674e-02 4.68097214e+02] [-5.13413947e-01 8.57809205e-01 2.38639399e-02 1.15681142e+02] [ 4.53767057e-02 -6.32215703e-04 9.98969747e-01 1.18608137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.15, Y:115.65, Z:118.61 [[ 8.57059127e-01 5.13770567e-01 -3.85934926e-02 4.68152217e+02] [-5.13215975e-01 8.57927372e-01 2.38744066e-02 1.15651884e+02] [ 4.53763811e-02 -6.54981150e-04 9.98969747e-01 1.18609579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.21, Y:115.62, Z:118.61 [[ 8.56304918e-01 5.15027079e-01 -3.85875140e-02 4.68206280e+02] [-5.14473326e-01 8.57173698e-01 2.38840658e-02 1.15622003e+02] [ 4.53771427e-02 -5.99796336e-04 9.98969747e-01 1.18612065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:468.26, Y:115.59, Z:118.61 [[ 8.56098523e-01 5.15370243e-01 -3.85853837e-02 4.68261406e+02] [-5.14816684e-01 8.56967426e-01 2.38875069e-02 1.15592827e+02] [ 4.53773272e-02 -5.85660105e-04 9.98969747e-01 1.18614768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.710385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:468.31, Y:115.56, Z:118.62 [[ 8.53622136e-01 5.19462162e-01 -3.85786266e-02 4.68314184e+02] [-5.18912275e-01 8.54493368e-01 2.38984147e-02 1.15562131e+02] [ 4.53795028e-02 -3.81292917e-04 9.98969747e-01 1.18619159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.37, Y:115.53, Z:118.62 [[ 8.51957004e-01 5.22189059e-01 -3.85726763e-02 4.68369471e+02] [-5.21641525e-01 8.52829717e-01 2.39080147e-02 1.15532537e+02] [ 4.53804283e-02 -2.47490853e-04 9.98969747e-01 1.18623908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.42, Y:115.50, Z:118.63 [[ 8.50098373e-01 5.25209875e-01 -3.85660982e-02 4.68423581e+02] [-5.24664962e-01 8.50972724e-01 2.39186213e-02 1.15501185e+02] [ 4.53809937e-02 -9.89006134e-05 9.98969747e-01 1.18627808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.890385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:468.48, Y:115.47, Z:118.63 [[ 8.48327109e-01 5.28066555e-01 -3.85594296e-02 4.68478884e+02] [-5.27524098e-01 8.49202986e-01 2.39293670e-02 1.15470432e+02] [ 4.53810811e-02 4.10976005e-05 9.98969747e-01 1.18629506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.950385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:468.53, Y:115.44, Z:118.63 [[ 8.47195160e-01 5.29881167e-01 -3.85526862e-02 4.68531824e+02] [-5.29340091e-01 8.48071892e-01 2.39402263e-02 1.15437466e+02] [ 4.53809246e-02 1.25438616e-04 9.98969747e-01 1.18627906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.58, Y:115.40, Z:118.63 [[ 8.45503918e-01 5.32575821e-01 -3.85502260e-02 4.68583499e+02] [-5.32037359e-01 8.46382257e-01 2.39441873e-02 1.15404882e+02] [ 4.53803225e-02 2.65256293e-04 9.98969747e-01 1.18634845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.64, Y:115.37, Z:118.64 [[ 8.43674832e-01 5.35469094e-01 -3.85438361e-02 4.68636972e+02] [-5.34933174e-01 8.44554725e-01 2.39544688e-02 1.15372283e+02] [ 4.53792566e-02 4.08594134e-04 9.98969747e-01 1.18636995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.69, Y:115.34, Z:118.64 [[ 8.42271512e-01 5.37674235e-01 -3.85372168e-02 4.68687909e+02] [-5.37140132e-01 8.43152508e-01 2.39651131e-02 1.15337345e+02] [ 4.53781749e-02 5.14753708e-04 9.98969747e-01 1.18641174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.190385723 meters Centerline goodness : 0.995349 with order 1 Centerline is valid? [True, True] Translation: X:468.74, Y:115.30, Z:118.64 [[ 8.42622757e-01 5.37124036e-01 -3.85312881e-02 4.68739210e+02] [-5.36588922e-01 8.43503139e-01 2.39746416e-02 1.15301126e+02] [ 4.53786187e-02 4.73883714e-04 9.98969748e-01 1.18636924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.250385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:468.79, Y:115.26, Z:118.65 [[ 8.44704908e-01 5.33843766e-01 -3.85285791e-02 4.68786900e+02] [-5.33305034e-01 8.45583082e-01 2.39789942e-02 1.15261865e+02] [ 4.53801512e-02 2.92311127e-04 9.98969748e-01 1.18648632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.84, Y:115.23, Z:118.65 [[ 8.46744160e-01 5.30603904e-01 -3.85204423e-02 4.68838934e+02] [-5.30061218e-01 8.47619895e-01 2.39920583e-02 1.15227808e+02] [ 4.53809731e-02 1.03057290e-04 9.98969748e-01 1.18647985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.89, Y:115.19, Z:118.65 [[ 8.48466487e-01 5.27845851e-01 -3.85146627e-02 4.68889847e+02] [-5.27299897e-01 8.49340188e-01 2.40013327e-02 1.15190299e+02] [ 4.53810548e-02 -5.55487170e-05 9.98969748e-01 1.18651058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.94, Y:115.15, Z:118.65 [[ 8.49068239e-01 5.26877880e-01 -3.85074656e-02 4.68939139e+02] [-5.26330406e-01 8.49940989e-01 2.40128742e-02 1.15153112e+02] [ 4.53809256e-02 -1.20918851e-04 9.98969748e-01 1.18654607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:468.99, Y:115.12, Z:118.65 [[ 8.50227984e-01 5.25004589e-01 -3.85039748e-02 4.68989994e+02] [-5.24454939e-01 8.51099365e-01 2.40184703e-02 1.15118884e+02] [ 4.53805156e-02 -2.27575799e-04 9.98969748e-01 1.18653976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.550385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:469.04, Y:115.08, Z:118.66 [[ 8.50294993e-01 5.24896309e-01 -3.85005149e-02 4.69040349e+02] [-5.24346297e-01 8.51166146e-01 2.40240151e-02 1.15082434e+02] [ 4.53804517e-02 -2.39897324e-04 9.98969748e-01 1.18663987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.610385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:469.09, Y:115.04, Z:118.67 [[ 8.51913903e-01 5.22265132e-01 -3.84946048e-02 4.69089672e+02] [-5.21712002e-01 8.52783078e-01 2.40334814e-02 1.15044627e+02] [ 4.53793969e-02 -3.91359573e-04 9.98969748e-01 1.18667355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.670385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:469.14, Y:115.01, Z:118.67 [[ 8.53026465e-01 5.20446415e-01 -3.84887002e-02 4.69140930e+02] [-5.19891005e-01 8.53894186e-01 2.40429335e-02 1.15009790e+02] [ 4.53783359e-02 -4.99329542e-04 9.98969748e-01 1.18670850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.19, Y:114.97, Z:118.67 [[ 8.53149908e-01 5.20244464e-01 -3.84828676e-02 4.69191219e+02] [-5.19688429e-01 8.54017228e-01 2.40522655e-02 1.14973894e+02] [ 4.53780899e-02 -5.21087150e-04 9.98969748e-01 1.18669052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.24, Y:114.94, Z:118.67 [[ 8.52076104e-01 5.22001736e-01 -3.84772782e-02 4.69242987e+02] [-5.21447085e-01 8.52944310e-01 2.40612039e-02 1.14939413e+02] [ 4.53789657e-02 -4.38112335e-04 9.98969748e-01 1.18671476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.29, Y:114.90, Z:118.68 [[ 8.49741964e-01 5.25793078e-01 -3.84738164e-02 4.69292514e+02] [-5.25242051e-01 8.50612474e-01 2.40667379e-02 1.14902534e+02] [ 4.53804324e-02 -2.42450904e-04 9.98969748e-01 1.18676289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.910385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:469.34, Y:114.87, Z:118.69 [[ 8.47994302e-01 5.28607234e-01 -3.84714903e-02 4.69342169e+02] [-5.28058927e-01 8.48866528e-01 2.40704558e-02 1.14867764e+02] [ 4.53809774e-02 -9.63954844e-05 9.98969748e-01 1.18685113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.39, Y:114.83, Z:118.69 [[ 8.46290259e-01 5.31331542e-01 -3.84654469e-02 4.69392926e+02] [-5.30785604e-01 8.47163969e-01 2.40801094e-02 1.14832606e+02] [ 4.53810624e-02 3.81434924e-05 9.98969748e-01 1.18687352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:469.44, Y:114.80, Z:118.69 [[ 8.44934245e-01 5.33485566e-01 -3.84613145e-02 4.69444141e+02] [-5.32941555e-01 8.45809157e-01 2.40867080e-02 1.14797327e+02] [ 4.53808430e-02 1.45948256e-04 9.98969748e-01 1.18685768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.49, Y:114.76, Z:118.69 [[ 8.43634328e-01 5.35538999e-01 -3.84590863e-02 4.69494472e+02] [-5.34996955e-01 8.44510460e-01 2.40902653e-02 1.14761265e+02] [ 4.53803772e-02 2.52119283e-04 9.98969748e-01 1.18690278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.54, Y:114.72, Z:118.69 [[ 8.43834895e-01 5.35223369e-01 -3.84527672e-02 4.69544270e+02] [-5.34680538e-01 8.44710540e-01 2.41003475e-02 1.14721862e+02] [ 4.53805269e-02 2.23232042e-04 9.98969748e-01 1.18694920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:469.60, Y:114.69, Z:118.70 [[ 8.43416347e-01 5.35883160e-01 -3.84461274e-02 4.69595093e+02] [-5.35340531e-01 8.44292117e-01 2.41109350e-02 1.14685827e+02] [ 4.53804063e-02 2.46213589e-04 9.98969748e-01 1.18695974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.270385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:469.65, Y:114.65, Z:118.70 [[ 8.42139460e-01 5.37887994e-01 -3.84400196e-02 4.69645534e+02] [-5.37347006e-01 8.43016245e-01 2.41206688e-02 1.14650370e+02] [ 4.53797791e-02 3.42662449e-04 9.98969748e-01 1.18698257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.330385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:469.70, Y:114.61, Z:118.70 [[ 8.41715601e-01 5.38551435e-01 -3.84343566e-02 4.69696396e+02] [-5.38010726e-01 8.42592557e-01 2.41296889e-02 1.14614345e+02] [ 4.53795814e-02 3.67760476e-04 9.98969748e-01 1.18702085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.390385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:469.75, Y:114.58, Z:118.70 [[ 8.41636981e-01 5.38674716e-01 -3.84284192e-02 4.69750007e+02] [-5.38133704e-01 8.42513750e-01 2.41391411e-02 1.14581957e+02] [ 4.53796165e-02 3.63233748e-04 9.98969749e-01 1.18700611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.450385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:469.80, Y:114.55, Z:118.70 [[ 8.41820093e-01 5.38388677e-01 -3.84260860e-02 4.69803376e+02] [-5.37847198e-01 8.42696573e-01 2.41428545e-02 1.14550580e+02] [ 4.53797705e-02 3.43422656e-04 9.98969749e-01 1.18702605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.86, Y:114.52, Z:118.71 [[ 8.41930346e-01 5.38216418e-01 -3.84236961e-02 4.69856234e+02] [-5.37674586e-01 8.42806608e-01 2.41466575e-02 1.14518071e+02] [ 4.53798725e-02 3.29641153e-04 9.98969749e-01 1.18709207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.91, Y:114.49, Z:118.71 [[ 8.43295458e-01 5.36075469e-01 -3.84169558e-02 4.69909968e+02] [-5.35530924e-01 8.44170037e-01 2.41573764e-02 1.14485594e+02] [ 4.53806199e-02 2.01662062e-04 9.98969749e-01 1.18711934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.96, Y:114.45, Z:118.72 [[ 8.45816153e-01 5.32089926e-01 -3.84102297e-02 4.69962495e+02] [-5.31540774e-01 8.46687847e-01 2.41680663e-02 1.14453285e+02] [ 4.53810593e-02 -2.51376916e-05 9.98969749e-01 1.18715140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.02, Y:114.42, Z:118.72 [[ 8.47336556e-01 5.29665831e-01 -3.84040207e-02 4.70016225e+02] [-5.29113739e-01 8.48206390e-01 2.41779286e-02 1.14420266e+02] [ 4.53807584e-02 -1.66747722e-04 9.98969749e-01 1.18717213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:470.07, Y:114.39, Z:118.72 [[ 8.48656899e-01 5.27548197e-01 -3.83974968e-02 4.70068228e+02] [-5.26993465e-01 8.49525052e-01 2.41882850e-02 1.14385884e+02] [ 4.53801216e-02 -2.92325032e-04 9.98969749e-01 1.18723281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:470.12, Y:114.35, Z:118.72 [[ 8.49134799e-01 5.26779067e-01 -3.83915034e-02 4.70121601e+02] [-5.26223119e-01 8.50002174e-01 2.41977939e-02 1.14353805e+02] [ 4.53797526e-02 -3.44692186e-04 9.98969749e-01 1.18723408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.870385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:470.17, Y:114.32, Z:118.73 [[ 8.47711726e-01 5.29066538e-01 -3.83852541e-02 4.70172988e+02] [-5.28512482e-01 8.48580311e-01 2.42077031e-02 1.14321520e+02] [ 4.53804565e-02 -2.34067821e-04 9.98969749e-01 1.18727181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.930385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:470.22, Y:114.29, Z:118.73 [[ 8.47147339e-01 5.29970155e-01 -3.83799608e-02 4.70224990e+02] [-5.29416645e-01 8.48016272e-01 2.42160925e-02 1.14286615e+02] [ 4.53806375e-02 -1.95608243e-04 9.98969749e-01 1.18730788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:470.28, Y:114.25, Z:118.73 [[ 8.47938003e-01 5.28704680e-01 -3.83732183e-02 4.70277755e+02] [-5.28149391e-01 8.48805799e-01 2.42267721e-02 1.14252282e+02] [ 4.53802180e-02 -2.76008922e-04 9.98969749e-01 1.18733798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.050385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:470.33, Y:114.22, Z:118.73 [[ 8.48647963e-01 5.27564828e-01 -3.83664883e-02 4.70330357e+02] [-5.27007891e-01 8.49514703e-01 2.42374253e-02 1.14219673e+02] [ 4.53797090e-02 -3.49599577e-04 9.98969749e-01 1.18734666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.110385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:470.39, Y:114.19, Z:118.74 [[ 8.51513193e-01 5.22927924e-01 -3.83623397e-02 4.70385639e+02] [-5.22365972e-01 8.52376689e-01 2.42439898e-02 1.14188797e+02] [ 4.53770234e-02 -6.04896338e-04 9.98969749e-01 1.18737351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.44, Y:114.15, Z:118.74 [[ 8.50534687e-01 5.24518436e-01 -3.83556532e-02 4.70437643e+02] [-5.23957622e-01 8.51398923e-01 2.42545637e-02 1.14153861e+02] [ 4.53779276e-02 -5.32610967e-04 9.98969749e-01 1.18740369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.230385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:470.49, Y:114.13, Z:118.74 [[ 8.53014304e-01 5.20476657e-01 -3.83489988e-02 4.70493151e+02] [-5.19911276e-01 8.53875559e-01 2.42650805e-02 1.14125482e+02] [ 4.53746808e-02 -7.60383844e-04 9.98969749e-01 1.18741463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.54, Y:114.09, Z:118.75 [[ 8.50271888e-01 5.24945270e-01 -3.83429110e-02 4.70542787e+02] [-5.24383982e-01 8.51135817e-01 2.42746963e-02 1.14090006e+02] [ 4.53779119e-02 -5.33683521e-04 9.98969749e-01 1.18746293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.60, Y:114.06, Z:118.75 [[ 8.49882205e-01 5.25576334e-01 -3.83373853e-02 4.70595587e+02] [-5.25015294e-01 8.50746294e-01 2.42834200e-02 1.14058010e+02] [ 4.53781794e-02 -5.10332930e-04 9.98969750e-01 1.18746847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.410385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:470.65, Y:114.03, Z:118.75 [[ 8.51373891e-01 5.23156946e-01 -3.83315420e-02 4.70650681e+02] [-5.22593035e-01 8.52236110e-01 2.42926402e-02 1.14029740e+02] [ 4.53763877e-02 -6.50322716e-04 9.98969750e-01 1.18751225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4703857229999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:470.70, Y:114.00, Z:118.76 [[ 8.51100424e-01 5.23602181e-01 -3.83252494e-02 4.70703847e+02] [-5.23038274e-01 8.51962645e-01 2.43025637e-02 1.13997292e+02] [ 4.53765562e-02 -6.38349939e-04 9.98969750e-01 1.18756748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.75, Y:113.96, Z:118.76 [[ 8.49060613e-01 5.26903971e-01 -3.83181566e-02 4.70754522e+02] [-5.26342913e-01 8.49924691e-01 2.43137419e-02 1.13961996e+02] [ 4.53785545e-02 -4.75350455e-04 9.98969750e-01 1.18759606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.81, Y:113.93, Z:118.76 [[ 8.49128477e-01 5.26795074e-01 -3.83116092e-02 4.70808528e+02] [-5.26233440e-01 8.49992180e-01 2.43240544e-02 1.13930306e+02] [ 4.53783603e-02 -4.93397367e-04 9.98969750e-01 1.18762734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.86, Y:113.90, Z:118.77 [[ 8.51830838e-01 5.22414545e-01 -3.83049198e-02 4.70863693e+02] [-5.21847997e-01 8.52691325e-01 2.43345841e-02 1.13902190e+02] [ 4.53750135e-02 -7.39603466e-04 9.98969750e-01 1.18765729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.91, Y:113.87, Z:118.77 [[ 8.50728401e-01 5.24208366e-01 -3.82985123e-02 4.70914944e+02] [-5.23643179e-01 8.51589783e-01 2.43446643e-02 1.13867276e+02] [ 4.53762985e-02 -6.55942634e-04 9.98969750e-01 1.18767773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.97, Y:113.84, Z:118.77 [[ 8.48940863e-01 5.27098648e-01 -3.82939522e-02 4.70971631e+02] [-5.26536070e-01 8.49803951e-01 2.43518352e-02 1.13839770e+02] [ 4.53781713e-02 -5.10120871e-04 9.98969750e-01 1.18770515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.02, Y:113.81, Z:118.77 [[ 8.47365437e-01 5.29628070e-01 -3.82873929e-02 4.71024889e+02] [-5.29067603e-01 8.48229897e-01 2.43621438e-02 1.13808385e+02] [ 4.53793865e-02 -3.87019415e-04 9.98969750e-01 1.18773776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.08, Y:113.78, Z:118.78 [[ 8.46417832e-01 5.31141585e-01 -3.82814567e-02 4.71080311e+02] [-5.30582242e-01 8.47283020e-01 2.43714681e-02 1.13777792e+02] [ 4.53799284e-02 -3.16984059e-04 9.98969750e-01 1.18778311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.950385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:471.14, Y:113.75, Z:118.78 [[ 8.47295915e-01 5.29740202e-01 -3.82746865e-02 4.71135464e+02] [-5.29178947e-01 8.48159864e-01 2.43820958e-02 1.13749744e+02] [ 4.53792292e-02 -4.04691861e-04 9.98969750e-01 1.18781402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.19, Y:113.72, Z:118.78 [[ 8.46335893e-01 5.31273079e-01 -3.82684106e-02 4.71188947e+02] [-5.30712945e-01 8.47200569e-01 2.43919421e-02 1.13720786e+02] [ 4.53798014e-02 -3.34235204e-04 9.98969750e-01 1.18783135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.25, Y:113.69, Z:118.79 [[ 8.47023155e-01 5.30177085e-01 -3.82626809e-02 4.71245505e+02] [-5.29615426e-01 8.47886841e-01 2.44009267e-02 1.13693245e+02] [ 4.53792358e-02 -4.03643876e-04 9.98969750e-01 1.18786375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:471.30, Y:113.66, Z:118.79 [[ 8.48126109e-01 5.28411380e-01 -3.82559366e-02 4.71301784e+02] [-5.27847446e-01 8.48988312e-01 2.44114958e-02 1.13663916e+02] [ 4.53781552e-02 -5.10728513e-04 9.98969750e-01 1.18789484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:471.36, Y:113.64, Z:118.79 [[ 8.48922979e-01 5.27130702e-01 -3.82491773e-02 4.71360243e+02] [-5.26564990e-01 8.49784015e-01 2.44220821e-02 1.13637718e+02] [ 4.53771688e-02 -5.91788993e-04 9.98969750e-01 1.18790007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.41, Y:113.61, Z:118.79 [[ 8.49318457e-01 5.26493752e-01 -3.82424818e-02 4.71414897e+02] [-5.25926923e-01 8.50178758e-01 2.44325621e-02 1.13608521e+02] [ 4.53765370e-02 -6.38275137e-04 9.98969751e-01 1.18791634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.47, Y:113.58, Z:118.79 [[ 8.50805905e-01 5.24087108e-01 -3.82363070e-02 4.71471578e+02] [-5.23517412e-01 8.51664310e-01 2.44422216e-02 1.13580336e+02] [ 4.53743513e-02 -7.78213972e-04 9.98969751e-01 1.18793153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.53, Y:113.55, Z:118.80 [[ 8.51939978e-01 5.22242048e-01 -3.82298069e-02 4.71526879e+02] [-5.21670037e-01 8.52796842e-01 2.44523842e-02 1.13549947e+02] [ 4.53723218e-02 -8.88618837e-04 9.98969751e-01 1.18796236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.58, Y:113.52, Z:118.80 [[ 8.53868672e-01 5.19083129e-01 -3.82229896e-02 4.71582334e+02] [-5.18507472e-01 8.54723091e-01 2.44630361e-02 1.13521652e+02] [ 4.53684211e-02 -1.06931444e-03 9.98969751e-01 1.18798942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.64, Y:113.49, Z:118.80 [[ 8.54941371e-01 5.17314930e-01 -3.82166884e-02 4.71636911e+02] [-5.16737066e-01 8.55794299e-01 2.44728759e-02 1.13491175e+02] [ 4.53658082e-02 -1.17489467e-03 9.98969751e-01 1.18803360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.550385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:471.69, Y:113.46, Z:118.81 [[ 8.53920988e-01 5.18998025e-01 -3.82098975e-02 4.71692954e+02] [-5.18421369e-01 8.54774733e-01 2.44834742e-02 1.13464536e+02] [ 4.53677297e-02 -1.09812517e-03 9.98969751e-01 1.18805656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.75, Y:113.44, Z:118.81 [[ 8.51053802e-01 5.23686843e-01 -3.82036292e-02 4.71748902e+02] [-5.23114452e-01 8.51910413e-01 2.44932512e-02 1.13436054e+02] [ 4.53728629e-02 -8.60203956e-04 9.98969751e-01 1.18806737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.80, Y:113.41, Z:118.81 [[ 8.47591649e-01 5.29272321e-01 -3.81995643e-02 4.71803750e+02] [-5.28705290e-01 8.48451817e-01 2.44995891e-02 1.13405337e+02] [ 4.53774442e-02 -5.69335423e-04 9.98969751e-01 1.18810293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.86, Y:113.38, Z:118.81 [[ 8.44020863e-01 5.34948683e-01 -3.81927806e-02 4.71860423e+02] [-5.34386960e-01 8.44884506e-01 2.45101598e-02 1.13376775e+02] [ 4.53801663e-02 -2.77362352e-04 9.98969751e-01 1.18814560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.91, Y:113.34, Z:118.82 [[ 8.42968461e-01 5.36606014e-01 -3.81858474e-02 4.71913508e+02] [-5.36045500e-01 8.43832889e-01 2.45209567e-02 1.13343701e+02] [ 4.53805668e-02 -2.01041437e-04 9.98969751e-01 1.18819039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.850385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.97, Y:113.31, Z:118.82 [[ 8.42692454e-01 5.37039847e-01 -3.81789240e-02 4.71967772e+02] [-5.36479289e-01 8.43556854e-01 2.45317317e-02 1.13311954e+02] [ 4.53806105e-02 -1.90503173e-04 9.98969751e-01 1.18822771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.02, Y:113.28, Z:118.83 [[ 8.41614270e-01 5.38728433e-01 -3.81719393e-02 4.72020972e+02] [-5.38169117e-01 8.42479473e-01 2.45425952e-02 1.13279391e+02] [ 4.53808692e-02 -1.12439435e-04 9.98969751e-01 1.18825789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9703857229999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:472.07, Y:113.25, Z:118.83 [[ 8.39202299e-01 5.42478325e-01 -3.81676316e-02 4.72073984e+02] [-5.41922570e-01 8.40069795e-01 2.45492925e-02 1.13245048e+02] [ 4.53809336e-02 8.20782764e-05 9.98969751e-01 1.18829156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.13, Y:113.21, Z:118.83 [[ 8.35997088e-01 5.47405357e-01 -3.81607815e-02 4.72127102e+02] [-5.46854228e-01 8.36867530e-01 2.45599361e-02 1.13212657e+02] [ 4.53797595e-02 3.36349682e-04 9.98969751e-01 1.18830717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.18, Y:113.18, Z:118.83 [[ 8.32763041e-01 5.52313132e-01 -3.81565557e-02 4.72176901e+02] [-5.51766832e-01 8.33636521e-01 2.45664997e-02 1.13177444e+02] [ 4.53770987e-02 5.95448895e-04 9.98969751e-01 1.18832596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.150385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:472.23, Y:113.14, Z:118.84 [[ 8.30547293e-01 5.55639884e-01 -3.81511860e-02 4.72228047e+02] [-5.55096700e-01 8.31422715e-01 2.45748358e-02 1.13140791e+02] [ 4.53745216e-02 7.67034134e-04 9.98969752e-01 1.18837363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:472.28, Y:113.11, Z:118.84 [[ 8.28335500e-01 5.58932286e-01 -3.81444526e-02 4.72278721e+02] [-5.58392100e-01 8.29212775e-01 2.45852828e-02 1.13105073e+02] [ 4.53713757e-02 9.34698518e-04 9.98969752e-01 1.18839944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.270385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:472.33, Y:113.07, Z:118.84 [[ 8.27861036e-01 5.59635222e-01 -3.81382247e-02 4.72330683e+02] [-5.59095336e-01 8.28738495e-01 2.45949401e-02 1.13069089e+02] [ 4.53708097e-02 9.61710939e-04 9.98969752e-01 1.18843902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.38, Y:113.03, Z:118.85 [[ 8.27268334e-01 5.60511472e-01 -3.81312616e-02 4.72379386e+02] [-5.59972019e-01 8.28146060e-01 2.46057308e-02 1.13030114e+02] [ 4.53700484e-02 9.96897651e-04 9.98969752e-01 1.18848650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.43, Y:112.99, Z:118.85 [[ 8.27288709e-01 5.60481836e-01 -3.81248310e-02 4.72428755e+02] [-5.59941893e-01 8.28166133e-01 2.46156905e-02 1.12993172e+02] [ 4.53703413e-02 9.83407225e-04 9.98969752e-01 1.18852430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.48, Y:112.95, Z:118.85 [[ 8.28094176e-01 5.59291516e-01 -3.81187045e-02 4.72477451e+02] [-5.58749876e-01 8.28970553e-01 2.46251740e-02 1.12953392e+02] [ 4.53719345e-02 9.06858229e-04 9.98969752e-01 1.18854078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.510385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:472.52, Y:112.91, Z:118.86 [[ 8.30301246e-01 5.56010157e-01 -3.81122795e-02 4.72524899e+02] [-5.55464597e-01 8.31175188e-01 2.46351140e-02 1.12911635e+02] [ 4.53753547e-02 7.15456156e-04 9.98969752e-01 1.18856895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.58, Y:112.87, Z:118.86 [[ 8.30618497e-01 5.55536585e-01 -3.81053110e-02 4.72575073e+02] [-5.54990032e-01 8.31491819e-01 2.46458880e-02 1.12873518e+02] [ 4.53759469e-02 6.76737325e-04 9.98969752e-01 1.18859092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.63, Y:112.84, Z:118.86 [[ 8.33787275e-01 5.50769730e-01 -3.80983506e-02 4.72626392e+02] [-5.50217692e-01 8.34657140e-01 2.46566430e-02 1.12838296e+02] [ 4.53791930e-02 4.03991383e-04 9.98969752e-01 1.18856768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.690385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:472.67, Y:112.79, Z:118.86 [[ 8.32099165e-01 5.53317254e-01 -3.80919320e-02 4.72670203e+02] [-5.52767426e-01 8.32970428e-01 2.46665550e-02 1.12794437e+02] [ 4.53778834e-02 5.30959345e-04 9.98969752e-01 1.18864290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.750385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:472.72, Y:112.75, Z:118.87 [[ 8.32813930e-01 5.52241259e-01 -3.80860964e-02 4.72718172e+02] [-5.51689892e-01 8.33684220e-01 2.46755622e-02 1.12753336e+02] [ 4.53786411e-02 4.61562484e-04 9.98969752e-01 1.18867311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.77, Y:112.71, Z:118.87 [[ 8.32328665e-01 5.52972844e-01 -3.80792277e-02 4.72767359e+02] [-5.52421758e-01 8.33199133e-01 2.46861574e-02 1.12713240e+02] [ 4.53783542e-02 4.88797449e-04 9.98969752e-01 1.18871001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:472.82, Y:112.68, Z:118.87 [[ 8.34346676e-01 5.49923739e-01 -3.80723610e-02 4.72820806e+02] [-5.49368989e-01 8.35214813e-01 2.46967430e-02 1.12680787e+02] [ 4.53799252e-02 3.10129069e-04 9.98969752e-01 1.18866229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:472.87, Y:112.64, Z:118.87 [[ 8.34788266e-01 5.49253611e-01 -3.80660234e-02 4.72871040e+02] [-5.48697719e-01 8.35655672e-01 2.47065075e-02 1.12642422e+02] [ 4.53802269e-02 2.62037655e-04 9.98969752e-01 1.18868337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:472.92, Y:112.60, Z:118.88 [[ 8.35029065e-01 5.48887960e-01 -3.80587521e-02 4.72919166e+02] [-5.48331177e-01 8.35895900e-01 2.47177036e-02 1.12601773e+02] [ 4.53804047e-02 2.28799440e-04 9.98969753e-01 1.18875479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:472.97, Y:112.56, Z:118.88 [[ 8.36882679e-01 5.46058118e-01 -3.80514653e-02 4.72968875e+02] [-5.45497894e-01 8.37747294e-01 2.47289161e-02 1.12563636e+02] [ 4.53809374e-02 6.17926623e-05 9.98969753e-01 1.18877063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.110385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:473.02, Y:112.52, Z:118.88 [[ 8.36724818e-01 5.46300479e-01 -3.80442544e-02 4.73017498e+02] [-5.45740001e-01 8.37589269e-01 2.47400046e-02 1.12524596e+02] [ 4.53809356e-02 6.16955941e-05 9.98969753e-01 1.18876243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.07, Y:112.48, Z:118.88 [[ 8.35857751e-01 5.47626727e-01 -3.80366773e-02 4.73066106e+02] [-5.47067091e-01 8.36722746e-01 2.47516487e-02 1.12483340e+02] [ 4.53808174e-02 1.19757024e-04 9.98969753e-01 1.18879522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.11, Y:112.44, Z:118.88 [[ 8.35437884e-01 5.48267591e-01 -3.80288190e-02 4.73113373e+02] [-5.47708069e-01 8.36302953e-01 2.47637165e-02 1.12444872e+02] [ 4.53807568e-02 1.40144109e-04 9.98969753e-01 1.18884848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.16, Y:112.40, Z:118.89 [[ 8.35833600e-01 5.47664571e-01 -3.80225072e-02 4.73161133e+02] [-5.47103985e-01 8.36697979e-01 2.47734038e-02 1.12404220e+02] [ 4.53808705e-02 9.58218776e-05 9.98969753e-01 1.18888907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.350385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.21, Y:112.37, Z:118.89 [[ 8.37493524e-01 5.45122973e-01 -3.80202775e-02 4.73210373e+02] [-5.44559608e-01 8.38356095e-01 2.47768253e-02 1.12366281e+02] [ 4.53809481e-02 -4.61233604e-05 9.98969753e-01 1.18886393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:473.26, Y:112.33, Z:118.90 [[ 8.36939748e-01 5.45973261e-01 -3.80139149e-02 4.73257603e+02] [-5.45410329e-01 8.37802601e-01 2.47865833e-02 1.12326306e+02] [ 4.53809685e-02 -1.16949309e-05 9.98969753e-01 1.18895530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.31, Y:112.29, Z:118.89 [[ 8.38925577e-01 5.42917404e-01 -3.80074793e-02 4.73309105e+02] [-5.42350882e-01 8.39786078e-01 2.47964477e-02 1.12292063e+02] [ 4.53805750e-02 -1.88984310e-04 9.98969753e-01 1.18892603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.36, Y:112.25, Z:118.90 [[ 8.36325224e-01 5.46914982e-01 -3.80016073e-02 4.73356726e+02] [-5.46352165e-01 8.37188152e-01 2.48054435e-02 1.12253623e+02] [ 4.53809641e-02 1.68422864e-05 9.98969753e-01 1.18901019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.41, Y:112.22, Z:118.90 [[ 8.35004234e-01 5.48929938e-01 -3.79980536e-02 4.73410320e+02] [-5.48368956e-01 8.35868356e-01 2.48108861e-02 1.12220756e+02] [ 4.53808087e-02 1.19758046e-04 9.98969753e-01 1.18903498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.46, Y:112.19, Z:118.90 [[ 8.37481673e-01 5.45143200e-01 -3.79912981e-02 4.73464708e+02] [-5.44577841e-01 8.38342938e-01 2.48212260e-02 1.12190805e+02] [ 4.53808590e-02 -9.81028240e-05 9.98969753e-01 1.18903541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.710385723 meters Centerline goodness : 0.995899 with order 1 Centerline is valid? [True, True] Translation: X:473.93, Y:112.93, Z:119.85 [[ 8.75428368e-01 4.81853020e-01 -3.79847452e-02 4.73929809e+02] [-4.81225212e-01 8.76245231e-01 2.48312501e-02 1.12929805e+02] [ 4.52489647e-02 -3.45876363e-03 9.98969753e-01 1.19853959e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 674.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.99, Y:112.90, Z:119.86 [[ 8.79928492e-01 4.73451528e-01 -3.96169165e-02 4.73985620e+02] [-4.72946144e-01 8.80819725e-01 2.18759538e-02 1.12904410e+02] [ 4.52525653e-02 -5.12607157e-04 9.98975446e-01 1.19858947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.04, Y:112.88, Z:119.86 [[ 8.82398878e-01 4.68831732e-01 -3.96109349e-02 4.74040590e+02] [-4.68321197e-01 8.83287171e-01 2.18867795e-02 1.12875296e+02] [ 4.52490474e-02 -7.62229305e-04 9.98975447e-01 1.19861302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.10, Y:112.85, Z:119.86 [[ 8.82919560e-01 4.67850885e-01 -3.96055486e-02 4.74096152e+02] [-4.67338926e-01 8.83807032e-01 2.18965219e-02 1.12846781e+02] [ 4.52479696e-02 -8.23652947e-04 9.98975447e-01 1.19863596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.950385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:474.15, Y:112.82, Z:119.87 [[ 8.81693811e-01 4.70157312e-01 -3.95995686e-02 4.74152995e+02] [-4.69647189e-01 8.82582340e-01 2.19073314e-02 1.12818688e+02] [ 4.52497720e-02 -7.17732374e-04 9.98975447e-01 1.19865440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:474.21, Y:112.79, Z:119.87 [[ 8.79885733e-01 4.73532933e-01 -3.95936646e-02 4.74209936e+02] [-4.73025739e-01 8.80775937e-01 2.19179966e-02 1.12791473e+02] [ 4.52520403e-02 -5.56510033e-04 9.98975447e-01 1.19868405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:474.27, Y:112.76, Z:119.87 [[ 8.78197413e-01 4.76657225e-01 -3.95877935e-02 4.74266173e+02] [-4.76152720e-01 8.79089144e-01 2.19285958e-02 1.12762505e+02] [ 4.52536231e-02 -4.07800562e-04 9.98975447e-01 1.19872341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.32, Y:112.73, Z:119.88 [[ 8.77516602e-01 4.77909921e-01 -3.95818252e-02 4.74322791e+02] [-4.77406203e-01 8.78408778e-01 2.19393635e-02 1.12734614e+02] [ 4.52540622e-02 -3.55546799e-04 9.98975447e-01 1.19876350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.190385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:474.38, Y:112.70, Z:119.88 [[ 8.76042875e-01 4.80606557e-01 -3.95754819e-02 4.74376523e+02] [-4.80105070e-01 8.76936306e-01 2.19508000e-02 1.12703445e+02] [ 4.52548753e-02 -2.29452404e-04 9.98975447e-01 1.19877205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:474.43, Y:112.68, Z:119.88 [[ 8.76724693e-01 4.79362135e-01 -3.95696453e-02 4.74434753e+02] [-4.78858905e-01 8.77617143e-01 2.19613163e-02 1.12678235e+02] [ 4.52544225e-02 -3.05751312e-04 9.98975447e-01 1.19877653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.49, Y:112.65, Z:119.88 [[ 8.75354746e-01 4.81859732e-01 -3.95634676e-02 4.74486696e+02] [-4.81358545e-01 8.76248346e-01 2.19724399e-02 1.12645377e+02] [ 4.52550570e-02 -1.89466318e-04 9.98975447e-01 1.19884340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.54, Y:112.62, Z:119.88 [[ 8.77242771e-01 4.78414363e-01 -3.95577765e-02 4.74543616e+02] [-4.77909205e-01 8.78134132e-01 2.19826810e-02 1.12617775e+02] [ 4.52538640e-02 -3.79122462e-04 9.98975447e-01 1.19883781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.60, Y:112.59, Z:119.89 [[ 8.75955443e-01 4.80767857e-01 -3.95516041e-02 4.74596987e+02] [-4.80264593e-01 8.76847874e-01 2.19937808e-02 1.12585986e+02] [ 4.52546429e-02 -2.70336964e-04 9.98975447e-01 1.19888321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.490385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:474.65, Y:112.56, Z:119.89 [[ 8.76866630e-01 4.79104251e-01 -3.95478197e-02 4.74653553e+02] [-4.78598986e-01 8.77757930e-01 2.20005837e-02 1.12557179e+02] [ 4.52539855e-02 -3.64031256e-04 9.98975447e-01 1.19887409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.71, Y:112.53, Z:119.89 [[ 8.77441514e-01 4.78051116e-01 -3.95413747e-02 4.74709196e+02] [-4.77544260e-01 8.78331910e-01 2.20121611e-02 1.12527077e+02] [ 4.52533893e-02 -4.31627466e-04 9.98975447e-01 1.19890614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.76, Y:112.49, Z:119.90 [[ 8.77249468e-01 4.78403972e-01 -3.95349336e-02 4.74761358e+02] [-4.77896953e-01 8.78139771e-01 2.20237235e-02 1.12493296e+02] [ 4.52534344e-02 -4.26675357e-04 9.98975447e-01 1.19896320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.82, Y:112.47, Z:119.89 [[ 8.79841465e-01 4.73620581e-01 -3.95289959e-02 4.74817631e+02] [-4.73108244e-01 8.80728719e-01 2.20343756e-02 1.12468974e+02] [ 4.52502557e-02 -6.85263496e-04 9.98975448e-01 1.19893215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.87, Y:112.43, Z:119.90 [[ 8.77492653e-01 4.77958508e-01 -3.95260573e-02 4.74870515e+02] [-4.77450320e-01 8.78382289e-01 2.20396457e-02 1.12434413e+02] [ 4.52530249e-02 -4.67898492e-04 9.98975448e-01 1.19901546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.93, Y:112.40, Z:119.90 [[ 8.76672335e-01 4.79461982e-01 -3.95199249e-02 4.74925759e+02] [-4.78954824e-01 8.77562560e-01 2.20506364e-02 1.12404671e+02] [ 4.52536483e-02 -4.02924239e-04 9.98975448e-01 1.19904326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.98, Y:112.38, Z:119.90 [[ 8.76887780e-01 4.79068348e-01 -3.95137828e-02 4.74982693e+02] [-4.78560295e-01 8.77777494e-01 2.20616373e-02 1.12376768e+02] [ 4.52533414e-02 -4.35852595e-04 9.98975448e-01 1.19902147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.04, Y:112.35, Z:119.90 [[ 8.77227295e-01 4.78446891e-01 -3.95075381e-02 4.75037693e+02] [-4.77937704e-01 8.78116360e-01 2.20728145e-02 1.12346791e+02] [ 4.52528850e-02 -4.80733332e-04 9.98975448e-01 1.19904333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.09, Y:112.32, Z:119.91 [[ 8.77348158e-01 4.78225772e-01 -3.95008999e-02 4.75091090e+02] [-4.77715827e-01 8.78236788e-01 2.20846877e-02 1.12316357e+02] [ 4.52526103e-02 -5.05755023e-04 9.98975448e-01 1.19908762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:475.14, Y:112.28, Z:119.92 [[ 8.76055145e-01 4.80590832e-01 -3.94947445e-02 4.75142727e+02] [-4.80082791e-01 8.76944864e-01 2.20956900e-02 1.12283419e+02] [ 4.52536995e-02 -3.96295777e-04 9.98975448e-01 1.19916676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:475.20, Y:112.25, Z:119.92 [[ 8.75961933e-01 4.80761203e-01 -3.94886932e-02 4.75197442e+02] [-4.80252847e-01 8.76851473e-01 2.21064995e-02 1.12251848e+02] [ 4.52536661e-02 -3.99894756e-04 9.98975448e-01 1.19918949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.25, Y:112.22, Z:119.92 [[ 8.77693934e-01 4.77592369e-01 -3.94827446e-02 4.75253730e+02] [-4.77080324e-01 8.78581355e-01 2.21171188e-02 1.12224072e+02] [ 4.52517704e-02 -5.75620390e-04 9.98975448e-01 1.19916763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.30, Y:112.19, Z:119.92 [[ 8.76125377e-01 4.80464135e-01 -3.94783228e-02 4.75303997e+02] [-4.79954643e-01 8.77014267e-01 2.21250087e-02 1.12189817e+02] [ 4.52533255e-02 -4.36477254e-04 9.98975448e-01 1.19924270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.36, Y:112.16, Z:119.93 [[ 8.75919939e-01 4.80838821e-01 -3.94751536e-02 4.75359697e+02] [-4.80329455e-01 8.76808901e-01 2.21306618e-02 1.12159891e+02] [ 4.52534473e-02 -4.23608924e-04 9.98975448e-01 1.19926376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.41, Y:112.13, Z:119.93 [[ 8.75557990e-01 4.81498082e-01 -3.94690122e-02 4.75414134e+02] [-4.80988891e-01 8.76447052e-01 2.21416092e-02 1.12128391e+02] [ 4.52536418e-02 -4.02106493e-04 9.98975448e-01 1.19928285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.47, Y:112.10, Z:119.93 [[ 8.75361720e-01 4.81855307e-01 -3.94629336e-02 4.75468384e+02] [-4.81345991e-01 8.76250710e-01 2.21524378e-02 1.12098523e+02] [ 4.52536933e-02 -3.96071160e-04 9.98975448e-01 1.19933225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.52, Y:112.07, Z:119.94 [[ 8.75206857e-01 4.82136964e-01 -3.94576376e-02 4.75522828e+02] [-4.81627510e-01 8.76095767e-01 2.21618669e-02 1.12066758e+02] [ 4.52537246e-02 -3.92334175e-04 9.98975448e-01 1.19936562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.58, Y:112.04, Z:119.94 [[ 8.74967928e-01 4.82570919e-01 -3.94516574e-02 4.75577378e+02] [-4.82061426e-01 8.75856816e-01 2.21725076e-02 1.12037264e+02] [ 4.52538104e-02 -3.82110827e-04 9.98975448e-01 1.19940144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.63, Y:112.01, Z:119.94 [[ 8.72832856e-01 4.86422470e-01 -3.94459937e-02 4.75631334e+02] [-4.85916444e-01 8.73723722e-01 2.21825791e-02 1.12006977e+02] [ 4.52550053e-02 -1.94226857e-04 9.98975449e-01 1.19938771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.68, Y:111.98, Z:119.94 [[ 8.71971132e-01 4.87966011e-01 -3.94400281e-02 4.75684302e+02] [-4.87461083e-01 8.72862621e-01 2.21931807e-02 1.11975820e+02] [ 4.52552441e-02 -1.26334127e-04 9.98975449e-01 1.19941133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.74, Y:111.95, Z:119.95 [[ 8.73030776e-01 4.86068079e-01 -3.94345869e-02 4.75740312e+02] [-4.85560775e-01 8.73920916e-01 2.22028447e-02 1.11947705e+02] [ 4.52548044e-02 -2.35878181e-04 9.98975449e-01 1.19945242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.79, Y:111.92, Z:119.95 [[ 8.72858268e-01 4.86378313e-01 -3.94281837e-02 4.75794720e+02] [-4.85870812e-01 8.73748295e-01 2.22142098e-02 1.11916434e+02] [ 4.52548182e-02 -2.32853046e-04 9.98975449e-01 1.19949993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.85, Y:111.88, Z:119.95 [[ 8.72325369e-01 4.87333935e-01 -3.94219043e-02 4.75846940e+02] [-4.86826906e-01 8.73215665e-01 2.22253478e-02 1.11882988e+02] [ 4.52549906e-02 -1.96091036e-04 9.98975449e-01 1.19953257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.90, Y:111.85, Z:119.95 [[ 8.74490836e-01 4.83437845e-01 -3.94160942e-02 4.75903024e+02] [-4.82926385e-01 8.75378594e-01 2.22356472e-02 1.11853532e+02] [ 4.52535585e-02 -4.09797829e-04 9.98975449e-01 1.19954404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.96, Y:111.82, Z:119.95 [[ 8.76867091e-01 4.79114791e-01 -3.94096636e-02 4.75958073e+02] [-4.78598444e-01 8.77752015e-01 2.22470386e-02 1.11822577e+02] [ 4.52507969e-02 -6.46292372e-04 9.98975449e-01 1.19954780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.01, Y:111.79, Z:119.96 [[ 8.76275461e-01 4.80196516e-01 -3.94033307e-02 4.76008944e+02] [-4.79680756e-01 8.77160728e-01 2.22582497e-02 1.11789366e+02] [ 4.52513882e-02 -6.03338557e-04 9.98975449e-01 1.19958964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.06, Y:111.76, Z:119.96 [[ 8.76168352e-01 4.80392334e-01 -3.93982695e-02 4.76063833e+02] [-4.79876370e-01 8.77053499e-01 2.22672047e-02 1.11759001e+02] [ 4.52513846e-02 -6.03521421e-04 9.98975449e-01 1.19961013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.12, Y:111.73, Z:119.97 [[ 8.76348412e-01 4.80064289e-01 -3.93921228e-02 4.76119268e+02] [-4.79547505e-01 8.77233081e-01 2.22780733e-02 1.11728960e+02] [ 4.52509807e-02 -6.32959903e-04 9.98975449e-01 1.19965770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.17, Y:111.70, Z:119.97 [[ 8.76284773e-01 4.80180976e-01 -3.93856172e-02 4.76172033e+02] [-4.79663794e-01 8.77169208e-01 2.22895687e-02 1.11699191e+02] [ 4.52508775e-02 -6.40155065e-04 9.98975449e-01 1.19968008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:476.23, Y:111.67, Z:119.97 [[ 8.75452030e-01 4.81697895e-01 -3.93812159e-02 4.76226653e+02] [-4.81181895e-01 8.76337157e-01 2.22973422e-02 1.11668139e+02] [ 4.52518056e-02 -5.70725418e-04 9.98975449e-01 1.19970481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.28, Y:111.64, Z:119.97 [[ 8.75249763e-01 4.82065813e-01 -3.93751879e-02 4.76280938e+02] [-4.81549706e-01 8.76134827e-01 2.23079821e-02 1.11638558e+02] [ 4.52518889e-02 -5.63945899e-04 9.98975449e-01 1.19973527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.34, Y:111.61, Z:119.98 [[ 8.75756640e-01 4.81144822e-01 -3.93696239e-02 4.76336446e+02] [-4.80627343e-01 8.76640903e-01 2.23177973e-02 1.11609701e+02] [ 4.52511152e-02 -6.22841463e-04 9.98975449e-01 1.19975340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.410385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:476.39, Y:111.58, Z:119.98 [[ 8.76146953e-01 4.80434243e-01 -3.93631174e-02 4.76389589e+02] [-4.79915533e-01 8.77030493e-01 2.23292673e-02 1.11578591e+02] [ 4.52503989e-02 -6.72748040e-04 9.98975450e-01 1.19980070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.44, Y:111.55, Z:119.98 [[ 8.77043977e-01 4.78795226e-01 -3.93572670e-02 4.76444093e+02] [-4.78274402e-01 8.77926272e-01 2.23395743e-02 1.11550087e+02] [ 4.52488602e-02 -7.69215756e-04 9.98975450e-01 1.19981047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.530385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:476.50, Y:111.52, Z:119.99 [[ 8.78463896e-01 4.76185298e-01 -3.93540999e-02 4.76498258e+02] [-4.75661603e-01 8.79344491e-01 2.23451522e-02 1.11520211e+02] [ 4.52462439e-02 -9.10175254e-04 9.98975450e-01 1.19986869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.55, Y:111.49, Z:119.99 [[ 8.79972812e-01 4.73391548e-01 -3.93483601e-02 4.76552102e+02] [-4.72864606e-01 8.80851467e-01 2.23552550e-02 1.11491196e+02] [ 4.52428495e-02 -1.06556979e-03 9.98975450e-01 1.19987945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.61, Y:111.46, Z:119.99 [[ 8.79215550e-01 4.74796765e-01 -3.93452413e-02 4.76606599e+02] [-4.74270982e-01 8.80094900e-01 2.23607427e-02 1.11461907e+02] [ 4.52443545e-02 -9.99606463e-04 9.98975450e-01 1.19990299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.66, Y:111.43, Z:119.99 [[ 8.77489001e-01 4.77980550e-01 -3.93401573e-02 4.76663004e+02] [-4.77457557e-01 8.78370012e-01 2.23696838e-02 1.11433681e+02] [ 4.52474882e-02 -8.45896054e-04 9.98975450e-01 1.19992501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:476.72, Y:111.41, Z:119.99 [[ 8.75963368e-01 4.80771272e-01 -3.93339778e-02 4.76719988e+02] [-4.80250599e-01 8.76845753e-01 2.23805442e-02 1.11406642e+02] [ 4.52497541e-02 -7.14370459e-04 9.98975450e-01 1.19993675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.78, Y:111.38, Z:120.00 [[ 8.76339430e-01 4.80085953e-01 -3.93278628e-02 4.76776269e+02] [-4.79564108e-01 8.77221122e-01 2.23912846e-02 1.11378690e+02] [ 4.52489731e-02 -7.62134138e-04 9.98975450e-01 1.19996455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.83, Y:111.35, Z:120.00 [[ 8.77649180e-01 4.77687882e-01 -3.93218016e-02 4.76833511e+02] [-4.77163151e-01 8.78529158e-01 2.24019238e-02 1.11351283e+02] [ 4.52464767e-02 -8.98115250e-04 9.98975450e-01 1.19999763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:476.89, Y:111.32, Z:120.00 [[ 8.78613181e-01 4.75912968e-01 -3.93157046e-02 4.76890130e+02] [-4.75385981e-01 8.79491810e-01 2.24126190e-02 1.11323127e+02] [ 4.52442962e-02 -1.00188772e-03 9.98975450e-01 1.20003679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:476.95, Y:111.30, Z:120.01 [[ 8.79384778e-01 4.74486224e-01 -3.93094835e-02 4.76946865e+02] [-4.73957325e-01 8.80262256e-01 2.24235249e-02 1.11295175e+02] [ 4.52423083e-02 -1.08788880e-03 9.98975450e-01 1.20006818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.00, Y:111.27, Z:120.01 [[ 8.79381463e-01 4.74492887e-01 -3.93032277e-02 4.77003614e+02] [-4.73963505e-01 8.80258650e-01 2.24344844e-02 1.11268081e+02] [ 4.52420094e-02 -1.10017410e-03 9.98975450e-01 1.20008983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.130385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:477.06, Y:111.24, Z:120.01 [[ 8.79741665e-01 4.73825228e-01 -3.92970252e-02 4.77059746e+02] [-4.73294696e-01 8.80618156e-01 2.24453436e-02 1.11242587e+02] [ 4.52408440e-02 -1.14703037e-03 9.98975450e-01 1.20011759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.190385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:477.12, Y:111.22, Z:120.01 [[ 8.80958944e-01 4.71558620e-01 -3.92913122e-02 4.77116994e+02] [-4.71025387e-01 8.81833795e-01 2.24553400e-02 1.11216831e+02] [ 4.52374161e-02 -1.27502703e-03 9.98975450e-01 1.20014727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.17, Y:111.19, Z:120.02 [[ 8.80411177e-01 4.72581032e-01 -3.92851992e-02 4.77171363e+02] [-4.72048339e-01 8.81286357e-01 2.24660295e-02 1.11187834e+02] [ 4.52385295e-02 -1.23483043e-03 9.98975450e-01 1.20024088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.23, Y:111.17, Z:120.02 [[ 8.81177213e-01 4.71151609e-01 -3.92795186e-02 4.77228730e+02] [-4.70617054e-01 8.82051257e-01 2.24759571e-02 1.11165265e+02] [ 4.52361321e-02 -1.31968996e-03 9.98975451e-01 1.20019764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.370385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:477.29, Y:111.14, Z:120.02 [[ 8.79857796e-01 4.73611429e-01 -3.92743318e-02 4.77285651e+02] [-4.73078914e-01 8.80733084e-01 2.24850169e-02 1.11138278e+02] [ 4.52393643e-02 -1.20375921e-03 9.98975451e-01 1.20022551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.34, Y:111.11, Z:120.03 [[ 8.76725822e-01 4.79384863e-01 -3.92681413e-02 4.77340735e+02] [-4.78857629e-01 8.77604301e-01 2.24958229e-02 1.11110750e+02] [ 4.52460466e-02 -9.18819766e-04 9.98975451e-01 1.20027741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.40, Y:111.08, Z:120.03 [[ 8.72803574e-01 4.86489857e-01 -3.92624479e-02 4.77398181e+02] [-4.85969329e-01 8.73686043e-01 2.25057553e-02 1.11084029e+02] [ 4.52518744e-02 -5.62758248e-04 9.98975451e-01 1.20029005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.45, Y:111.06, Z:120.03 [[ 8.70454478e-01 4.90681132e-01 -3.92559352e-02 4.77453592e+02] [-4.90164341e-01 8.71339141e-01 2.25171094e-02 1.11057903e+02] [ 4.52539536e-02 -3.58259080e-04 9.98975451e-01 1.20029991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.51, Y:111.03, Z:120.03 [[ 8.69420035e-01 4.92511948e-01 -3.92528255e-02 4.77510126e+02] [-4.91996775e-01 8.70305641e-01 2.25225290e-02 1.11029103e+02] [ 4.52545701e-02 -2.69274388e-04 9.98975451e-01 1.20032415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.56, Y:111.00, Z:120.03 [[ 8.70268700e-01 4.91011300e-01 -3.92465574e-02 4.77564000e+02] [-4.90494108e-01 8.71153129e-01 2.25334463e-02 1.10998871e+02] [ 4.52539380e-02 -3.59947886e-04 9.98975451e-01 1.20034673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.62, Y:110.97, Z:120.04 [[ 8.72638954e-01 4.86786806e-01 -3.92410556e-02 4.77618625e+02] [-4.86264903e-01 8.73520610e-01 2.25430233e-02 1.10967261e+02] [ 4.52515172e-02 -5.90372250e-04 9.98975451e-01 1.20037380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.790385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:477.67, Y:110.93, Z:120.05 [[ 8.74753180e-01 4.82977746e-01 -3.92348216e-02 4.77670852e+02] [-4.82451518e-01 8.75632261e-01 2.25538681e-02 1.10932910e+02] [ 4.52482919e-02 -8.00168583e-04 9.98975451e-01 1.20045047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8503857229999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:477.72, Y:110.90, Z:120.04 [[ 8.76571433e-01 4.79670099e-01 -3.92316043e-02 4.77724001e+02] [-4.79140304e-01 8.77448369e-01 2.25594630e-02 1.10903141e+02] [ 4.52448071e-02 -9.77538003e-04 9.98975451e-01 1.20042272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.78, Y:110.87, Z:120.05 [[ 8.75804798e-01 4.81068874e-01 -3.92262006e-02 4.77778068e+02] [-4.80540058e-01 8.76682325e-01 2.25688551e-02 1.10870650e+02] [ 4.52460904e-02 -9.16150874e-04 9.98975451e-01 1.20045424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.83, Y:110.84, Z:120.05 [[ 8.74804274e-01 4.82886413e-01 -3.92198319e-02 4.77831132e+02] [-4.82358925e-01 8.75682600e-01 2.25799171e-02 1.10837762e+02] [ 4.52476595e-02 -8.34972062e-04 9.98975451e-01 1.20047753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.88, Y:110.80, Z:120.05 [[ 8.73107112e-01 4.85948832e-01 -3.92135613e-02 4.77884625e+02] [-4.85423936e-01 8.73986990e-01 2.25908016e-02 1.10804882e+02] [ 4.52501161e-02 -6.88988284e-04 9.98975451e-01 1.20050937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:477.94, Y:110.77, Z:120.05 [[ 8.71963806e-01 4.87997851e-01 -3.92073742e-02 4.77936430e+02] [-4.87474540e-01 8.72844627e-01 2.26015345e-02 1.10769563e+02] [ 4.52514462e-02 -5.95123341e-04 9.98975451e-01 1.20053112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.99, Y:110.74, Z:120.06 [[ 8.71314627e-01 4.89156261e-01 -3.92042411e-02 4.77989301e+02] [-4.88633877e-01 8.72195998e-01 2.26069680e-02 1.10737365e+02] [ 4.52521221e-02 -5.41261577e-04 9.98975451e-01 1.20057812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.04, Y:110.70, Z:120.06 [[ 8.70177791e-01 4.91176307e-01 -3.91975460e-02 4.78041569e+02] [-4.90655447e-01 8.71060063e-01 2.26185704e-02 1.10703875e+02] [ 4.52531228e-02 -4.49688183e-04 9.98975451e-01 1.20062328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.09, Y:110.67, Z:120.07 [[ 8.69237483e-01 4.92838885e-01 -3.91922366e-02 4.78093768e+02] [-4.92319297e-01 8.70120505e-01 2.26277664e-02 1.10669484e+02] [ 4.52538119e-02 -3.73808342e-04 9.98975452e-01 1.20065908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.14, Y:110.63, Z:120.07 [[ 8.69786176e-01 4.91870377e-01 -3.91859672e-02 4.78144102e+02] [-4.91349317e-01 8.70668330e-01 2.26386184e-02 1.10634772e+02] [ 4.52532464e-02 -4.36759076e-04 9.98975452e-01 1.20067640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.20, Y:110.60, Z:120.07 [[ 8.70993743e-01 4.89729108e-01 -3.91829083e-02 4.78196207e+02] [-4.89205641e-01 8.71874471e-01 2.26439115e-02 1.10600256e+02] [ 4.52519601e-02 -5.54205392e-04 9.98975452e-01 1.20072118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.450385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:478.25, Y:110.57, Z:120.07 [[ 8.71231710e-01 4.89306141e-01 -3.91766299e-02 4.78248426e+02] [-4.88781759e-01 8.72111893e-01 2.26547687e-02 1.10565420e+02] [ 4.52515223e-02 -5.88730833e-04 9.98975452e-01 1.20073595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.30, Y:110.53, Z:120.08 [[ 8.71274223e-01 4.89230934e-01 -3.91704142e-02 4.78301417e+02] [-4.88705993e-01 8.72154073e-01 2.26655107e-02 1.10532261e+02] [ 4.52513052e-02 -6.05059045e-04 9.98975452e-01 1.20076473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:478.35, Y:110.50, Z:120.08 [[ 8.71904255e-01 4.88107721e-01 -3.91640572e-02 4.78353468e+02] [-4.87581153e-01 8.72783132e-01 2.26764897e-02 1.10499285e+02] [ 4.52502982e-02 -6.76071727e-04 9.98975452e-01 1.20079403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.41, Y:110.47, Z:120.08 [[ 8.72968049e-01 4.86203066e-01 -3.91581929e-02 4.78406113e+02] [-4.85674127e-01 8.73845501e-01 2.26866117e-02 1.10465289e+02] [ 4.52485109e-02 -7.86565998e-04 9.98975452e-01 1.20083503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.46, Y:110.43, Z:120.09 [[ 8.72576109e-01 4.86906628e-01 -3.91518654e-02 4.78459441e+02] [-4.86377907e-01 8.73453693e-01 2.26975263e-02 1.10432983e+02] [ 4.52489174e-02 -7.62716870e-04 9.98975452e-01 1.20085867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.51, Y:110.40, Z:120.09 [[ 8.71050720e-01 4.89630711e-01 -3.91460251e-02 4.78513742e+02] [-4.89104282e-01 8.71929680e-01 2.27075945e-02 1.10400384e+02] [ 4.52509168e-02 -6.32978068e-04 9.98975452e-01 1.20087856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.57, Y:110.37, Z:120.09 [[ 8.70011036e-01 4.91476218e-01 -3.91397949e-02 4.78566743e+02] [-4.90951172e-01 8.70890823e-01 2.27183281e-02 1.10368537e+02] [ 4.52520062e-02 -5.49467981e-04 9.98975452e-01 1.20089393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:478.62, Y:110.34, Z:120.09 [[ 8.70589852e-01 4.90450618e-01 -3.91343989e-02 4.78619509e+02] [-4.89924117e-01 8.71468769e-01 2.27276195e-02 1.10335306e+02] [ 4.52511814e-02 -6.13549034e-04 9.98975452e-01 1.20093261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.67, Y:110.30, Z:120.10 [[ 8.72221336e-01 4.87543778e-01 -3.91280622e-02 4.78673374e+02] [-4.87013859e-01 8.73098197e-01 2.27385236e-02 1.10303015e+02] [ 4.52486662e-02 -7.77116878e-04 9.98975452e-01 1.20095708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:478.73, Y:110.27, Z:120.10 [[ 8.73219080e-01 4.85755014e-01 -3.91216590e-02 4.78726587e+02] [-4.85222806e-01 8.74094553e-01 2.27495349e-02 1.10270092e+02] [ 4.52467297e-02 -8.82606821e-04 9.98975452e-01 1.20098766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.050385723 meters Centerline goodness : 0.994726 with order 1 Centerline is valid? [True, True] Translation: X:478.78, Y:110.24, Z:120.10 [[ 8.73120626e-01 4.85932467e-01 -3.91153528e-02 4.78779930e+02] [-4.85399951e-01 8.73995911e-01 2.27603726e-02 1.10240518e+02] [ 4.52466624e-02 -8.85960432e-04 9.98975452e-01 1.20095768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:478.83, Y:110.21, Z:120.10 [[ 8.71692771e-01 4.88489704e-01 -3.91091141e-02 4.78832983e+02] [-4.87959275e-01 8.72569323e-01 2.27710876e-02 1.10209376e+02] [ 4.52488550e-02 -7.65737447e-04 9.98975453e-01 1.20104443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.170385723 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:478.89, Y:110.18, Z:120.10 [[ 8.70756794e-01 4.90156744e-01 -3.91020757e-02 4.78887200e+02] [-4.89627452e-01 8.71634032e-01 2.27831674e-02 1.10178619e+02] [ 4.52500230e-02 -6.93148113e-04 9.98975453e-01 1.20104617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.94, Y:110.15, Z:120.11 [[ 8.70335319e-01 4.90904935e-01 -3.90995846e-02 4.78940968e+02] [-4.90376205e-01 8.71212896e-01 2.27874416e-02 1.10145688e+02] [ 4.52505299e-02 -6.59209294e-04 9.98975453e-01 1.20109065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.99, Y:110.11, Z:120.11 [[ 8.70251596e-01 4.91053987e-01 -3.90914440e-02 4.78993916e+02] [-4.90524781e-01 8.71128886e-01 2.28013981e-02 1.10113121e+02] [ 4.52504035e-02 -6.67631148e-04 9.98975453e-01 1.20111153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:479.05, Y:110.08, Z:120.11 [[ 8.70565806e-01 4.90497170e-01 -3.90858545e-02 4.79045937e+02] [-4.89966972e-01 8.71442497e-01 2.28109755e-02 1.10079855e+02] [ 4.52497936e-02 -7.07677507e-04 9.98975453e-01 1.20113024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.10, Y:110.05, Z:120.12 [[ 8.71096886e-01 4.89553852e-01 -3.90799450e-02 4.79098399e+02] [-4.89022251e-01 8.71972727e-01 2.28210952e-02 1.10046587e+02] [ 4.52488013e-02 -7.68422329e-04 9.98975453e-01 1.20117036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4703857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:479.15, Y:110.01, Z:120.12 [[ 8.71098734e-01 4.89550994e-01 -3.90745316e-02 4.79151604e+02] [-4.89018975e-01 8.71974321e-01 2.28303604e-02 1.10014880e+02] [ 4.52486138e-02 -7.79310700e-04 9.98975453e-01 1.20119119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.21, Y:109.99, Z:120.12 [[ 8.72877382e-01 4.86372982e-01 -3.90691611e-02 4.79206340e+02] [-4.85837364e-01 8.73750772e-01 2.28395472e-02 1.09985145e+02] [ 4.52452483e-02 -9.54865905e-04 9.98975453e-01 1.20119276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5903857229999 meters Centerline goodness : 0.994938 with order 1 Centerline is valid? [True, True] Translation: X:479.26, Y:109.95, Z:120.12 [[ 8.70092362e-01 4.91338325e-01 -3.90631899e-02 4.79256994e+02] [-4.90807234e-01 8.70968512e-01 2.28497554e-02 1.09948861e+02] [ 4.52497689e-02 -7.08901479e-04 9.98975453e-01 1.20122866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.31, Y:109.92, Z:120.13 [[ 8.69593493e-01 4.92221333e-01 -3.90553136e-02 4.79309331e+02] [-4.91690527e-01 8.70469815e-01 2.28632098e-02 1.09918110e+02] [ 4.52502312e-02 -6.78570732e-04 9.98975453e-01 1.20128541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.36, Y:109.88, Z:120.13 [[ 8.70211065e-01 4.91129217e-01 -3.90486138e-02 4.79362277e+02] [-4.90596799e-01 8.71086409e-01 2.28746469e-02 1.09884177e+02] [ 4.52491241e-02 -7.48645901e-04 9.98975453e-01 1.20132475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:479.42, Y:109.85, Z:120.13 [[ 8.69957137e-01 4.91579388e-01 -3.90420951e-02 4.79415971e+02] [-4.91046924e-01 8.70832453e-01 2.28857675e-02 1.09852023e+02] [ 4.52492950e-02 -7.38136084e-04 9.98975453e-01 1.20134940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.830385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:479.47, Y:109.82, Z:120.14 [[ 8.68913922e-01 4.93421524e-01 -3.90358257e-02 4.79469302e+02] [-4.92890436e-01 8.69790073e-01 2.28964560e-02 1.09818132e+02] [ 4.52505779e-02 -6.54664197e-04 9.98975453e-01 1.20137569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.890385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:479.52, Y:109.79, Z:120.14 [[ 8.68617294e-01 4.93944018e-01 -3.90295153e-02 4.79522741e+02] [-4.93412974e-01 8.69493472e-01 2.29072078e-02 1.09786669e+02] [ 4.52507870e-02 -6.39927652e-04 9.98975454e-01 1.20138784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.58, Y:109.76, Z:120.14 [[ 8.70126073e-01 4.91281762e-01 -3.90236772e-02 4.79578361e+02] [-4.90747591e-01 8.71000348e-01 2.29171489e-02 1.09758984e+02] [ 4.52484137e-02 -7.90033207e-04 9.98975454e-01 1.20139121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.010385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:479.63, Y:109.73, Z:120.14 [[ 8.71763462e-01 4.88370830e-01 -3.90179209e-02 4.79632414e+02] [-4.87833302e-01 8.72635677e-01 2.29269452e-02 1.09727537e+02] [ 4.52452811e-02 -9.52631909e-04 9.98975454e-01 1.20140845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.68, Y:109.69, Z:120.15 [[ 8.69974574e-01 4.91550690e-01 -3.90148625e-02 4.79683672e+02] [-4.91016117e-01 8.70848603e-01 2.29321486e-02 1.09692194e+02] [ 4.52483520e-02 -7.93459988e-04 9.98975454e-01 1.20148755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.74, Y:109.66, Z:120.15 [[ 8.69526687e-01 4.92343097e-01 -3.90078915e-02 4.79738426e+02] [-4.91808789e-01 8.70400878e-01 2.29440002e-02 1.09661141e+02] [ 4.52488231e-02 -7.65996625e-04 9.98975454e-01 1.20148770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.79, Y:109.63, Z:120.15 [[ 8.69012103e-01 4.93251299e-01 -3.90015596e-02 4.79791645e+02] [-4.92717422e-01 8.69886557e-01 2.29547585e-02 1.09628487e+02] [ 4.52493968e-02 -7.31215044e-04 9.98975454e-01 1.20150178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:479.84, Y:109.60, Z:120.15 [[ 8.68584889e-01 4.94003701e-01 -3.89953011e-02 4.79844785e+02] [-4.93470104e-01 8.69459514e-01 2.29653854e-02 1.09595427e+02] [ 4.52498210e-02 -7.04371461e-04 9.98975454e-01 1.20152534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.90, Y:109.57, Z:120.15 [[ 8.69763865e-01 4.91925479e-01 -3.89889905e-02 4.79900208e+02] [-4.91389313e-01 8.70636918e-01 2.29760942e-02 1.09566900e+02] [ 4.52477806e-02 -8.25003269e-04 9.98975454e-01 1.20150181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.95, Y:109.53, Z:120.15 [[ 8.70400968e-01 4.90797761e-01 -3.89834917e-02 4.79952776e+02] [-4.90260046e-01 8.71273067e-01 2.29854202e-02 1.09533110e+02] [ 4.52464591e-02 -8.94483545e-04 9.98975454e-01 1.20154176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.00, Y:109.50, Z:120.16 [[ 8.66767438e-01 4.97186817e-01 -3.89804754e-02 4.80002306e+02] [-4.96655301e-01 8.67643329e-01 2.29905344e-02 1.09496592e+02] [ 4.52517400e-02 -5.67586823e-04 9.98975454e-01 1.20161471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.06, Y:109.46, Z:120.16 [[ 8.64192481e-01 5.01649660e-01 -3.89740280e-02 4.80055709e+02] [-5.01122175e-01 8.65070805e-01 2.30014590e-02 1.09462471e+02] [ 4.52539678e-02 -3.46938224e-04 9.98975454e-01 1.20162654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.11, Y:109.43, Z:120.17 [[ 8.64080780e-01 5.01842533e-01 -3.89676489e-02 4.80109121e+02] [-5.01314757e-01 8.64958930e-01 2.30122609e-02 1.09430175e+02] [ 4.52539472e-02 -3.49394937e-04 9.98975454e-01 1.20165341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.16, Y:109.40, Z:120.17 [[ 8.62907940e-01 5.03856771e-01 -3.89646191e-02 4.80160524e+02] [-5.03330813e-01 8.63787180e-01 2.30173899e-02 1.09395528e+02] [ 4.52546062e-02 -2.49795140e-04 9.98975454e-01 1.20167111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.21, Y:109.36, Z:120.17 [[ 8.64372393e-01 5.01340831e-01 -3.89581440e-02 4.80212056e+02] [-5.00811821e-01 8.65249799e-01 2.30283441e-02 1.09362012e+02] [ 4.52535755e-02 -3.94365839e-04 9.98975454e-01 1.20173656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.26, Y:109.33, Z:120.17 [[ 8.65460262e-01 4.99460980e-01 -3.89520933e-02 4.80263525e+02] [-4.98929603e-01 8.66336237e-01 2.30385742e-02 1.09328095e+02] [ 4.52524788e-02 -5.04618023e-04 9.98975454e-01 1.20172767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.32, Y:109.29, Z:120.17 [[ 8.67344568e-01 4.96181987e-01 -3.89465826e-02 4.80315368e+02] [-4.95646881e-01 8.68218270e-01 2.30478863e-02 1.09293658e+02] [ 4.52500806e-02 -6.86706744e-04 9.98975454e-01 1.20174571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.37, Y:109.26, Z:120.18 [[ 8.68547378e-01 4.94073970e-01 -3.89405268e-02 4.80368175e+02] [-4.93536285e-01 8.69419495e-01 2.30581134e-02 1.09258880e+02] [ 4.52480667e-02 -8.08501012e-04 9.98975455e-01 1.20178585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.42, Y:109.23, Z:120.18 [[ 8.68424206e-01 4.94290940e-01 -3.89341065e-02 4.80421605e+02] [-4.93752987e-01 8.69296159e-01 2.30689490e-02 1.09227337e+02] [ 4.52480417e-02 -8.09802381e-04 9.98975455e-01 1.20179922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.47, Y:109.19, Z:120.19 [[ 8.66973620e-01 4.96831299e-01 -3.89281565e-02 4.80474210e+02] [-4.96295452e-01 8.67846867e-01 2.30789852e-02 1.09194628e+02] [ 4.52500408e-02 -6.89004336e-04 9.98975455e-01 1.20187381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.53, Y:109.16, Z:120.19 [[ 8.66332802e-01 4.97948320e-01 -3.89223102e-02 4.80527418e+02] [-4.97413155e-01 8.67206468e-01 2.30888406e-02 1.09164768e+02] [ 4.52507286e-02 -6.42150863e-04 9.98975455e-01 1.20186284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.58, Y:109.13, Z:120.19 [[ 8.66106682e-01 4.98341759e-01 -3.89192381e-02 4.80581539e+02] [-4.97806759e-01 8.66980448e-01 2.30940179e-02 1.09132967e+02] [ 4.52509320e-02 -6.27623465e-04 9.98975455e-01 1.20190470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.63, Y:109.10, Z:120.19 [[ 8.67177898e-01 4.96475869e-01 -3.89127821e-02 4.80634594e+02] [-4.95938501e-01 8.68050210e-01 2.31048910e-02 1.09100460e+02] [ 4.52492695e-02 -7.37703968e-04 9.98975455e-01 1.20194801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.69, Y:109.07, Z:120.20 [[ 8.68975718e-01 4.93322877e-01 -3.89068201e-02 4.80690471e+02] [-4.92781895e-01 8.69845793e-01 2.31149262e-02 1.09071638e+02] [ 4.52460557e-02 -9.13733063e-04 9.98975455e-01 1.20195276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.74, Y:109.04, Z:120.20 [[ 8.69116098e-01 4.93076066e-01 -3.88998841e-02 4.80742110e+02] [-4.92534315e-01 8.69985695e-01 2.31265928e-02 1.09039704e+02] [ 4.52455121e-02 -9.40166299e-04 9.98975455e-01 1.20198551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.80, Y:109.01, Z:120.20 [[ 8.69490185e-01 4.92416368e-01 -3.88965090e-02 4.80796374e+02] [-4.91873704e-01 8.70359212e-01 2.31322679e-02 1.09008391e+02] [ 4.52446423e-02 -9.81109989e-04 9.98975455e-01 1.20202320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.85, Y:108.98, Z:120.20 [[ 8.69947297e-01 4.91608842e-01 -3.88902036e-02 4.80851602e+02] [-4.91064897e-01 8.70815523e-01 2.31428637e-02 1.08980720e+02] [ 4.52434295e-02 -1.03545788e-03 9.98975455e-01 1.20203120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:480.91, Y:108.95, Z:120.21 [[ 8.67474416e-01 4.95959792e-01 -3.88847319e-02 4.80905146e+02] [-4.95419791e-01 8.68345100e-01 2.31520538e-02 1.08949130e+02] [ 4.52478542e-02 -8.19548593e-04 9.98975455e-01 1.20209071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.96, Y:108.92, Z:120.21 [[ 8.68635608e-01 4.93923720e-01 -3.88785212e-02 4.80963626e+02] [-4.93381212e-01 8.69504732e-01 2.31624785e-02 1.08923146e+02] [ 4.52455557e-02 -9.37821659e-04 9.98975455e-01 1.20205088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.02, Y:108.89, Z:120.22 [[ 8.66519331e-01 4.97627323e-01 -3.88753907e-02 4.81015068e+02] [-4.97088295e-01 8.67390617e-01 2.31677314e-02 1.08889198e+02] [ 4.52490453e-02 -7.50785453e-04 9.98975455e-01 1.20215551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.07, Y:108.86, Z:120.22 [[ 8.67609623e-01 4.95724486e-01 -3.88687011e-02 4.81071027e+02] [-4.95183045e-01 8.68479412e-01 2.31789493e-02 1.08859524e+02] [ 4.52470394e-02 -8.63157729e-04 9.98975455e-01 1.20216884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:481.13, Y:108.83, Z:120.22 [[ 8.68890988e-01 4.93475442e-01 -3.88643574e-02 4.81125311e+02] [-4.92931424e-01 8.69759168e-01 2.31862301e-02 1.08829704e+02] [ 4.52444663e-02 -9.88843385e-04 9.98975455e-01 1.20220423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.18, Y:108.80, Z:120.22 [[ 8.69702962e-01 4.92043318e-01 -3.88604144e-02 4.81180922e+02] [-4.91497575e-01 8.70570058e-01 2.31928367e-02 1.08799476e+02] [ 4.52425936e-02 -1.07107930e-03 9.98975455e-01 1.20222249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.24, Y:108.77, Z:120.23 [[ 8.70025150e-01 4.91473891e-01 -3.88542542e-02 4.81235906e+02] [-4.90927120e-01 8.70891599e-01 2.32031521e-02 1.08768526e+02] [ 4.52415870e-02 -1.11271875e-03 9.98975455e-01 1.20225549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.29, Y:108.74, Z:120.23 [[ 8.70196060e-01 4.91171722e-01 -3.88478562e-02 4.81290603e+02] [-4.90624173e-01 8.71062017e-01 2.32138590e-02 1.08737526e+02] [ 4.52408831e-02 -1.14091136e-03 9.98975456e-01 1.20227638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:481.35, Y:108.71, Z:120.23 [[ 8.69635819e-01 4.92163472e-01 -3.88414606e-02 4.81346747e+02] [-4.91616433e-01 8.70502098e-01 2.32245553e-02 1.08708490e+02] [ 4.52418507e-02 -1.10180488e-03 9.98975456e-01 1.20230281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.40, Y:108.68, Z:120.23 [[ 8.68392440e-01 4.94354535e-01 -3.88350886e-02 4.81402094e+02] [-4.93809206e-01 8.69259796e-01 2.32352053e-02 1.08681013e+02] [ 4.52442103e-02 -1.00015231e-03 9.98975456e-01 1.20231983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:481.46, Y:108.65, Z:120.24 [[ 8.67667632e-01 4.95625886e-01 -3.88311830e-02 4.81456909e+02] [-4.95081536e-01 8.68535603e-01 2.32417307e-02 1.08651314e+02] [ 4.52454683e-02 -9.41495665e-04 9.98975456e-01 1.20236278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.110385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:481.51, Y:108.62, Z:120.24 [[ 8.67479855e-01 4.95954945e-01 -3.88251699e-02 4.81513430e+02] [-4.95410475e-01 8.68347751e-01 2.32517712e-02 1.08624163e+02] [ 4.52455798e-02 -9.36047225e-04 9.98975456e-01 1.20237206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.57, Y:108.60, Z:120.24 [[ 8.66519892e-01 4.97630730e-01 -3.88192518e-02 4.81569813e+02] [-4.97087496e-01 8.67388562e-01 2.32616474e-02 1.08596226e+02] [ 4.52470855e-02 -8.60115525e-04 9.98975456e-01 1.20242316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.63, Y:108.57, Z:120.24 [[ 8.65684997e-01 4.99082207e-01 -3.88128514e-02 4.81625719e+02] [-4.98539952e-01 8.66554277e-01 2.32723218e-02 1.08566948e+02] [ 4.52482441e-02 -7.96742748e-04 9.98975456e-01 1.20244747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.68, Y:108.54, Z:120.25 [[ 8.65623052e-01 4.99190148e-01 -3.88062843e-02 4.81680497e+02] [-4.98647510e-01 8.66492095e-01 2.32832672e-02 1.08537820e+02] [ 4.52481161e-02 -8.03875728e-04 9.98975456e-01 1.20246119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3503857229999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:481.74, Y:108.51, Z:120.25 [[ 8.65803026e-01 4.98878405e-01 -3.88002219e-02 4.81736538e+02] [-4.98335002e-01 8.66671590e-01 2.32933653e-02 1.08508286e+02] [ 4.52476070e-02 -8.31957513e-04 9.98975456e-01 1.20245784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.79, Y:108.48, Z:120.25 [[ 8.66008525e-01 4.98522100e-01 -3.87937032e-02 4.81791686e+02] [-4.97977854e-01 8.66876560e-01 2.33042169e-02 1.08477362e+02] [ 4.52470191e-02 -8.63245436e-04 9.98975456e-01 1.20251388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.85, Y:108.45, Z:120.25 [[ 8.66470932e-01 4.97718484e-01 -3.87870424e-02 4.81846511e+02] [-4.97172937e-01 8.67338151e-01 2.33152977e-02 1.08447687e+02] [ 4.52459363e-02 -9.18159967e-04 9.98975456e-01 1.20253257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.90, Y:108.42, Z:120.26 [[ 8.67240222e-01 4.96377317e-01 -3.87808916e-02 4.81901673e+02] [-4.95829971e-01 8.68106307e-01 2.33255239e-02 1.08418132e+02] [ 4.52441976e-02 -1.00010416e-03 9.98975456e-01 1.20256199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5903857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:481.96, Y:108.39, Z:120.26 [[ 8.66560898e-01 4.97562817e-01 -3.87743899e-02 4.81956466e+02] [-4.97016174e-01 8.67427426e-01 2.33363268e-02 1.08386851e+02] [ 4.52452578e-02 -9.50849418e-04 9.98975456e-01 1.20259669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.650385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:482.01, Y:108.36, Z:120.26 [[ 8.64838066e-01 5.00551860e-01 -3.87679537e-02 4.82013030e+02] [-5.00007733e-01 8.65706176e-01 2.33470143e-02 1.08358043e+02] [ 4.52480484e-02 -8.07110107e-04 9.98975457e-01 1.20259502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.710385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:482.07, Y:108.33, Z:120.26 [[ 8.64492503e-01 5.01148931e-01 -3.87615845e-02 4.82068214e+02] [-5.00604930e-01 8.65360692e-01 2.33575838e-02 1.08329600e+02] [ 4.52483798e-02 -7.88215762e-04 9.98975457e-01 1.20263669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:482.12, Y:108.30, Z:120.27 [[ 8.64972394e-01 5.00320654e-01 -3.87556527e-02 4.82122786e+02] [-4.99775381e-01 8.65839785e-01 2.33674219e-02 1.08297755e+02] [ 4.52473898e-02 -8.43053813e-04 9.98975457e-01 1.20266330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:482.18, Y:108.27, Z:120.26 [[ 8.66832833e-01 4.97090917e-01 -3.87486892e-02 4.82177729e+02] [-4.96541896e-01 8.67697856e-01 2.33789634e-02 1.08269138e+02] [ 4.52436249e-02 -1.02530548e-03 9.98975457e-01 1.20264232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.890385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:482.23, Y:108.23, Z:120.27 [[ 8.66807245e-01 4.97135869e-01 -3.87443959e-02 4.82230700e+02] [-4.96586576e-01 8.67672095e-01 2.33860763e-02 1.08234617e+02] [ 4.52434885e-02 -1.03127350e-03 9.98975457e-01 1.20269277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.950385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:482.28, Y:108.20, Z:120.27 [[ 8.66986632e-01 4.96823479e-01 -3.87377191e-02 4.82283307e+02] [-4.96273381e-01 8.67850970e-01 2.33971307e-02 1.08200235e+02] [ 4.52428110e-02 -1.06050073e-03 9.98975457e-01 1.20272114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.33, Y:108.16, Z:120.28 [[ 8.64505697e-01 5.01128541e-01 -3.87309504e-02 4.82333784e+02] [-5.00582245e-01 8.65372443e-01 2.34083301e-02 1.08164584e+02] [ 4.52472795e-02 -8.48608613e-04 9.98975457e-01 1.20277911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.39, Y:108.13, Z:120.28 [[ 8.62697983e-01 5.04234656e-01 -3.87246796e-02 4.82386455e+02] [-5.03691017e-01 8.63566398e-01 2.34186994e-02 1.08131102e+02] [ 4.52498519e-02 -6.97991495e-04 9.98975457e-01 1.20281669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.44, Y:108.10, Z:120.28 [[ 8.61014568e-01 5.07104337e-01 -3.87182894e-02 4.82440300e+02] [-5.06563117e-01 8.61884492e-01 2.34292596e-02 1.08098083e+02] [ 4.52517724e-02 -5.59676405e-04 9.98975457e-01 1.20282427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.190385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:482.49, Y:108.06, Z:120.28 [[ 8.60435466e-01 5.08086801e-01 -3.87118994e-02 4.82493089e+02] [-5.07546100e-01 8.61305713e-01 2.34398129e-02 1.08064197e+02] [ 4.52522397e-02 -5.20372813e-04 9.98975457e-01 1.20283353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.54, Y:108.03, Z:120.29 [[ 8.60524699e-01 5.07936151e-01 -3.87054261e-02 4.82544916e+02] [-5.07394817e-01 8.61394552e-01 2.34504972e-02 1.08028831e+02] [ 4.52519985e-02 -5.40799490e-04 9.98975457e-01 1.20287346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.60, Y:107.99, Z:120.29 [[ 8.61189060e-01 5.06809428e-01 -3.86989343e-02 4.82596557e+02] [-5.06266475e-01 8.62057903e-01 2.34612054e-02 1.07993665e+02] [ 4.52510823e-02 -6.12560346e-04 9.98975457e-01 1.20289582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.370385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:482.65, Y:107.96, Z:120.29 [[ 8.60609675e-01 5.07793150e-01 -3.86924208e-02 4.82648543e+02] [-5.07250707e-01 8.61478838e-01 2.34719426e-02 1.07957605e+02] [ 4.52515934e-02 -5.73423116e-04 9.98975457e-01 1.20291687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.70, Y:107.92, Z:120.29 [[ 8.59198719e-01 5.10177389e-01 -3.86858201e-02 4.82699897e+02] [-5.09636868e-01 8.60069079e-01 2.34828167e-02 1.07923506e+02] [ 4.52528797e-02 -4.60685881e-04 9.98975457e-01 1.20293388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.490385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:482.75, Y:107.89, Z:120.30 [[ 8.58578634e-01 5.11220704e-01 -3.86797234e-02 4.82751645e+02] [-5.10680789e-01 8.59449369e-01 2.34928547e-02 1.07888212e+02] [ 4.52532975e-02 -4.17471396e-04 9.98975458e-01 1.20296511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:482.80, Y:107.85, Z:120.30 [[ 8.58416676e-01 5.11493098e-01 -3.86732625e-02 4.82804083e+02] [-5.10952980e-01 8.59287285e-01 2.35034855e-02 1.07852526e+02] [ 4.52533134e-02 -4.15565182e-04 9.98975458e-01 1.20298974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.610385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:482.86, Y:107.82, Z:120.30 [[ 8.58404431e-01 5.11514140e-01 -3.86667372e-02 4.82857064e+02] [-5.10973561e-01 8.59274754e-01 2.35142157e-02 1.07817956e+02] [ 4.52532049e-02 -4.27026511e-04 9.98975458e-01 1.20301219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.91, Y:107.78, Z:120.30 [[ 8.58946271e-01 5.10604237e-01 -3.86602651e-02 4.82909449e+02] [-5.10062257e-01 8.59815722e-01 2.35248518e-02 1.07782620e+02] [ 4.52525928e-02 -4.87441648e-04 9.98975458e-01 1.20304673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.730385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:482.96, Y:107.75, Z:120.31 [[ 8.61926342e-01 5.05557976e-01 -3.86537699e-02 4.82964492e+02] [-5.05010428e-01 8.62792297e-01 2.35355193e-02 1.07751977e+02] [ 4.52487444e-02 -7.65327138e-04 9.98975458e-01 1.20305450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.01, Y:107.72, Z:120.31 [[ 8.60830774e-01 5.07421728e-01 -3.86467105e-02 4.83014051e+02] [-5.06875534e-01 8.61697584e-01 2.35471055e-02 1.07715973e+02] [ 4.52500901e-02 -6.81000998e-04 9.98975458e-01 1.20308860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.07, Y:107.68, Z:120.31 [[ 8.61342760e-01 5.06552577e-01 -3.86411175e-02 4.83065611e+02] [-5.06005098e-01 8.62208758e-01 2.35562801e-02 1.07683258e+02] [ 4.52492044e-02 -7.37428887e-04 9.98975458e-01 1.20312515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.12, Y:107.65, Z:120.32 [[ 8.61517300e-01 5.06255907e-01 -3.86380374e-02 4.83118095e+02] [-5.05707903e-01 8.62382966e-01 2.35613313e-02 1.07649984e+02] [ 4.52488484e-02 -7.58933650e-04 9.98975458e-01 1.20316810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9703857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:483.17, Y:107.62, Z:120.32 [[ 8.61847349e-01 5.05694308e-01 -3.86317885e-02 4.83169902e+02] [-5.05145281e-01 8.62712366e-01 2.35715726e-02 1.07616670e+02] [ 4.52481318e-02 -8.00431723e-04 9.98975458e-01 1.20318077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.030385723 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:483.22, Y:107.58, Z:120.32 [[ 8.62145771e-01 5.05185872e-01 -3.86251688e-02 4.83222139e+02] [-5.04635849e-01 8.63010156e-01 2.35824149e-02 1.07583415e+02] [ 4.52474158e-02 -8.39834424e-04 9.98975458e-01 1.20319281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0903857229999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:483.27, Y:107.55, Z:120.33 [[ 8.60519635e-01 5.07951292e-01 -3.86192074e-02 4.83272710e+02] [-5.07403609e-01 8.61385504e-01 2.35921734e-02 1.07547937e+02] [ 4.52497004e-02 -7.06003247e-04 9.98975458e-01 1.20325393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.33, Y:107.51, Z:120.33 [[ 8.61016929e-01 5.07108203e-01 -3.86150045e-02 4.83325589e+02] [-5.06559364e-01 8.61882066e-01 2.35990506e-02 1.07513727e+02] [ 4.52488520e-02 -7.58389909e-04 9.98975458e-01 1.20328663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.38, Y:107.48, Z:120.33 [[ 8.61734379e-01 5.05888569e-01 -3.86084943e-02 4.83377928e+02] [-5.05338029e-01 8.62598434e-01 2.36096967e-02 1.07478621e+02] [ 4.52475024e-02 -8.34946881e-04 9.98975458e-01 1.20330800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.43, Y:107.44, Z:120.33 [[ 8.61161173e-01 5.06864230e-01 -3.86016477e-02 4.83430229e+02] [-5.06314167e-01 8.62025532e-01 2.36208854e-02 1.07443499e+02] [ 4.52481878e-02 -7.96828224e-04 9.98975458e-01 1.20334875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.48, Y:107.41, Z:120.34 [[ 8.60470038e-01 5.08037158e-01 -3.85948186e-02 4.83482670e+02] [-5.07487774e-01 8.61334828e-01 2.36320385e-02 1.07408311e+02] [ 4.52490151e-02 -7.48262459e-04 9.98975459e-01 1.20338881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:483.53, Y:107.37, Z:120.34 [[ 8.59795325e-01 5.09178712e-01 -3.85880734e-02 4.83534727e+02] [-5.08629982e-01 8.60660530e-01 2.36430475e-02 1.07373448e+02] [ 4.52497681e-02 -7.01130636e-04 9.98975459e-01 1.20340154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.58, Y:107.34, Z:120.35 [[ 8.60753897e-01 5.07557109e-01 -3.85812016e-02 4.83584060e+02] [-5.07006247e-01 8.61617747e-01 2.36542556e-02 1.07336689e+02] [ 4.52481336e-02 -7.99582441e-04 9.98975459e-01 1.20345231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.64, Y:107.30, Z:120.35 [[ 8.62416423e-01 5.04727479e-01 -3.85757081e-02 4.83635914e+02] [-5.04173382e-01 8.63278201e-01 2.36632111e-02 1.07301338e+02] [ 4.52450408e-02 -9.58696597e-04 9.98975459e-01 1.20347821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.69, Y:107.27, Z:120.35 [[ 8.64744151e-01 5.00729158e-01 -3.85728229e-02 4.83687469e+02] [-5.00170868e-01 8.65603219e-01 2.36679132e-02 1.07269185e+02] [ 4.52399740e-02 -1.17368720e-03 9.98975459e-01 1.20350397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:483.74, Y:107.23, Z:120.35 [[ 8.66506109e-01 4.97674304e-01 -3.85674853e-02 4.83740356e+02] [-4.97112599e-01 8.67362947e-01 2.36766079e-02 1.07234508e+02] [ 4.52352470e-02 -1.34354258e-03 9.98975459e-01 1.20354025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.79, Y:107.20, Z:120.36 [[ 8.66901433e-01 4.96985858e-01 -3.85611551e-02 4.83793912e+02] [-4.96423015e-01 8.67757524e-01 2.36869132e-02 1.07202109e+02] [ 4.52337933e-02 -1.39157413e-03 9.98975459e-01 1.20356712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.85, Y:107.17, Z:120.36 [[ 8.65461854e-01 4.99489052e-01 -3.85547252e-02 4.83846039e+02] [-4.98928220e-01 8.66319263e-01 2.36973743e-02 1.07169123e+02] [ 4.52372802e-02 -1.27313305e-03 9.98975459e-01 1.20361176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.90, Y:107.14, Z:120.36 [[ 8.65018572e-01 5.00256779e-01 -3.85490029e-02 4.83899374e+02] [-4.99696293e-01 8.65876208e-01 2.37066793e-02 1.07138996e+02] [ 4.52380915e-02 -1.24392399e-03 9.98975459e-01 1.20360788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.870385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:483.95, Y:107.11, Z:120.37 [[ 8.63960255e-01 5.02082716e-01 -3.85437887e-02 4.83952152e+02] [-5.01523665e-01 8.64818828e-01 2.37151538e-02 1.07107523e+02] [ 4.52403630e-02 -1.15832811e-03 9.98975459e-01 1.20365790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.00, Y:107.07, Z:120.37 [[ 8.63684229e-01 5.02557783e-01 -3.85386523e-02 4.84004556e+02] [-5.01998833e-01 8.64542866e-01 2.37234979e-02 1.07074509e+02] [ 4.52407454e-02 -1.14325252e-03 9.98975459e-01 1.20374420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.06, Y:107.05, Z:120.37 [[ 8.64625453e-01 5.00937181e-01 -3.85326758e-02 4.84058202e+02] [-5.00376190e-01 8.65482758e-01 2.37332011e-02 1.07045701e+02] [ 4.52382094e-02 -1.23949625e-03 9.98975459e-01 1.20371913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.050385723 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:484.11, Y:107.01, Z:120.37 [[ 8.64690749e-01 5.00824687e-01 -3.85297372e-02 4.84112397e+02] [-5.00263372e-01 8.65547843e-01 2.37379710e-02 1.07014190e+02] [ 4.52378927e-02 -1.25098768e-03 9.98975459e-01 1.20371662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.17, Y:106.98, Z:120.38 [[ 8.63264414e-01 5.03279472e-01 -3.85269365e-02 4.84166821e+02] [-5.02720392e-01 8.64122966e-01 2.37425156e-02 1.06984316e+02] [ 4.52411314e-02 -1.12779224e-03 9.98975459e-01 1.20378037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.22, Y:106.95, Z:120.38 [[ 8.60705324e-01 5.07644106e-01 -3.85201979e-02 4.84220356e+02] [-5.07088891e-01 8.61566382e-01 2.37534433e-02 1.06951312e+02] [ 4.52460031e-02 -9.11550684e-04 9.98975459e-01 1.20384842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.230385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.27, Y:106.92, Z:120.39 [[ 8.57943499e-01 5.12298435e-01 -3.85132007e-02 4.84273457e+02] [-5.11747383e-01 8.58807226e-01 2.37647831e-02 1.06921982e+02] [ 4.52500762e-02 -6.79811491e-04 9.98975459e-01 1.20386943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.33, Y:106.89, Z:120.39 [[ 8.55291744e-01 5.16713652e-01 -3.85101931e-02 4.84328785e+02] [-5.16166839e-01 8.56158162e-01 2.37696557e-02 1.06891118e+02] [ 4.52529218e-02 -4.52305619e-04 9.98975459e-01 1.20387497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.38, Y:106.86, Z:120.39 [[ 8.54898027e-01 5.17365277e-01 -3.85036749e-02 4.84384557e+02] [-5.16818650e-01 8.55764562e-01 2.37802097e-02 1.06861415e+02] [ 4.52531353e-02 -4.30237148e-04 9.98975459e-01 1.20385805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.44, Y:106.83, Z:120.39 [[ 8.54915987e-01 5.17336087e-01 -3.84971194e-02 4.84438250e+02] [-5.16788952e-01 8.55782201e-01 2.37908175e-02 1.06828149e+02] [ 4.52529980e-02 -4.44264174e-04 9.98975460e-01 1.20386604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4703857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.49, Y:106.79, Z:120.40 [[ 8.53353966e-01 5.19909135e-01 -3.84902464e-02 4.84487299e+02] [-5.19364111e-01 8.54221510e-01 2.38019319e-02 1.06792378e+02] [ 4.52540382e-02 -3.21020386e-04 9.98975460e-01 1.20395480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.530385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.54, Y:106.76, Z:120.39 [[ 8.55344513e-01 5.16628192e-01 -3.84847388e-02 4.84542521e+02] [-5.16079440e-01 8.56209703e-01 2.38108336e-02 1.06762957e+02] [ 4.52523547e-02 -5.05283443e-04 9.98975460e-01 1.20392336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.59, Y:106.73, Z:120.39 [[ 8.55298239e-01 5.16705250e-01 -3.84786512e-02 4.84594422e+02] [-5.16156134e-01 8.56163198e-01 2.38206672e-02 1.06729342e+02] [ 4.52522689e-02 -5.12782930e-04 9.98975460e-01 1.20394419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.65, Y:106.70, Z:120.40 [[ 8.56452530e-01 5.14790209e-01 -3.84721218e-02 4.84647902e+02] [-5.14238685e-01 8.57315956e-01 2.38312080e-02 1.06696073e+02] [ 4.52508364e-02 -6.26445087e-04 9.98975460e-01 1.20397001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.70, Y:106.66, Z:120.40 [[ 8.55650369e-01 5.16122924e-01 -3.84652259e-02 4.84696587e+02] [-5.15572245e-01 8.56514334e-01 2.38423334e-02 1.06659048e+02] [ 4.52515921e-02 -5.69098503e-04 9.98975460e-01 1.20404950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.770385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.75, Y:106.63, Z:120.41 [[ 8.56767823e-01 5.14266068e-01 -3.84617866e-02 4.84749324e+02] [-5.13713268e-01 8.57630432e-01 2.38478802e-02 1.06625167e+02] [ 4.52501542e-02 -6.73766286e-04 9.98975460e-01 1.20406669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.80, Y:106.59, Z:120.41 [[ 8.57465891e-01 5.13101789e-01 -3.84551642e-02 4.84802796e+02] [-5.12547338e-01 8.58327441e-01 2.38585542e-02 1.06594432e+02] [ 4.52489895e-02 -7.47804372e-04 9.98975460e-01 1.20406446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.86, Y:106.56, Z:120.41 [[ 8.56850758e-01 5.14128833e-01 -3.84489430e-02 4.84856409e+02] [-5.13574966e-01 8.57712683e-01 2.38685757e-02 1.06561779e+02] [ 4.52496690e-02 -7.05392597e-04 9.98975460e-01 1.20407987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.950385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:484.91, Y:106.53, Z:120.42 [[ 8.55306916e-01 5.16693640e-01 -3.84416606e-02 4.84906148e+02] [-5.16141831e-01 8.56170159e-01 2.38802986e-02 1.06526910e+02] [ 4.52514011e-02 -5.83635401e-04 9.98975460e-01 1.20417373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.010385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:484.96, Y:106.49, Z:120.42 [[ 8.54614990e-01 5.17837724e-01 -3.84357993e-02 4.84959043e+02] [-5.17286646e-01 8.55478700e-01 2.38897288e-02 1.06494395e+02] [ 4.52520104e-02 -5.34194626e-04 9.98975460e-01 1.20419617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.01, Y:106.46, Z:120.43 [[ 8.52998290e-01 5.20496660e-01 -3.84336301e-02 4.85011564e+02] [-5.19948118e-01 8.53863612e-01 2.38932181e-02 1.06462955e+02] [ 4.52534184e-02 -3.97380531e-04 9.98975460e-01 1.20425508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.130385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:485.06, Y:106.43, Z:120.43 [[ 8.52610600e-01 5.21131896e-01 -3.84279954e-02 4.85063920e+02] [-5.20583591e-01 8.53476073e-01 2.39022770e-02 1.06430769e+02] [ 4.52536136e-02 -3.74350909e-04 9.98975460e-01 1.20427737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.190385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:485.12, Y:106.40, Z:120.43 [[ 8.53183436e-01 5.20193973e-01 -3.84220654e-02 4.85117209e+02] [-5.19644287e-01 8.54048032e-01 2.39118055e-02 1.06398323e+02] [ 4.52530665e-02 -4.35349585e-04 9.98975460e-01 1.20430411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:485.17, Y:106.37, Z:120.43 [[ 8.56552166e-01 5.14628629e-01 -3.84156359e-02 4.85169273e+02] [-5.14072863e-01 8.57412866e-01 2.39221304e-02 1.06365053e+02] [ 4.52490737e-02 -7.42116707e-04 9.98975460e-01 1.20432411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.22, Y:106.33, Z:120.43 [[ 8.58327941e-01 5.11661828e-01 -3.84098959e-02 4.85223299e+02] [-5.11102675e-01 8.59186445e-01 2.39313432e-02 1.06332773e+02] [ 4.52460167e-02 -9.09540034e-04 9.98975461e-01 1.20434625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.28, Y:106.30, Z:120.44 [[ 8.59634706e-01 5.09463787e-01 -3.84034180e-02 4.85276873e+02] [-5.08901975e-01 8.60491472e-01 2.39417339e-02 1.06300513e+02] [ 4.52432601e-02 -1.03757012e-03 9.98975461e-01 1.20435608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.430385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:485.33, Y:106.27, Z:120.44 [[ 8.59744586e-01 5.09278599e-01 -3.83999426e-02 4.85332191e+02] [-5.08716354e-01 8.60601068e-01 2.39473069e-02 1.06269770e+02] [ 4.52428825e-02 -1.05388867e-03 9.98975461e-01 1.20436183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:485.39, Y:106.24, Z:120.44 [[ 8.57972137e-01 5.12259529e-01 -3.83925481e-02 4.85386097e+02] [-5.11699729e-01 8.58830219e-01 2.39591558e-02 1.06239363e+02] [ 4.52459864e-02 -9.10831624e-04 9.98975461e-01 1.20443333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:485.44, Y:106.21, Z:120.45 [[ 8.57689721e-01 5.12732720e-01 -3.83861984e-02 4.85441911e+02] [-5.12172939e-01 8.58547816e-01 2.39693247e-02 1.06209646e+02] [ 4.52462439e-02 -8.97871345e-04 9.98975461e-01 1.20449897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:485.50, Y:106.18, Z:120.45 [[ 8.57177178e-01 5.13589615e-01 -3.83795948e-02 4.85495908e+02] [-5.13030219e-01 8.58035523e-01 2.39798938e-02 1.06179034e+02] [ 4.52468801e-02 -8.65125733e-04 9.98975461e-01 1.20451703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.670385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:485.55, Y:106.15, Z:120.46 [[ 8.57333720e-01 5.13328560e-01 -3.83755275e-02 4.85551154e+02] [-5.12768612e-01 8.58191705e-01 2.39864010e-02 1.06149676e+02] [ 4.52464641e-02 -8.86584446e-04 9.98975461e-01 1.20455554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.61, Y:106.12, Z:120.46 [[ 8.57128936e-01 5.13670915e-01 -3.83689623e-02 4.85605339e+02] [-5.13110840e-01 8.57986838e-01 2.39968982e-02 1.06117240e+02] [ 4.52465733e-02 -8.80905360e-04 9.98975461e-01 1.20457154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:485.66, Y:106.09, Z:120.46 [[ 8.58619249e-01 5.11176432e-01 -3.83619666e-02 4.85662209e+02] [-5.10613365e-01 8.59475191e-01 2.40080764e-02 1.06091953e+02] [ 4.52435214e-02 -1.02566370e-03 9.98975461e-01 1.20459970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:485.72, Y:106.06, Z:120.46 [[ 8.59256176e-01 5.10105558e-01 -3.83555031e-02 4.85717805e+02] [-5.09540964e-01 8.60111111e-01 2.40183982e-02 1.06062902e+02] [ 4.52419128e-02 -1.09425697e-03 9.98975461e-01 1.20462990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.910385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:485.77, Y:106.03, Z:120.47 [[ 8.59386111e-01 5.09887121e-01 -3.83488597e-02 4.85773123e+02] [-5.09321838e-01 8.60240590e-01 2.40290006e-02 1.06032350e+02] [ 4.52413237e-02 -1.11827767e-03 9.98975461e-01 1.20465270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.83, Y:106.01, Z:120.47 [[ 8.58924775e-01 5.10664382e-01 -3.83421548e-02 4.85829891e+02] [-5.10099394e-01 8.59779449e-01 2.40396947e-02 1.06006281e+02] [ 4.52420125e-02 -1.08997942e-03 9.98975461e-01 1.20468265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.030385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:485.89, Y:105.98, Z:120.47 [[ 8.58965365e-01 5.10596568e-01 -3.83359626e-02 4.85885355e+02] [-5.10031073e-01 8.59819704e-01 2.40495652e-02 1.05976078e+02] [ 4.52416415e-02 -1.10521138e-03 9.98975461e-01 1.20470272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.94, Y:105.95, Z:120.47 [[ 8.61496329e-01 5.06315059e-01 -3.83292979e-02 4.85942347e+02] [-5.05744847e-01 8.62347527e-01 2.40601825e-02 1.05949348e+02] [ 4.52352080e-02 -1.34291398e-03 9.98975461e-01 1.20472835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.00, Y:105.92, Z:120.48 [[ 8.62791142e-01 5.04105963e-01 -3.83226126e-02 4.85998030e+02] [-5.03533100e-01 8.63640558e-01 2.40708261e-02 1.05920013e+02] [ 4.52312095e-02 -1.47139161e-03 9.98975462e-01 1.20475403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.05, Y:105.89, Z:120.48 [[ 8.63443212e-01 5.02988776e-01 -3.83159476e-02 4.86054171e+02] [-5.02414343e-01 8.64291567e-01 2.40814308e-02 1.05891755e+02] [ 4.52288397e-02 -1.54246630e-03 9.98975462e-01 1.20477745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.11, Y:105.86, Z:120.48 [[ 8.62767480e-01 5.04147469e-01 -3.83093281e-02 4.86110550e+02] [-5.03573710e-01 8.63616290e-01 2.40919565e-02 1.05862849e+02] [ 4.52304588e-02 -1.49418615e-03 9.98975462e-01 1.20479590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.17, Y:105.83, Z:120.48 [[ 8.60699247e-01 5.07670866e-01 -3.83027042e-02 4.86165642e+02] [-5.07100114e-01 8.61550082e-01 2.41024830e-02 1.05834167e+02] [ 4.52358264e-02 -1.32168330e-03 9.98975462e-01 1.20478469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.22, Y:105.80, Z:120.48 [[ 8.58149997e-01 5.11968759e-01 -3.82958570e-02 4.86220572e+02] [-5.11401784e-01 8.59003353e-01 2.41133576e-02 1.05804251e+02] [ 4.52415553e-02 -1.10830816e-03 9.98975462e-01 1.20482047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.450385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:486.28, Y:105.77, Z:120.48 [[ 8.55833035e-01 5.15833092e-01 -3.82888680e-02 4.86275859e+02] [-5.15269474e-01 8.56688613e-01 2.41244500e-02 1.05773325e+02] [ 4.52458269e-02 -9.17416403e-04 9.98975462e-01 1.20484485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.510385723 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:486.33, Y:105.74, Z:120.48 [[ 8.54653663e-01 5.17785273e-01 -3.82822161e-02 4.86329675e+02] [-5.17223137e-01 8.55510215e-01 2.41350011e-02 1.05740943e+02] [ 4.52475750e-02 -8.26619151e-04 9.98975462e-01 1.20484689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.38, Y:105.71, Z:120.49 [[ 8.53338290e-01 5.19950721e-01 -3.82754562e-02 4.86384034e+02] [-5.19390279e-01 8.54195951e-01 2.41457167e-02 1.05708560e+02] [ 4.52493226e-02 -7.24564719e-04 9.98975462e-01 1.20489455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.44, Y:105.67, Z:120.49 [[ 8.53479298e-01 5.19719723e-01 -3.82687528e-02 4.86437014e+02] [-5.19158573e-01 8.54336496e-01 2.41563364e-02 1.05674818e+02] [ 4.52489166e-02 -7.49381953e-04 9.98975462e-01 1.20491898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.49, Y:105.64, Z:120.50 [[ 8.55084762e-01 5.17074527e-01 -3.82620359e-02 4.86490217e+02] [-5.16510249e-01 8.55939905e-01 2.41669709e-02 1.05640920e+02] [ 4.52461284e-02 -9.02074889e-04 9.98975462e-01 1.20495002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.54, Y:105.61, Z:120.50 [[ 8.55844453e-01 5.15816644e-01 -3.82552232e-02 4.86543474e+02] [-5.15250628e-01 8.56698446e-01 2.41777502e-02 1.05607943e+02] [ 4.52444762e-02 -9.81365639e-04 9.98975462e-01 1.20497648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.60, Y:105.57, Z:120.50 [[ 8.55151271e-01 5.16965530e-01 -3.82484440e-02 4.86595984e+02] [-5.16400183e-01 8.56005706e-01 2.41884700e-02 1.05572638e+02] [ 4.52454915e-02 -9.33297413e-04 9.98975462e-01 1.20499154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.870385723 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:486.65, Y:105.54, Z:120.50 [[ 8.54406498e-01 5.18196010e-01 -3.82417480e-02 4.86648026e+02] [-5.17631419e-01 8.55261434e-01 2.41990516e-02 1.05536687e+02] [ 4.52465442e-02 -8.80696662e-04 9.98975462e-01 1.20498511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.70, Y:105.50, Z:120.50 [[ 8.54421431e-01 5.18171884e-01 -3.82350241e-02 4.86699312e+02] [-5.17606794e-01 8.55276037e-01 2.42096709e-02 1.05501319e+02] [ 4.52462707e-02 -8.94553362e-04 9.98975463e-01 1.20503610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.75, Y:105.46, Z:120.51 [[ 8.54665171e-01 5.17770222e-01 -3.82288141e-02 4.86750016e+02] [-5.17204293e-01 8.55519221e-01 2.42194730e-02 1.05463506e+02] [ 4.52456072e-02 -9.27433299e-04 9.98975463e-01 1.20506239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.80, Y:105.43, Z:120.51 [[ 8.55434911e-01 5.16498008e-01 -3.82219908e-02 4.86799839e+02] [-5.15930327e-01 8.56287798e-01 2.42302365e-02 1.05426243e+02] [ 4.52438932e-02 -1.00750596e-03 9.98975463e-01 1.20509397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.110385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:486.85, Y:105.39, Z:120.51 [[ 8.55934962e-01 5.15669372e-01 -3.82156933e-02 4.86850747e+02] [-5.15100423e-01 8.56787003e-01 2.42401648e-02 1.05389779e+02] [ 4.52426199e-02 -1.06308474e-03 9.98975463e-01 1.20510009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.90, Y:105.35, Z:120.51 [[ 8.55273114e-01 5.16766858e-01 -3.82088440e-02 4.86902723e+02] [-5.16198520e-01 8.56125563e-01 2.42509562e-02 1.05354209e+02] [ 4.52436585e-02 -1.01784203e-03 9.98975463e-01 1.20513692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.95, Y:105.32, Z:120.52 [[ 8.55025244e-01 5.17177369e-01 -3.82021235e-02 4.86952981e+02] [-5.16608968e-01 8.55877650e-01 2.42615382e-02 1.05317386e+02] [ 4.52438622e-02 -1.00866800e-03 9.98975463e-01 1.20517463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.01, Y:105.28, Z:120.52 [[ 8.55069504e-01 5.17104494e-01 -3.81979763e-02 4.87005419e+02] [-5.16535729e-01 8.55921668e-01 2.42680660e-02 1.05281605e+02] [ 4.52436016e-02 -1.02026365e-03 9.98975463e-01 1.20517461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.06, Y:105.24, Z:120.52 [[ 8.54609345e-01 5.17865174e-01 -3.81907077e-02 4.87055330e+02] [-5.17296657e-01 8.55461673e-01 2.42794992e-02 1.05244991e+02] [ 4.52441938e-02 -9.93561491e-04 9.98975463e-01 1.20521425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.11, Y:105.21, Z:120.52 [[ 8.55053930e-01 5.17131277e-01 -3.81840120e-02 4.87105877e+02] [-5.16561559e-01 8.55905457e-01 2.42900249e-02 1.05210415e+02] [ 4.52430358e-02 -1.04488847e-03 9.98975463e-01 1.20520936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.16, Y:105.17, Z:120.53 [[ 8.55390941e-01 5.16574032e-01 -3.81786176e-02 4.87157394e+02] [-5.16003381e-01 8.56241843e-01 2.42985008e-02 1.05173853e+02] [ 4.52421044e-02 -1.08442167e-03 9.98975463e-01 1.20526533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.21, Y:105.14, Z:120.53 [[ 8.55411197e-01 5.16540979e-01 -3.81720032e-02 4.87208848e+02] [-5.15969832e-01 8.56261765e-01 2.43088874e-02 1.05137498e+02] [ 4.52417633e-02 -1.09849239e-03 9.98975463e-01 1.20529475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.26, Y:105.10, Z:120.53 [[ 8.54029961e-01 5.18821974e-01 -3.81652365e-02 4.87261133e+02] [-5.18252624e-01 8.54881734e-01 2.43195065e-02 1.05102606e+02] [ 4.52442579e-02 -9.90353174e-04 9.98975463e-01 1.20530853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.31, Y:105.07, Z:120.53 [[ 8.51639572e-01 5.22736992e-01 -3.81585628e-02 4.87312694e+02] [-5.22171090e-01 8.52493639e-01 2.43299734e-02 1.05066702e+02] [ 4.52481092e-02 -7.95069839e-04 9.98975463e-01 1.20534742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.36, Y:105.03, Z:120.54 [[ 8.50143069e-01 5.25167778e-01 -3.81518925e-02 4.87364191e+02] [-5.24603849e-01 8.50998440e-01 2.43404285e-02 1.05030646e+02] [ 4.52500098e-02 -6.78216946e-04 9.98975463e-01 1.20538731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.42, Y:105.00, Z:120.54 [[ 8.50646410e-01 5.24352579e-01 -3.81452218e-02 4.87416567e+02] [-5.23787362e-01 8.51500930e-01 2.43508782e-02 1.04995889e+02] [ 4.52491376e-02 -7.34001991e-04 9.98975464e-01 1.20542279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.47, Y:104.96, Z:120.54 [[ 8.51975471e-01 5.22190816e-01 -3.81385371e-02 4.87468489e+02] [-5.21622963e-01 8.52828241e-01 2.43613433e-02 1.04959644e+02] [ 4.52468912e-02 -8.61330193e-04 9.98975464e-01 1.20544787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.890385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:487.52, Y:104.92, Z:120.55 [[ 8.51251748e-01 5.23370247e-01 -3.81319530e-02 4.87518828e+02] [-5.22803114e-01 8.52104997e-01 2.43716448e-02 1.04923112e+02] [ 4.52478215e-02 -8.10901450e-04 9.98975464e-01 1.20551060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.950385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:487.57, Y:104.89, Z:120.55 [[ 8.49404400e-01 5.26363554e-01 -3.81257709e-02 4.87572100e+02] [-5.25798994e-01 8.50259354e-01 2.43813119e-02 1.04890945e+02] [ 4.52502273e-02 -6.63101593e-04 9.98975464e-01 1.20545685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:487.62, Y:104.86, Z:120.55 [[ 8.47520970e-01 5.29391287e-01 -3.81191633e-02 4.87624461e+02] [-5.28829317e-01 8.48377629e-01 2.43916383e-02 1.04855262e+02] [ 4.52521661e-02 -5.13893845e-04 9.98975464e-01 1.20547143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.67, Y:104.82, Z:120.56 [[ 8.47123781e-01 5.30027134e-01 -3.81121519e-02 4.87674595e+02] [-5.29465315e-01 8.47980539e-01 2.44025887e-02 1.04819019e+02] [ 4.52523973e-02 -4.92950723e-04 9.98975464e-01 1.20555688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.72, Y:104.78, Z:120.56 [[ 8.47744807e-01 5.29033722e-01 -3.81059491e-02 4.87724654e+02] [-5.28470464e-01 8.48600619e-01 2.44122709e-02 1.04782282e+02] [ 4.52516465e-02 -5.57507305e-04 9.98975464e-01 1.20560400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.190385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:487.78, Y:104.75, Z:120.56 [[ 8.49029606e-01 5.26969768e-01 -3.80997581e-02 4.87776859e+02] [-5.26403996e-01 8.49883758e-01 2.44219292e-02 1.04748466e+02] [ 4.52499840e-02 -6.79076014e-04 9.98975464e-01 1.20560814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.83, Y:104.71, Z:120.56 [[ 8.48803418e-01 5.27334465e-01 -3.80935604e-02 4.87827099e+02] [-5.26768626e-01 8.49657526e-01 2.44315926e-02 1.04714196e+02] [ 4.52501011e-02 -6.71126830e-04 9.98975464e-01 1.20558271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.88, Y:104.68, Z:120.56 [[ 8.48069383e-01 5.28514365e-01 -3.80905189e-02 4.87877311e+02] [-5.27949502e-01 8.48924136e-01 2.44363337e-02 1.04677405e+02] [ 4.52509142e-02 -6.13835954e-04 9.98975464e-01 1.20563989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.93, Y:104.64, Z:120.56 [[ 8.47376011e-01 5.29625792e-01 -3.80843332e-02 4.87926571e+02] [-5.29061616e-01 8.48231219e-01 2.44459703e-02 1.04641042e+02] [ 4.52515368e-02 -5.65969937e-04 9.98975464e-01 1.20561103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.98, Y:104.61, Z:120.56 [[ 8.46933974e-01 5.30332782e-01 -3.80786601e-02 4.87978155e+02] [-5.29768924e-01 8.47789390e-01 2.44548040e-02 1.04605385e+02] [ 4.52518682e-02 -5.38713529e-04 9.98975464e-01 1.20564019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.03, Y:104.57, Z:120.57 [[ 8.46209182e-01 5.31489001e-01 -3.80717890e-02 4.88028285e+02] [-5.30925831e-01 8.47065052e-01 2.44654964e-02 1.04566821e+02] [ 4.52524241e-02 -4.89631510e-04 9.98975464e-01 1.20566954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.08, Y:104.53, Z:120.57 [[ 8.47729337e-01 5.29061459e-01 -3.80649878e-02 4.88080158e+02] [-5.28495363e-01 8.48583274e-01 2.44760735e-02 1.04530822e+02] [ 4.52506592e-02 -6.31916080e-04 9.98975464e-01 1.20567945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:488.13, Y:104.49, Z:120.57 [[ 8.47333733e-01 5.29695327e-01 -3.80579169e-02 4.88127843e+02] [-5.29129376e-01 8.48187767e-01 2.44870631e-02 1.04490872e+02] [ 4.52509425e-02 -6.11152813e-04 9.98975465e-01 1.20572989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.18, Y:104.45, Z:120.57 [[ 8.47597418e-01 5.29273527e-01 -3.80545788e-02 4.88177860e+02] [-5.28706918e-01 8.48451015e-01 2.44922498e-02 1.04451799e+02] [ 4.52505454e-02 -6.39848584e-04 9.98975465e-01 1.20574998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.730385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:488.23, Y:104.41, Z:120.58 [[ 8.47027175e-01 5.30186157e-01 -3.80474044e-02 4.88225805e+02] [-5.29619967e-01 8.47881050e-01 2.45033898e-02 1.04413412e+02] [ 4.52510312e-02 -6.04371956e-04 9.98975465e-01 1.20575099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.28, Y:104.38, Z:120.58 [[ 8.44796047e-01 5.33734460e-01 -3.80416259e-02 4.88277439e+02] [-5.33171454e-01 8.45652024e-01 2.45123576e-02 1.04377113e+02] [ 4.52530679e-02 -4.25233850e-04 9.98975465e-01 1.20580112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.33, Y:104.34, Z:120.58 [[ 8.42696885e-01 5.37043121e-01 -3.80347985e-02 4.88330344e+02] [-5.36482998e-01 8.43554751e-01 2.45229467e-02 1.04343142e+02] [ 4.52543149e-02 -2.60388064e-04 9.98975465e-01 1.20581863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.910385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:488.38, Y:104.31, Z:120.58 [[ 8.42457870e-01 5.37418464e-01 -3.80280546e-02 4.88382791e+02] [-5.36858251e-01 8.43315677e-01 2.45334002e-02 1.04308767e+02] [ 4.52543568e-02 -2.52681241e-04 9.98975465e-01 1.20584137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.44, Y:104.28, Z:120.59 [[ 8.44661204e-01 5.33949279e-01 -3.80212900e-02 4.88435070e+02] [-5.33385071e-01 8.45516389e-01 2.45438794e-02 1.04275950e+02] [ 4.52528105e-02 -4.51274201e-04 9.98975465e-01 1.20586937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.49, Y:104.24, Z:120.59 [[ 8.47017062e-01 5.30204486e-01 -3.80170999e-02 4.88489412e+02] [-5.29636207e-01 8.47869547e-01 2.45503678e-02 1.04244038e+02] [ 4.52502564e-02 -6.59347789e-04 9.98975465e-01 1.20590534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.54, Y:104.22, Z:120.59 [[ 8.49212789e-01 5.26680976e-01 -3.80103645e-02 4.88543902e+02] [-5.26108694e-01 8.50062592e-01 2.45607916e-02 1.04215005e+02] [ 4.52468907e-02 -8.59755127e-04 9.98975465e-01 1.20594011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.60, Y:104.18, Z:120.60 [[ 8.50073404e-01 5.25291192e-01 -3.80048908e-02 4.88597889e+02] [-5.24717142e-01 8.50922013e-01 2.45692586e-02 1.04183017e+02] [ 4.52452133e-02 -9.43855642e-04 9.98975465e-01 1.20595147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.65, Y:104.15, Z:120.60 [[ 8.50959915e-01 5.23854325e-01 -3.79982745e-02 4.88651492e+02] [-5.23278386e-01 8.51807243e-01 2.45794869e-02 1.04151547e+02] [ 4.52432760e-02 -1.03248231e-03 9.98975465e-01 1.20596723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.71, Y:104.12, Z:120.60 [[ 8.50322464e-01 5.24888832e-01 -3.79923768e-02 4.88705955e+02] [-5.24313517e-01 8.51170216e-01 2.45885995e-02 1.04119712e+02] [ 4.52442609e-02 -9.88321845e-04 9.98975465e-01 1.20601916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.330385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:488.76, Y:104.09, Z:120.60 [[ 8.47278113e-01 5.29789477e-01 -3.79856469e-02 4.88759250e+02] [-5.29218599e-01 8.48128860e-01 2.45989919e-02 1.04089382e+02] [ 4.52490105e-02 -7.39476566e-04 9.98975465e-01 1.20603571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.81, Y:104.06, Z:120.61 [[ 8.45571116e-01 5.32510081e-01 -3.79802622e-02 4.88812600e+02] [-5.31941568e-01 8.46423445e-01 2.46073029e-02 1.04056663e+02] [ 4.52510213e-02 -6.03944317e-04 9.98975465e-01 1.20606895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.86, Y:104.02, Z:120.61 [[ 8.45056642e-01 5.33326632e-01 -3.79733424e-02 4.88864073e+02] [-5.32758463e-01 8.45909200e-01 2.46179767e-02 1.04023033e+02] [ 4.52514223e-02 -5.72965201e-04 9.98975465e-01 1.20610253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.92, Y:103.99, Z:120.61 [[ 8.46602545e-01 5.30869703e-01 -3.79669527e-02 4.88917518e+02] [-5.30298619e-01 8.47453152e-01 2.46278274e-02 1.03990657e+02] [ 4.52493811e-02 -7.16158789e-04 9.98975465e-01 1.20613025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.97, Y:103.96, Z:120.62 [[ 8.47791937e-01 5.28968673e-01 -3.79601726e-02 4.88970950e+02] [-5.28395214e-01 8.48640945e-01 2.46382734e-02 1.03956971e+02] [ 4.52474316e-02 -8.30156033e-04 9.98975466e-01 1.20615509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.02, Y:103.92, Z:120.62 [[ 8.48457233e-01 5.27901374e-01 -3.79534395e-02 4.89024309e+02] [-5.27326383e-01 8.49305205e-01 2.46486409e-02 1.03924033e+02] [ 4.52461051e-02 -8.99467719e-04 9.98975466e-01 1.20617729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.690385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:489.08, Y:103.89, Z:120.62 [[ 8.48207906e-01 5.28302377e-01 -3.79466252e-02 4.89076089e+02] [-5.27727318e-01 8.49055832e-01 2.46591271e-02 1.03890717e+02] [ 4.52462789e-02 -8.90595793e-04 9.98975466e-01 1.20619929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.13, Y:103.86, Z:120.62 [[ 8.46926949e-01 5.30353693e-01 -3.79434403e-02 4.89129903e+02] [-5.29780468e-01 8.47776115e-01 2.46640267e-02 1.03859565e+02] [ 4.52482001e-02 -7.86935321e-04 9.98975466e-01 1.20622093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:489.18, Y:103.83, Z:120.63 [[ 8.46595821e-01 5.30882529e-01 -3.79375314e-02 4.89183454e+02] [-5.30309428e-01 8.47445071e-01 2.46731124e-02 1.03826818e+02] [ 4.52484983e-02 -7.69523264e-04 9.98975466e-01 1.20625516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.870385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:489.24, Y:103.79, Z:120.63 [[ 8.45833267e-01 5.32097118e-01 -3.79307494e-02 4.89236902e+02] [-5.31524770e-01 8.46683024e-01 2.46835341e-02 1.03794504e+02] [ 4.52493590e-02 -7.17021461e-04 9.98975466e-01 1.20628178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.930385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:489.29, Y:103.76, Z:120.63 [[ 8.44994579e-01 5.33428468e-01 -3.79240247e-02 4.89290608e+02] [-5.32856995e-01 8.45844925e-01 2.46938618e-02 1.03761476e+02] [ 4.52502526e-02 -6.58097504e-04 9.98975466e-01 1.20630945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.34, Y:103.73, Z:120.63 [[ 8.44620155e-01 5.34021602e-01 -3.79173232e-02 4.89344441e+02] [-5.33450264e-01 8.45470592e-01 2.47041475e-02 1.03730472e+02] [ 4.52505301e-02 -6.38614785e-04 9.98975466e-01 1.20633805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:489.40, Y:103.70, Z:120.64 [[ 8.44013780e-01 5.34979892e-01 -3.79111514e-02 4.89398073e+02] [-5.34409094e-01 8.44864579e-01 2.47136153e-02 1.03697497e+02] [ 4.52510762e-02 -5.98567773e-04 9.98975466e-01 1.20636938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.110385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:489.45, Y:103.67, Z:120.64 [[ 8.42626183e-01 5.37163267e-01 -3.79043583e-02 4.89450805e+02] [-5.36594206e-01 8.43478145e-01 2.47240298e-02 1.03665408e+02] [ 4.52523384e-02 -4.93855793e-04 9.98975466e-01 1.20637470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.50, Y:103.63, Z:120.64 [[ 8.40661507e-01 5.40233287e-01 -3.78975841e-02 4.89504354e+02] [-5.39666869e-01 8.41515228e-01 2.47344091e-02 1.03632740e+02] [ 4.52537452e-02 -3.41195076e-04 9.98975466e-01 1.20643774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.56, Y:103.60, Z:120.65 [[ 8.40691465e-01 5.40187149e-01 -3.78906858e-02 4.89555232e+02] [-5.39620209e-01 8.41544839e-01 2.47449721e-02 1.03598150e+02] [ 4.52536270e-02 -3.56307095e-04 9.98975466e-01 1.20646567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:489.61, Y:103.56, Z:120.65 [[ 8.41168575e-01 5.39444340e-01 -3.78844641e-02 4.89608992e+02] [-5.38876217e-01 8.42021162e-01 2.47544937e-02 1.03564620e+02] [ 4.52531921e-02 -4.07665497e-04 9.98975466e-01 1.20648129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.66, Y:103.53, Z:120.65 [[ 8.41399019e-01 5.39085316e-01 -3.78776025e-02 4.89660493e+02] [-5.38516356e-01 8.42251049e-01 2.47649884e-02 1.03530407e+02] [ 4.52528921e-02 -4.39528481e-04 9.98975466e-01 1.20649535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.410385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:489.71, Y:103.49, Z:120.65 [[ 8.42758920e-01 5.36957032e-01 -3.78754445e-02 4.89711571e+02] [-5.36385772e-01 8.43609409e-01 2.47682884e-02 1.03494163e+02] [ 4.52515880e-02 -5.57846457e-04 9.98975466e-01 1.20653218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4703857229999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:489.76, Y:103.46, Z:120.66 [[ 8.42909937e-01 5.36720428e-01 -3.78684513e-02 4.89761599e+02] [-5.36148450e-01 8.43759943e-01 2.47789758e-02 1.03456053e+02] [ 4.52512648e-02 -5.83333428e-04 9.98975467e-01 1.20657682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.81, Y:103.42, Z:120.66 [[ 8.43929996e-01 5.35115470e-01 -3.78628476e-02 4.89814314e+02] [-5.34541491e-01 8.44778653e-01 2.47875354e-02 1.03424140e+02] [ 4.52499191e-02 -6.79681609e-04 9.98975467e-01 1.20660812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5903857229999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:489.87, Y:103.39, Z:120.66 [[ 8.43235556e-01 5.36209461e-01 -3.78577691e-02 4.89866616e+02] [-5.35636236e-01 8.44084721e-01 2.47952895e-02 1.03390225e+02] [ 4.52506332e-02 -6.30276760e-04 9.98975467e-01 1.20660738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.650385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:489.92, Y:103.36, Z:120.66 [[ 8.41174609e-01 5.39437257e-01 -3.78513147e-02 4.89918167e+02] [-5.38866848e-01 8.42025668e-01 2.48051384e-02 1.03356470e+02] [ 4.52525944e-02 -4.68633943e-04 9.98975467e-01 1.20663684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.710385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:489.97, Y:103.32, Z:120.67 [[ 8.41383764e-01 5.39111400e-01 -3.78452126e-02 4.89969629e+02] [-5.38540242e-01 8.42234321e-01 2.48144449e-02 1.03321546e+02] [ 4.52522871e-02 -4.97301136e-04 9.98975467e-01 1.20666387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.770385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:490.02, Y:103.29, Z:120.67 [[ 8.42803864e-01 5.36889071e-01 -3.78387619e-02 4.90020870e+02] [-5.36315229e-01 8.43652613e-01 2.48242776e-02 1.03285765e+02] [ 4.52506536e-02 -6.28492872e-04 9.98975467e-01 1.20667190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:490.07, Y:103.25, Z:120.67 [[ 8.42918625e-01 5.36709363e-01 -3.78318718e-02 4.90072442e+02] [-5.36134869e-01 8.43766932e-01 2.48347735e-02 1.03251133e+02] [ 4.52503379e-02 -6.50707493e-04 9.98975467e-01 1.20672093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:490.12, Y:103.22, Z:120.68 [[ 8.43342547e-01 5.36043300e-01 -3.78276266e-02 4.90124530e+02] [-5.35467847e-01 8.44190203e-01 2.48412380e-02 1.03216417e+02] [ 4.52496910e-02 -6.94195189e-04 9.98975467e-01 1.20675263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.950385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:490.18, Y:103.18, Z:120.68 [[ 8.43397663e-01 5.35957057e-01 -3.78208340e-02 4.90176072e+02] [-5.35381053e-01 8.44244945e-01 2.48515754e-02 1.03180139e+02] [ 4.52494252e-02 -7.11202625e-04 9.98975467e-01 1.20678754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.23, Y:103.14, Z:120.68 [[ 8.43496309e-01 5.35802270e-01 -3.78140587e-02 4.90227126e+02] [-5.35225649e-01 8.44343172e-01 2.48618804e-02 1.03144439e+02] [ 4.52490943e-02 -7.31850260e-04 9.98975467e-01 1.20684051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.28, Y:103.11, Z:120.68 [[ 8.43684078e-01 5.35507045e-01 -3.78071508e-02 4.90279723e+02] [-5.34929657e-01 8.44530418e-01 2.48723808e-02 1.03110653e+02] [ 4.52486240e-02 -7.60265500e-04 9.98975467e-01 1.20684449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.130385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:490.33, Y:103.08, Z:120.69 [[ 8.43429326e-01 5.35908357e-01 -3.78048313e-02 4.90331805e+02] [-5.35331213e-01 8.44275833e-01 2.48759059e-02 1.03077373e+02] [ 4.52489112e-02 -7.42962313e-04 9.98975467e-01 1.20688525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.39, Y:103.04, Z:120.69 [[ 8.43187093e-01 5.36289891e-01 -3.77978671e-02 4.90385058e+02] [-5.35712656e-01 8.44033538e-01 2.48864831e-02 1.03043870e+02] [ 4.52490368e-02 -7.35165505e-04 9.98975467e-01 1.20690863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.44, Y:103.01, Z:120.69 [[ 8.43097431e-01 5.36431311e-01 -3.77911309e-02 4.90438649e+02] [-5.35853761e-01 8.43943660e-01 2.48967081e-02 1.03010944e+02] [ 4.52489591e-02 -7.39831000e-04 9.98975467e-01 1.20694075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.310385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:490.49, Y:102.98, Z:120.69 [[ 8.41943706e-01 5.38240783e-01 -3.77843216e-02 4.90492678e+02] [-5.37664588e-01 8.42790858e-01 2.49070379e-02 1.02977625e+02] [ 4.52502644e-02 -6.55032140e-04 9.98975467e-01 1.20694359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.55, Y:102.95, Z:120.70 [[ 8.43443493e-01 5.35887726e-01 -3.77812146e-02 4.90546674e+02] [-5.35308956e-01 8.44288888e-01 2.49117501e-02 1.02947558e+02] [ 4.52481607e-02 -7.87030932e-04 9.98975467e-01 1.20697019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:490.60, Y:102.91, Z:120.70 [[ 8.44008158e-01 5.34998423e-01 -3.77745581e-02 4.90599984e+02] [-5.34418311e-01 8.44852633e-01 2.49218395e-02 1.02914014e+02] [ 4.52470796e-02 -8.46820326e-04 9.98975468e-01 1.20699566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.65, Y:102.88, Z:120.70 [[ 8.43103610e-01 5.36423264e-01 -3.77675086e-02 4.90650006e+02] [-5.35844101e-01 8.43948736e-01 2.49325180e-02 1.02879641e+02] [ 4.52482238e-02 -7.83199247e-04 9.98975468e-01 1.20704536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.550385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:490.70, Y:102.85, Z:120.71 [[ 8.44094143e-01 5.34863678e-01 -3.77614092e-02 4.90702952e+02] [-5.34282541e-01 8.44937912e-01 2.49417524e-02 1.02846507e+02] [ 4.52464836e-02 -8.77925432e-04 9.98975468e-01 1.20706632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.75, Y:102.81, Z:120.71 [[ 8.43979581e-01 5.35044889e-01 -3.77549226e-02 4.90754715e+02] [-5.34463494e-01 8.44823172e-01 2.49515674e-02 1.02813892e+02] [ 4.52464421e-02 -8.79985507e-04 9.98975468e-01 1.20708747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:490.81, Y:102.78, Z:120.71 [[ 8.43490820e-01 5.35815324e-01 -3.77514889e-02 4.90807489e+02] [-5.35234468e-01 8.44334782e-01 2.49567614e-02 1.02779776e+02] [ 4.52471104e-02 -8.44901063e-04 9.98975468e-01 1.20711557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.730385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:490.86, Y:102.75, Z:120.71 [[ 8.42519776e-01 5.37341434e-01 -3.77440055e-02 4.90858609e+02] [-5.36761600e-01 8.43364441e-01 2.49680741e-02 1.02745973e+02] [ 4.52483328e-02 -7.76563380e-04 9.98975468e-01 1.20712337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.790385723 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:490.91, Y:102.71, Z:120.71 [[ 8.42572028e-01 5.37259919e-01 -3.77380193e-02 4.90910125e+02] [-5.36679598e-01 8.43416358e-01 2.49771186e-02 1.02712340e+02] [ 4.52480675e-02 -7.91796442e-04 9.98975468e-01 1.20712764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8503857229999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:490.96, Y:102.68, Z:120.72 [[ 8.42475250e-01 5.37412186e-01 -3.77305782e-02 4.90960497e+02] [-5.36831514e-01 8.43319339e-01 2.49883542e-02 1.02676581e+02] [ 4.52479723e-02 -7.97106466e-04 9.98975468e-01 1.20719616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.01, Y:102.64, Z:120.72 [[ 8.43310550e-01 5.36100935e-01 -3.77240471e-02 4.91011996e+02] [-5.35518511e-01 8.44153431e-01 2.49982101e-02 1.02641957e+02] [ 4.52464476e-02 -8.79328786e-04 9.98975468e-01 1.20724548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9703857229999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:491.06, Y:102.61, Z:120.72 [[ 8.44370417e-01 5.34430507e-01 -3.77178040e-02 4.91062119e+02] [-5.33845995e-01 8.45211851e-01 2.50076262e-02 1.02607687e+02] [ 4.52443733e-02 -9.80201184e-04 9.98975468e-01 1.20724788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.12, Y:102.58, Z:120.73 [[ 8.45798061e-01 5.32168461e-01 -3.77143031e-02 4.91115632e+02] [-5.31581464e-01 8.46637763e-01 2.50129049e-02 1.02576435e+02] [ 4.52414323e-02 -1.10764206e-03 9.98975468e-01 1.20726116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0903857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:491.17, Y:102.54, Z:120.73 [[ 8.45310104e-01 5.32943662e-01 -3.77078529e-02 4.91165013e+02] [-5.32357001e-01 8.46150041e-01 2.50226251e-02 1.02540891e+02] [ 4.52421507e-02 -1.07783830e-03 9.98975468e-01 1.20730456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.150385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:491.22, Y:102.51, Z:120.73 [[ 8.45479909e-01 5.32674652e-01 -3.77019777e-02 4.91215209e+02] [-5.32087330e-01 8.46319383e-01 2.50314742e-02 1.02506800e+02] [ 4.52415463e-02 -1.10286389e-03 9.98975468e-01 1.20731865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.210385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:491.27, Y:102.47, Z:120.73 [[ 8.46422652e-01 5.31175757e-01 -3.76962734e-02 4.91266879e+02] [-5.30586566e-01 8.47260817e-01 2.50400617e-02 1.02471660e+02] [ 4.52392491e-02 -1.19333917e-03 9.98975468e-01 1.20733046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:491.32, Y:102.44, Z:120.74 [[ 8.46812472e-01 5.30554551e-01 -3.76896028e-02 4.91318261e+02] [-5.29964299e-01 8.47649889e-01 2.50500979e-02 1.02436354e+02] [ 4.52380311e-02 -1.23859139e-03 9.98975468e-01 1.20738804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.37, Y:102.40, Z:120.74 [[ 8.47956715e-01 5.28724332e-01 -3.76827621e-02 4.91370571e+02] [-5.28131817e-01 8.48792531e-01 2.50603842e-02 1.02403415e+02] [ 4.52348820e-02 -1.34865538e-03 9.98975468e-01 1.20739451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:491.42, Y:102.37, Z:120.74 [[ 8.44313177e-01 5.34523864e-01 -3.76762184e-02 4.91419599e+02] [-5.33936653e-01 8.45152729e-01 2.50702182e-02 1.02366568e+02] [ 4.52427887e-02 -1.05040164e-03 9.98975469e-01 1.20739866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.450385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:491.47, Y:102.33, Z:120.75 [[ 8.44118138e-01 5.34832304e-01 -3.76692874e-02 4.91471272e+02] [-5.34244935e-01 8.44957580e-01 2.50806282e-02 1.02331048e+02] [ 4.52428801e-02 -1.04638715e-03 9.98975469e-01 1.20746087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.510385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:491.52, Y:102.30, Z:120.75 [[ 8.42168429e-01 5.37897682e-01 -3.76619286e-02 4.91522634e+02] [-5.37312875e-01 8.43009657e-01 2.50916736e-02 1.02295802e+02] [ 4.52461225e-02 -8.95176181e-04 9.98975469e-01 1.20751259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.58, Y:102.26, Z:120.75 [[ 8.42259670e-01 5.37755292e-01 -3.76549383e-02 4.91575823e+02] [-5.37169874e-01 8.43100473e-01 2.51021595e-02 1.02263243e+02] [ 4.52457154e-02 -9.15438102e-04 9.98975469e-01 1.20750836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.63, Y:102.23, Z:120.75 [[ 8.41144218e-01 5.39498839e-01 -3.76484696e-02 4.91626150e+02] [-5.38914730e-01 8.41985931e-01 2.51118575e-02 1.02227481e+02] [ 4.52472997e-02 -8.33378929e-04 9.98975469e-01 1.20753504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.67, Y:102.19, Z:120.76 [[ 8.38883107e-01 5.43008508e-01 -3.76416547e-02 4.91674092e+02] [-5.42427463e-01 8.39726937e-01 2.51220686e-02 1.02189999e+02] [ 4.52502084e-02 -6.56611716e-04 9.98975469e-01 1.20760572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.73, Y:102.15, Z:120.76 [[ 8.37354467e-01 5.45363214e-01 -3.76359031e-02 4.91725030e+02] [-5.44784155e-01 8.38199662e-01 2.51306822e-02 1.02153554e+02] [ 4.52517509e-02 -5.39845379e-04 9.98975469e-01 1.20764155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.78, Y:102.12, Z:120.77 [[ 8.36110905e-01 5.47268328e-01 -3.76288782e-02 4.91776350e+02] [-5.46690722e-01 8.36957093e-01 2.51411965e-02 1.02117238e+02] [ 4.52527371e-02 -4.49470002e-04 9.98975469e-01 1.20765898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.870385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:491.83, Y:102.08, Z:120.77 [[ 8.36533391e-01 5.46622794e-01 -3.76218893e-02 4.91825053e+02] [-5.46044065e-01 8.37378811e-01 2.51516505e-02 1.02079587e+02] [ 4.52522384e-02 -4.96986170e-04 9.98975469e-01 1.20765608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.930385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:491.88, Y:102.05, Z:120.77 [[ 8.38755400e-01 5.43207354e-01 -3.76184821e-02 4.91876973e+02] [-5.42624953e-01 8.39598296e-01 2.51567454e-02 1.02045638e+02] [ 4.52497426e-02 -6.87628933e-04 9.98975469e-01 1.20765810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.92, Y:102.01, Z:120.77 [[ 8.37859644e-01 5.44588134e-01 -3.76162423e-02 4.91924550e+02] [-5.44006973e-01 8.38703394e-01 2.51600941e-02 1.02007668e+02] [ 4.52507588e-02 -6.17129362e-04 9.98975469e-01 1.20773399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.98, Y:101.97, Z:120.77 [[ 8.38525148e-01 5.43563273e-01 -3.76104231e-02 4.91975136e+02] [-5.42980690e-01 8.39367918e-01 2.51687899e-02 1.01970119e+02] [ 4.52498124e-02 -6.82929822e-04 9.98975469e-01 1.20774944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.03, Y:101.94, Z:120.77 [[ 8.41112018e-01 5.39551902e-01 -3.76074237e-02 4.92026911e+02] [-5.38965100e-01 8.41951856e-01 2.51732709e-02 1.01935652e+02] [ 4.52459264e-02 -9.04451771e-04 9.98975469e-01 1.20773746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.07, Y:101.90, Z:120.78 [[ 8.40644083e-01 5.40281150e-01 -3.76006063e-02 4.92074028e+02] [-5.39694621e-01 8.41484111e-01 2.51834497e-02 1.01897019e+02] [ 4.52464560e-02 -8.77472951e-04 9.98975469e-01 1.20780338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.12, Y:101.86, Z:120.78 [[ 8.41638116e-01 5.38731783e-01 -3.75945317e-02 4.92123338e+02] [-5.38143304e-01 8.42476778e-01 2.51925148e-02 1.01858446e+02] [ 4.52445284e-02 -9.71735197e-04 9.98975469e-01 1.20784592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:492.17, Y:101.82, Z:120.79 [[ 8.42006769e-01 5.38155898e-01 -3.75876456e-02 4.92174262e+02] [-5.37566387e-01 8.42844706e-01 2.52027848e-02 1.01823060e+02] [ 4.52435754e-02 -1.01506059e-03 9.98975469e-01 1.20786215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:492.23, Y:101.79, Z:120.79 [[ 8.43169190e-01 5.36333233e-01 -3.75816520e-02 4.92226479e+02] [-5.35741513e-01 8.44005569e-01 2.52117191e-02 1.01787543e+02] [ 4.52410064e-02 -1.12369369e-03 9.98975470e-01 1.20788315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.28, Y:101.75, Z:120.79 [[ 8.43804893e-01 5.35333025e-01 -3.75746603e-02 4.92275928e+02] [-5.34739850e-01 8.44640241e-01 2.52221350e-02 1.01750932e+02] [ 4.52393120e-02 -1.18989266e-03 9.98975470e-01 1.20791170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4703857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:492.33, Y:101.72, Z:120.79 [[ 8.43103390e-01 5.36437604e-01 -3.75682130e-02 4.92329133e+02] [-5.35845096e-01 8.43939211e-01 2.52317345e-02 1.01718423e+02] [ 4.52405393e-02 -1.14221821e-03 9.98975470e-01 1.20791101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.530385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:492.38, Y:101.69, Z:120.80 [[ 8.41144718e-01 5.39504073e-01 -3.75622035e-02 4.92380598e+02] [-5.38914214e-01 8.41982410e-01 2.52406777e-02 1.01686428e+02] [ 4.52441630e-02 -9.88257376e-04 9.98975470e-01 1.20795870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5903857229999 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:492.43, Y:101.65, Z:120.80 [[ 8.40551758e-01 5.40427831e-01 -3.75566487e-02 4.92432251e+02] [-5.39838524e-01 8.41389838e-01 2.52489401e-02 1.01652362e+02] [ 4.52450126e-02 -9.48515221e-04 9.98975470e-01 1.20795907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.48, Y:101.62, Z:120.80 [[ 8.39149575e-01 5.42602791e-01 -3.75526482e-02 4.92484313e+02] [-5.42015390e-01 8.39988993e-01 2.52548888e-02 1.01620473e+02] [ 4.52471842e-02 -8.38515914e-04 9.98975470e-01 1.20802978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.54, Y:101.59, Z:120.80 [[ 8.37515192e-01 5.45122393e-01 -3.75483750e-02 4.92537063e+02] [-5.44537232e-01 8.38356173e-01 2.52612404e-02 1.01588798e+02] [ 4.52493798e-02 -7.10184446e-04 9.98975470e-01 1.20800945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.770385723 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:492.59, Y:101.56, Z:120.81 [[ 8.34288281e-01 5.50048783e-01 -3.75419880e-02 4.92590295e+02] [-5.49468162e-01 8.35132403e-01 2.52707289e-02 1.01556350e+02] [ 4.52526643e-02 -4.54945878e-04 9.98975470e-01 1.20807188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.64, Y:101.52, Z:120.81 [[ 8.31594534e-01 5.54113397e-01 -3.75349680e-02 4.92642735e+02] [-5.53536432e-01 8.32441158e-01 2.52811515e-02 1.01523693e+02] [ 4.52542770e-02 -2.46695098e-04 9.98975470e-01 1.20813107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:492.70, Y:101.49, Z:120.82 [[ 8.31214133e-01 5.54684348e-01 -3.75278390e-02 4.92695536e+02] [-5.54107487e-01 8.32060828e-01 2.52917295e-02 1.01489569e+02] [ 4.52543713e-02 -2.28386454e-04 9.98975470e-01 1.20816106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:492.75, Y:101.45, Z:120.82 [[ 8.32250000e-01 5.53129387e-01 -3.75209168e-02 4.92747691e+02] [-5.52550480e-01 8.33095298e-01 2.53019947e-02 1.01454926e+02] [ 4.52537761e-02 -3.25384502e-04 9.98975470e-01 1.20817215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.80, Y:101.42, Z:120.82 [[ 8.34227633e-01 5.50142666e-01 -3.75140277e-02 4.92799841e+02] [-5.49560275e-01 8.35070534e-01 2.53122047e-02 1.01420134e+02] [ 4.52521829e-02 -4.99921271e-04 9.98975470e-01 1.20823136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:492.85, Y:101.39, Z:120.82 [[ 8.34859957e-01 5.49183095e-01 -3.75070651e-02 4.92852935e+02] [-5.48599272e-01 8.35701866e-01 2.53225175e-02 1.01386478e+02] [ 4.52514228e-02 -5.64407238e-04 9.98975470e-01 1.20824401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.90, Y:101.35, Z:120.83 [[ 8.34239015e-01 5.50126355e-01 -3.75001196e-02 4.92903964e+02] [-5.49543021e-01 8.35081264e-01 2.53327989e-02 1.01353424e+02] [ 4.52518876e-02 -5.25680152e-04 9.98975470e-01 1.20825116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.190385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:492.96, Y:101.32, Z:120.83 [[ 8.33131662e-01 5.51802370e-01 -3.74937131e-02 4.92955169e+02] [-5.51220304e-01 8.33974787e-01 2.53422773e-02 1.01319386e+02] [ 4.52527401e-02 -4.46157724e-04 9.98975470e-01 1.20830507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:493.01, Y:101.29, Z:120.83 [[ 8.31260385e-01 5.54617803e-01 -3.74868701e-02 4.93008036e+02] [-5.54038136e-01 8.32105161e-01 2.53523955e-02 1.01287637e+02] [ 4.52539080e-02 -3.05286377e-04 9.98975470e-01 1.20831449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.06, Y:101.25, Z:120.84 [[ 8.29416223e-01 5.57372346e-01 -3.74806321e-02 4.93060119e+02] [-5.56795068e-01 8.30262634e-01 2.53616144e-02 1.01254747e+02] [ 4.52546308e-02 -1.66303377e-04 9.98975471e-01 1.20838292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.11, Y:101.22, Z:120.84 [[ 8.28104488e-01 5.59319815e-01 -3.74740129e-02 4.93112740e+02] [-5.58744086e-01 8.28951952e-01 2.53713911e-02 1.01222336e+02] [ 4.52548779e-02 -7.17797733e-05 9.98975471e-01 1.20842509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.17, Y:101.19, Z:120.85 [[ 8.28375278e-01 5.58919142e-01 -3.74671979e-02 4.93166622e+02] [-5.58342548e-01 8.29222154e-01 2.53814511e-02 1.01190525e+02] [ 4.52548095e-02 -1.05835858e-04 9.98975471e-01 1.20846656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.22, Y:101.16, Z:120.85 [[ 8.29512625e-01 5.57230263e-01 -3.74598175e-02 4.93220391e+02] [-5.56651453e-01 8.30357988e-01 2.53923390e-02 1.01158891e+02] [ 4.52544385e-02 -2.11203898e-04 9.98975471e-01 1.20849128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.550385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:493.27, Y:101.13, Z:120.85 [[ 8.30783254e-01 5.55334544e-01 -3.74530188e-02 4.93274907e+02] [-5.54753353e-01 8.31626982e-01 2.54023630e-02 1.01127360e+02] [ 4.52537506e-02 -3.26669991e-04 9.98975471e-01 1.20849351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:493.33, Y:101.10, Z:120.85 [[ 8.31253177e-01 5.54631369e-01 -3.74459625e-02 4.93330357e+02] [-5.54048996e-01 8.32096089e-01 2.54127605e-02 1.01098714e+02] [ 4.52533531e-02 -3.77540022e-04 9.98975471e-01 1.20849598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:493.38, Y:101.07, Z:120.85 [[ 8.31468821e-01 5.54308451e-01 -3.74398342e-02 4.93383875e+02] [-5.53725344e-01 8.32311226e-01 2.54217859e-02 1.01066157e+02] [ 4.52531051e-02 -4.06037265e-04 9.98975471e-01 1.20852867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.44, Y:101.04, Z:120.86 [[ 8.33005432e-01 5.51997049e-01 -3.74327202e-02 4.93437398e+02] [-5.51411134e-01 8.33845886e-01 2.54322568e-02 1.01036168e+02] [ 4.52516504e-02 -5.44389299e-04 9.98975471e-01 1.20857565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.790385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:493.49, Y:101.00, Z:120.86 [[ 8.35213216e-01 5.48651165e-01 -3.74270352e-02 4.93492000e+02] [-5.48061509e-01 8.36051049e-01 2.54406203e-02 1.01004555e+02] [ 4.52489380e-02 -7.36024910e-04 9.98975471e-01 1.20859885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.55, Y:100.97, Z:120.86 [[ 8.36105075e-01 5.47291553e-01 -3.74200356e-02 4.93546906e+02] [-5.46700074e-01 8.36941623e-01 2.54509116e-02 1.00974585e+02] [ 4.52474543e-02 -8.22100115e-04 9.98975471e-01 1.20862617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.910385723 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:493.60, Y:100.94, Z:120.86 [[ 8.35728953e-01 5.47866155e-01 -3.74138123e-02 4.93600933e+02] [-5.47274842e-01 8.36565618e-01 2.54600569e-02 1.00943590e+02] [ 4.52478125e-02 -8.02068454e-04 9.98975471e-01 1.20862185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.65, Y:100.91, Z:120.87 [[ 8.34465958e-01 5.49788232e-01 -3.74094259e-02 4.93654150e+02] [-5.49198557e-01 8.35303778e-01 2.54665003e-02 1.00911434e+02] [ 4.52494170e-02 -7.05724856e-04 9.98975471e-01 1.20872190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.71, Y:100.88, Z:120.87 [[ 8.33240787e-01 5.51643723e-01 -3.74031358e-02 4.93707483e+02] [-5.51055500e-01 8.34079626e-01 2.54757353e-02 1.00880628e+02] [ 4.52507230e-02 -6.16218010e-04 9.98975471e-01 1.20872089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0903857229999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:493.76, Y:100.85, Z:120.87 [[ 8.31040304e-01 5.54953554e-01 -3.73973994e-02 4.93760372e+02] [-5.54368293e-01 8.31881214e-01 2.54841534e-02 1.00847040e+02] [ 4.52527155e-02 -4.46426069e-04 9.98975471e-01 1.20869571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.150385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:493.81, Y:100.81, Z:120.87 [[ 8.29316387e-01 5.57526881e-01 -3.73912755e-02 4.93812600e+02] [-5.56943825e-01 8.30158826e-01 2.54931355e-02 1.00813717e+02] [ 4.52538057e-02 -3.17035083e-04 9.98975471e-01 1.20871192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:493.86, Y:100.78, Z:120.88 [[ 8.28669365e-01 5.58488343e-01 -3.73878852e-02 4.93863242e+02] [-5.57906039e-01 8.29512325e-01 2.54981066e-02 1.00777611e+02] [ 4.52541069e-02 -2.70572854e-04 9.98975471e-01 1.20881610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.270385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:493.91, Y:100.74, Z:120.88 [[ 8.28961076e-01 5.58055426e-01 -3.73855030e-02 4.93912677e+02] [-5.57472525e-01 8.29803623e-01 2.55015990e-02 1.00741921e+02] [ 4.52539315e-02 -2.98442258e-04 9.98975471e-01 1.20878045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.96, Y:100.70, Z:120.88 [[ 8.29098678e-01 5.57851033e-01 -3.73845929e-02 4.93962877e+02] [-5.57267864e-01 8.29941039e-01 2.55029331e-02 1.00704992e+02] [ 4.52538454e-02 -3.11215952e-04 9.98975471e-01 1.20883998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:494.01, Y:100.67, Z:120.88 [[ 8.28914568e-01 5.58124979e-01 -3.73784402e-02 4.94011366e+02] [-5.57541682e-01 8.29756840e-01 2.55119476e-02 1.00667013e+02] [ 4.52538717e-02 -3.07186641e-04 9.98975472e-01 1.20884529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.06, Y:100.63, Z:120.89 [[ 8.31501497e-01 5.54263957e-01 -3.73728112e-02 4.94062683e+02] [-5.53676379e-01 8.32340788e-01 2.55201909e-02 1.00633101e+02] [ 4.52518372e-02 -5.27634165e-04 9.98975472e-01 1.20886797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.11, Y:100.59, Z:120.89 [[ 8.28715726e-01 5.58420764e-01 -3.73697101e-02 4.94108675e+02] [-5.57837191e-01 8.29557808e-01 2.55247311e-02 1.00591968e+02] [ 4.52538747e-02 -3.06531969e-04 9.98975472e-01 1.20893711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.570385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:494.16, Y:100.55, Z:120.90 [[ 8.30676887e-01 5.55499696e-01 -3.73630373e-02 4.94157211e+02] [-5.54912723e-01 8.31516602e-01 2.55344950e-02 1.00552181e+02] [ 4.52523901e-02 -4.77690057e-04 9.98975472e-01 1.20897353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.21, Y:100.51, Z:120.90 [[ 8.31418853e-01 5.54389078e-01 -3.73555956e-02 4.94205185e+02] [-5.53800494e-01 8.32257440e-01 2.55453773e-02 1.00513592e+02] [ 4.52515505e-02 -5.51360969e-04 9.98975472e-01 1.20903682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.690385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:494.26, Y:100.48, Z:120.90 [[ 8.33664256e-01 5.51007160e-01 -3.73499225e-02 4.94255684e+02] [-5.50414804e-01 8.34500182e-01 2.55536692e-02 1.00476391e+02] [ 4.52487718e-02 -7.45230332e-04 9.98975472e-01 1.20899351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.30, Y:100.44, Z:120.91 [[ 8.32510171e-01 5.52749473e-01 -3.73474921e-02 4.94302644e+02] [-5.52158707e-01 8.33347221e-01 2.55572208e-02 1.00438230e+02] [ 4.52501691e-02 -6.54903260e-04 9.98975472e-01 1.20909448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:494.35, Y:100.40, Z:120.91 [[ 8.32825697e-01 5.52274384e-01 -3.73411782e-02 4.94351741e+02] [-5.51682727e-01 8.33662118e-01 2.55664427e-02 1.00398722e+02] [ 4.52496170e-02 -6.91907475e-04 9.98975472e-01 1.20912839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.870385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:494.40, Y:100.36, Z:120.91 [[ 8.32576872e-01 5.52649905e-01 -3.73341010e-02 4.94401479e+02] [-5.52058162e-01 8.33413232e-01 2.55767732e-02 1.00361488e+02] [ 4.52497350e-02 -6.84034637e-04 9.98975472e-01 1.20912235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:494.45, Y:100.33, Z:120.91 [[ 8.32635919e-01 5.52561355e-01 -3.73279467e-02 4.94451922e+02] [-5.51969120e-01 8.33471931e-01 2.55857519e-02 1.00325417e+02] [ 4.52494935e-02 -6.99742135e-04 9.98975472e-01 1.20913974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.50, Y:100.29, Z:120.92 [[ 8.32397188e-01 5.52921347e-01 -3.73216587e-02 4.94501516e+02] [-5.52329063e-01 8.33233164e-01 2.55949208e-02 1.00287217e+02] [ 4.52496219e-02 -6.91303307e-04 9.98975472e-01 1.20919311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.050385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:494.55, Y:100.25, Z:120.92 [[ 8.31296022e-01 5.54576023e-01 -3.73143080e-02 4.94550240e+02] [-5.53984923e-01 8.32132836e-01 2.56056327e-02 1.00249620e+02] [ 4.52507309e-02 -6.14296558e-04 9.98975472e-01 1.20923304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.110385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:494.60, Y:100.21, Z:120.93 [[ 8.30285132e-01 5.56088765e-01 -3.73079765e-02 4.94601051e+02] [-5.55498775e-01 8.31122729e-01 2.56148545e-02 1.00211986e+02] [ 4.52516401e-02 -5.43097609e-04 9.98975472e-01 1.20926999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.170385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:494.65, Y:100.17, Z:120.93 [[ 8.29245799e-01 5.57637916e-01 -3.73009291e-02 4.94650129e+02] [-5.57049029e-01 8.30084172e-01 2.56251131e-02 1.00173763e+02] [ 4.52524455e-02 -4.71071076e-04 9.98975472e-01 1.20928261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.230385723 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:494.70, Y:100.13, Z:120.93 [[ 8.26993035e-01 5.60973819e-01 -3.72947088e-02 4.94698596e+02] [-5.60387906e-01 8.27833488e-01 2.56341629e-02 1.00133976e+02] [ 4.52539031e-02 -2.99770460e-04 9.98975472e-01 1.20928230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.75, Y:100.10, Z:120.94 [[ 8.26754592e-01 5.61325439e-01 -3.72907123e-02 4.94748598e+02] [-5.60739621e-01 8.27595112e-01 2.56399753e-02 1.00097624e+02] [ 4.52539816e-02 -2.87587425e-04 9.98975472e-01 1.20935655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3503857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:494.80, Y:100.06, Z:120.94 [[ 8.27403562e-01 5.60368900e-01 -3.72832489e-02 4.94797025e+02] [-5.59781622e-01 8.28243063e-01 2.56508233e-02 1.00057892e+02] [ 4.52535159e-02 -3.53105031e-04 9.98975472e-01 1.20936298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:494.85, Y:100.02, Z:120.94 [[ 8.28146121e-01 5.59271370e-01 -3.72765006e-02 4.94846770e+02] [-5.58682538e-01 8.28984532e-01 2.56606265e-02 1.00020320e+02] [ 4.52528961e-02 -4.25018372e-04 9.98975473e-01 1.20942790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:494.90, Y:99.98, Z:120.94 [[ 8.31024000e-01 5.54986524e-01 -3.72702287e-02 4.94897017e+02] [-5.54392962e-01 8.31859068e-01 2.56697327e-02 9.99833654e+01] [ 4.52499335e-02 -6.69811409e-04 9.98975473e-01 1.20943118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:494.95, Y:99.94, Z:120.95 [[ 8.32682845e-01 5.52494951e-01 -3.72640453e-02 4.94945170e+02] [-5.51898488e-01 8.33515844e-01 2.56787058e-02 9.99433234e+01] [ 4.52475275e-02 -8.16247524e-04 9.98975473e-01 1.20946401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5903857229999 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:494.99, Y:99.90, Z:120.95 [[ 8.32302594e-01 5.53068086e-01 -3.72570206e-02 4.94993683e+02] [-5.52471740e-01 8.33135677e-01 2.56888939e-02 9.99035163e+01] [ 4.52478605e-02 -7.97482046e-04 9.98975473e-01 1.20946462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.04, Y:99.87, Z:120.95 [[ 8.30684156e-01 5.55496212e-01 -3.72530610e-02 4.95042781e+02] [-5.54902045e-01 8.31518795e-01 2.56946347e-02 9.98675764e+01] [ 4.52498926e-02 -6.72326174e-04 9.98975473e-01 1.20950837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.09, Y:99.83, Z:120.95 [[ 8.28421721e-01 5.58864899e-01 -3.72488637e-02 4.95091585e+02] [-5.58273852e-01 8.29258572e-01 2.57007179e-02 9.98284590e+01] [ 4.52521687e-02 -4.95966347e-04 9.98975473e-01 1.20953451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.14, Y:99.79, Z:120.96 [[ 8.27671999e-01 5.59975024e-01 -3.72429050e-02 4.95140489e+02] [-5.59384712e-01 8.28509368e-01 2.57093498e-02 9.97910419e+01] [ 4.52526895e-02 -4.45797280e-04 9.98975473e-01 1.20959704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.19, Y:99.75, Z:120.96 [[ 8.27315900e-01 5.60501418e-01 -3.72365607e-02 4.95190957e+02] [-5.59911225e-01 8.28153354e-01 2.57185354e-02 9.97543443e+01] [ 4.52528582e-02 -4.28184958e-04 9.98975473e-01 1.20962862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.24, Y:99.72, Z:120.96 [[ 8.26860589e-01 5.61173363e-01 -3.72293365e-02 4.95239879e+02] [-5.60583380e-01 8.27698190e-01 2.57289887e-02 9.97153997e+01] [ 4.52530775e-02 -4.04139411e-04 9.98975473e-01 1.20964311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.950385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:495.29, Y:99.68, Z:120.97 [[ 8.25815874e-01 5.62710050e-01 -3.72228684e-02 4.95290451e+02] [-5.62121204e-01 8.26654274e-01 2.57383428e-02 9.96805813e+01] [ 4.52536675e-02 -3.31368415e-04 9.98975473e-01 1.20969915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.34, Y:99.65, Z:120.97 [[ 8.25964692e-01 5.62492010e-01 -3.72164898e-02 4.95342016e+02] [-5.61902527e-01 8.26802645e-01 2.57475627e-02 9.96462199e+01] [ 4.52534905e-02 -3.54538005e-04 9.98975473e-01 1.20970812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.39, Y:99.61, Z:120.98 [[ 8.25445086e-01 5.63254675e-01 -3.72099544e-02 4.95392347e+02] [-5.62665540e-01 8.26283285e-01 2.57570041e-02 9.96123482e+01] [ 4.52537163e-02 -3.24233402e-04 9.98975473e-01 1.20978084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.45, Y:99.58, Z:120.97 [[ 8.28027331e-01 5.59452056e-01 -3.72039853e-02 4.95446584e+02] [-5.58858686e-01 8.28862535e-01 2.57656231e-02 9.95813496e+01] [ 4.52516204e-02 -5.42869797e-04 9.98975473e-01 1.20973985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.50, Y:99.55, Z:120.98 [[ 8.29608805e-01 5.57104360e-01 -3.72016468e-02 4.95496022e+02] [-5.56508474e-01 8.30442218e-01 2.57689991e-02 9.95454551e+01] [ 4.52498398e-02 -6.75156887e-04 9.98975473e-01 1.20982505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.55, Y:99.51, Z:120.99 [[ 8.31537273e-01 5.54222206e-01 -3.71955713e-02 4.95546594e+02] [-5.53623040e-01 8.32368330e-01 2.57777657e-02 9.95099946e+01] [ 4.52470257e-02 -8.42847687e-04 9.98975473e-01 1.20985847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.60, Y:99.47, Z:120.99 [[ 8.33053622e-01 5.51940758e-01 -3.71895440e-02 4.95598191e+02] [-5.51338928e-01 8.33882752e-01 2.57864584e-02 9.94745552e+01] [ 4.52443167e-02 -9.77459274e-04 9.98975473e-01 1.20987865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.370385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:495.65, Y:99.44, Z:120.99 [[ 8.32601052e-01 5.52623419e-01 -3.71866356e-02 4.95650954e+02] [-5.52022082e-01 8.33430539e-01 2.57906519e-02 9.94397281e+01] [ 4.52449960e-02 -9.45479834e-04 9.98975473e-01 1.20989666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.70, Y:99.41, Z:121.00 [[ 8.29738539e-01 5.56912641e-01 -3.71788578e-02 4.95703098e+02] [-5.56315091e-01 8.30570758e-01 2.58018592e-02 9.94061267e+01] [ 4.52490537e-02 -7.25637338e-04 9.98975473e-01 1.20996012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.490385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:495.76, Y:99.37, Z:121.00 [[ 8.28434036e-01 5.58851759e-01 -3.71720200e-02 4.95755786e+02] [-5.58255715e-01 8.29267335e-01 2.58117064e-02 9.93728023e+01] [ 4.52504595e-02 -6.31803532e-04 9.98975474e-01 1.20998314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.81, Y:99.34, Z:121.00 [[ 8.30112196e-01 5.56356399e-01 -3.71658349e-02 4.95808947e+02] [-5.55757452e-01 8.30943410e-01 2.58206092e-02 9.93402234e+01] [ 4.52481668e-02 -7.78812892e-04 9.98975474e-01 1.20999272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.610385723 meters Centerline goodness : 0.997778 with order 1 Centerline is valid? [True, True] Translation: X:495.86, Y:99.30, Z:121.00 [[ 8.28866882e-01 5.58210414e-01 -3.71594632e-02 4.95860571e+02] [-5.57612916e-01 8.29699138e-01 2.58297758e-02 9.93048876e+01] [ 4.52496244e-02 -6.88849085e-04 9.98975474e-01 1.21000423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:495.91, Y:99.27, Z:121.00 [[ 8.29782868e-01 5.56848493e-01 -3.71503550e-02 4.95914738e+02] [-5.56249042e-01 8.30613718e-01 2.58428692e-02 9.92733185e+01] [ 4.52481573e-02 -7.79120675e-04 9.98975474e-01 1.21002801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.96, Y:99.24, Z:121.01 [[ 8.28203877e-01 5.59194862e-01 -3.71408664e-02 4.95964894e+02] [-5.58597155e-01 8.29035982e-01 2.58564988e-02 9.92391500e+01] [ 4.52499360e-02 -6.67670254e-04 9.98975474e-01 1.21009649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.790385723 meters Centerline goodness : 0.994558 with order 1 Centerline is valid? [True, True] Translation: X:496.02, Y:99.21, Z:121.01 [[ 8.26568061e-01 5.61610454e-01 -3.71340642e-02 4.96017027e+02] [-5.61014739e-01 8.27401594e-01 2.58662643e-02 9.92052590e+01] [ 4.52515483e-02 -5.47470559e-04 9.98975474e-01 1.21008044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8503857229999 meters Centerline goodness : 0.994670 with order 1 Centerline is valid? [True, True] Translation: X:496.07, Y:99.17, Z:121.01 [[ 8.26191139e-01 5.62165349e-01 -3.71257606e-02 4.96070399e+02] [-5.61569659e-01 8.27024690e-01 2.58781770e-02 9.91722382e+01] [ 4.52517350e-02 -5.31619789e-04 9.98975474e-01 1.21010778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:496.12, Y:99.14, Z:121.02 [[ 8.25523106e-01 5.63146469e-01 -3.71167890e-02 4.96121274e+02] [-5.62551192e-01 8.26356951e-01 2.58910384e-02 9.91377771e+01] [ 4.52521634e-02 -4.93556476e-04 9.98975474e-01 1.21021272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.17, Y:99.10, Z:121.02 [[ 8.25367869e-01 5.63374476e-01 -3.71090352e-02 4.96172948e+02] [-5.62778930e-01 8.26201522e-01 2.59021470e-02 9.91022520e+01] [ 4.52521498e-02 -4.94616741e-04 9.98975474e-01 1.21024705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:496.23, Y:99.07, Z:121.02 [[ 8.26629962e-01 5.61521459e-01 -3.71019919e-02 4.96227815e+02] [-5.60923591e-01 8.27461951e-01 2.59122318e-02 9.90713041e+01] [ 4.52507608e-02 -6.08444594e-04 9.98975474e-01 1.21021614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.28, Y:99.04, Z:121.03 [[ 8.25451488e-01 5.63252847e-01 -3.70954389e-02 4.96276933e+02] [-5.62656303e-01 8.26284427e-01 2.59216095e-02 9.90356042e+01] [ 4.52518039e-02 -5.25048621e-04 9.98975474e-01 1.21031850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.33, Y:99.00, Z:121.03 [[ 8.26039350e-01 5.62390604e-01 -3.70917873e-02 4.96329757e+02] [-5.61792956e-01 8.26871498e-01 2.59268337e-02 9.90010787e+01] [ 4.52511494e-02 -5.78680061e-04 9.98975474e-01 1.21034407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.210385723 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:496.38, Y:98.97, Z:121.03 [[ 8.26369501e-01 5.61905839e-01 -3.70847257e-02 4.96383227e+02] [-5.61307250e-01 8.27200971e-01 2.59369304e-02 9.89668697e+01] [ 4.52506337e-02 -6.17562829e-04 9.98975475e-01 1.21029552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.270385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:496.43, Y:98.93, Z:121.04 [[ 8.28025528e-01 5.59463201e-01 -3.70762917e-02 4.96434904e+02] [-5.58861620e-01 8.28854837e-01 2.59489810e-02 9.89344255e+01] [ 4.52483637e-02 -7.65902299e-04 9.98975475e-01 1.21036139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.330385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:496.49, Y:98.90, Z:121.04 [[ 8.29274789e-01 5.57610067e-01 -3.70720595e-02 4.96489137e+02] [-5.57006362e-01 8.30102553e-01 2.59550260e-02 9.89018749e+01] [ 4.52463950e-02 -8.74475751e-04 9.98975475e-01 1.21039247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.390385723 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:496.54, Y:98.87, Z:121.04 [[ 8.29552459e-01 5.57197385e-01 -3.70647080e-02 4.96542370e+02] [-5.56592800e-01 8.30379580e-01 2.59655199e-02 9.88702243e+01] [ 4.52456964e-02 -9.09811321e-04 9.98975475e-01 1.21036168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.60, Y:98.84, Z:121.04 [[ 8.30000108e-01 5.56530603e-01 -3.70608741e-02 4.96596315e+02] [-5.55925110e-01 8.30826564e-01 2.59709909e-02 9.88387175e+01] [ 4.52448099e-02 -9.52854721e-04 9.98975475e-01 1.21043248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.65, Y:98.81, Z:121.04 [[ 8.30108522e-01 5.56369354e-01 -3.70537868e-02 4.96649417e+02] [-5.55763249e-01 8.30934530e-01 2.59810987e-02 9.88057391e+01] [ 4.52443580e-02 -9.73998538e-04 9.98975475e-01 1.21044180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:496.70, Y:98.78, Z:121.05 [[ 8.30481673e-01 5.55812446e-01 -3.70501822e-02 4.96702703e+02] [-5.55205558e-01 8.31307106e-01 2.59862381e-02 9.87765840e+01] [ 4.52435542e-02 -1.01062738e-03 9.98975475e-01 1.21051677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.76, Y:98.75, Z:121.06 [[ 8.30043912e-01 5.56466204e-01 -3.70468429e-02 4.96756930e+02] [-5.55859754e-01 8.30869666e-01 2.59909978e-02 9.87450901e+01] [ 4.52442099e-02 -9.80820481e-04 9.98975475e-01 1.21056150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.81, Y:98.71, Z:121.06 [[ 8.29278645e-01 5.57606491e-01 -3.70395776e-02 4.96810907e+02] [-5.57000714e-01 8.30104893e-01 2.60013474e-02 9.87132924e+01] [ 4.52452547e-02 -9.31290942e-04 9.98975475e-01 1.21056874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.87, Y:98.68, Z:121.06 [[ 8.28496931e-01 5.58767723e-01 -3.70333088e-02 4.96865204e+02] [-5.58162706e-01 8.29323736e-01 2.60102728e-02 9.86820592e+01] [ 4.52463030e-02 -8.78819319e-04 9.98975475e-01 1.21057824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.92, Y:98.65, Z:121.06 [[ 8.26387504e-01 5.61883169e-01 -3.70269825e-02 4.96918569e+02] [-5.61280866e-01 8.27216288e-01 2.60192755e-02 9.86482131e+01] [ 4.52491160e-02 -7.19467323e-04 9.98975475e-01 1.21059728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.870385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:496.97, Y:98.62, Z:121.06 [[ 8.24960978e-01 5.63975867e-01 -3.70217011e-02 4.96972578e+02] [-5.63375329e-01 8.25791042e-01 2.60267881e-02 9.86161748e+01] [ 4.52506695e-02 -6.13971571e-04 9.98975475e-01 1.21062828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.03, Y:98.58, Z:121.07 [[ 8.24681683e-01 5.64384703e-01 -3.70138970e-02 4.97026250e+02] [-5.63784080e-01 8.25511684e-01 2.60378820e-02 9.85827347e+01] [ 4.52507867e-02 -6.05118480e-04 9.98975475e-01 1.21066307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.08, Y:98.55, Z:121.07 [[ 8.25425725e-01 5.63296308e-01 -3.70086719e-02 4.97078478e+02] [-5.62694257e-01 8.26254692e-01 2.60453064e-02 9.85484461e+01] [ 4.52498138e-02 -6.73898827e-04 9.98975475e-01 1.21071250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.13, Y:98.51, Z:121.07 [[ 8.26647972e-01 5.61501605e-01 -3.70010602e-02 4.97131381e+02] [-5.60897270e-01 8.27475275e-01 2.60561154e-02 9.85145187e+01] [ 4.52480131e-02 -7.85441282e-04 9.98975475e-01 1.21073544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.110385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:497.18, Y:98.48, Z:121.08 [[ 8.26541363e-01 5.61659003e-01 -3.69937882e-02 4.97182313e+02] [-5.61054364e-01 8.27368443e-01 2.60664360e-02 9.84794142e+01] [ 4.52479414e-02 -7.89461161e-04 9.98975475e-01 1.21075859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.170385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:497.23, Y:98.44, Z:121.08 [[ 8.25424919e-01 5.63298879e-01 -3.69875285e-02 4.97233462e+02] [-5.62695486e-01 8.26252908e-01 2.60753154e-02 9.84431452e+01] [ 4.52492489e-02 -7.10499761e-04 9.98975476e-01 1.21075225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.28, Y:98.41, Z:121.08 [[ 8.23384071e-01 5.66278020e-01 -3.69848026e-02 4.97282986e+02] [-5.65677450e-01 8.24214110e-01 2.60791811e-02 9.84060298e+01] [ 4.52514632e-02 -5.51713438e-04 9.98975476e-01 1.21080430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.33, Y:98.37, Z:121.09 [[ 8.21398548e-01 5.69154684e-01 -3.69779782e-02 4.97334084e+02] [-5.68556585e-01 8.22230370e-01 2.60888540e-02 9.83689441e+01] [ 4.52530101e-02 -4.05273785e-04 9.98975476e-01 1.21085044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3503857229999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:497.38, Y:98.33, Z:121.09 [[ 8.21952863e-01 5.68354352e-01 -3.69705569e-02 4.97383572e+02] [-5.67754970e-01 8.22783761e-01 2.60993665e-02 9.83317764e+01] [ 4.52524623e-02 -4.62231543e-04 9.98975476e-01 1.21087508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.43, Y:98.29, Z:121.09 [[ 8.21790813e-01 5.68589081e-01 -3.69637242e-02 4.97431534e+02] [-5.67989501e-01 8.22621568e-01 2.61090398e-02 9.82943634e+01] [ 4.52524717e-02 -4.61161778e-04 9.98975476e-01 1.21090079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.48, Y:98.26, Z:121.09 [[ 8.22639736e-01 5.67360562e-01 -3.69574997e-02 4.97479628e+02] [-5.66759347e-01 8.23469308e-01 2.61178477e-02 9.82550420e+01] [ 4.52516034e-02 -5.39570973e-04 9.98975476e-01 1.21093988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.53, Y:98.21, Z:121.10 [[ 8.22937315e-01 5.66929277e-01 -3.69509159e-02 4.97528055e+02] [-5.66327208e-01 8.23766268e-01 2.61271590e-02 9.82145572e+01] [ 4.52511694e-02 -5.74705067e-04 9.98975476e-01 1.21096247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.58, Y:98.18, Z:121.10 [[ 8.23984343e-01 5.65406916e-01 -3.69435075e-02 4.97576907e+02] [-5.64802846e-01 8.24811839e-01 2.61376302e-02 9.81750790e+01] [ 4.52498392e-02 -6.71199850e-04 9.98975476e-01 1.21100972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.650385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:497.62, Y:98.14, Z:121.10 [[ 8.24819448e-01 5.64188469e-01 -3.69357429e-02 4.97624796e+02] [-5.63582686e-01 8.25645691e-01 2.61485979e-02 9.81358761e+01] [ 4.52485744e-02 -7.51526860e-04 9.98975476e-01 1.21098606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.67, Y:98.10, Z:121.11 [[ 8.24915304e-01 5.64048556e-01 -3.69319215e-02 4.97672310e+02] [-5.63442392e-01 8.25741267e-01 2.61539940e-02 9.80964856e+01] [ 4.52483343e-02 -7.65819723e-04 9.98975476e-01 1.21105563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.72, Y:98.06, Z:121.11 [[ 8.23319535e-01 5.66375739e-01 -3.69251327e-02 4.97719310e+02] [-5.65771479e-01 8.24146893e-01 2.61635752e-02 9.80566619e+01] [ 4.52501476e-02 -6.49795652e-04 9.98975476e-01 1.21111543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.830385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:497.77, Y:98.02, Z:121.12 [[ 8.22504626e-01 5.67558956e-01 -3.69184548e-02 4.97768743e+02] [-5.66955464e-01 8.23332543e-01 2.61729948e-02 9.80184539e+01] [ 4.52508829e-02 -5.96289658e-04 9.98975476e-01 1.21117294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.890385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:497.82, Y:97.98, Z:121.12 [[ 8.20453793e-01 5.70519747e-01 -3.69160209e-02 4.97815142e+02] [-5.69919088e-01 8.21283768e-01 2.61764272e-02 9.79786881e+01] [ 4.52526974e-02 -4.37403989e-04 9.98975476e-01 1.21122550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.950385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:497.86, Y:97.94, Z:121.13 [[ 8.19546994e-01 5.71821839e-01 -3.69121763e-02 4.97864285e+02] [-5.71222255e-01 8.20377746e-01 2.61818475e-02 9.79387985e+01] [ 4.52532802e-02 -3.72197806e-04 9.98975476e-01 1.21126146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.010385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:497.91, Y:97.90, Z:121.13 [[ 8.20915624e-01 5.69855759e-01 -3.69046365e-02 4.97912370e+02] [-5.69253708e-01 8.21744589e-01 2.61924709e-02 9.78991157e+01] [ 4.52521158e-02 -4.93707374e-04 9.98975476e-01 1.21128880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.96, Y:97.86, Z:121.13 [[ 8.22878319e-01 5.67018342e-01 -3.68981455e-02 4.97959677e+02] [-5.66413023e-01 8.23704901e-01 2.62016119e-02 9.78604742e+01] [ 4.52499778e-02 -6.61148256e-04 9.98975476e-01 1.21131112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.130385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:498.01, Y:97.82, Z:121.14 [[ 8.23226032e-01 5.66513782e-01 -3.68922064e-02 4.98009209e+02] [-5.65907582e-01 8.24051968e-01 2.62099715e-02 9.78221680e+01] [ 4.52494054e-02 -6.99151492e-04 9.98975476e-01 1.21135038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.06, Y:97.78, Z:121.14 [[ 8.22162419e-01 5.68056733e-01 -3.68850142e-02 4.98057698e+02] [-5.67451629e-01 8.22989159e-01 2.62200891e-02 9.77828263e+01] [ 4.52504650e-02 -6.26710490e-04 9.98975477e-01 1.21138479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.11, Y:97.75, Z:121.14 [[ 8.21904948e-01 5.68429740e-01 -3.68766521e-02 4.98106713e+02] [-5.67824484e-01 8.22731576e-01 2.62318446e-02 9.77459441e+01] [ 4.52505467e-02 -6.20616938e-04 9.98975477e-01 1.21143079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.310385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:498.16, Y:97.71, Z:121.14 [[ 8.22069850e-01 5.68191740e-01 -3.68688035e-02 4.98155349e+02] [-5.67585751e-01 8.22895939e-01 2.62428710e-02 9.77079865e+01] [ 4.52501713e-02 -6.47265508e-04 9.98975477e-01 1.21143210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.370385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:498.20, Y:97.67, Z:121.15 [[ 8.22282854e-01 5.67883869e-01 -3.68621660e-02 4.98204354e+02] [-5.67277153e-01 8.23108410e-01 2.62521912e-02 9.76685177e+01] [ 4.52497548e-02 -6.75662065e-04 9.98975477e-01 1.21149284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.430385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:498.26, Y:97.63, Z:121.14 [[ 8.24880406e-01 5.64104628e-01 -3.68548974e-02 4.98257141e+02] [-5.63493674e-01 8.25702831e-01 2.62623915e-02 9.76346239e+01] [ 4.52459297e-02 -8.95830621e-04 9.98975477e-01 1.21144566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:498.31, Y:97.60, Z:121.15 [[ 8.24922766e-01 5.64043091e-01 -3.68486221e-02 4.98306435e+02] [-5.63431683e-01 8.25744854e-01 2.62711934e-02 9.75961554e+01] [ 4.52456452e-02 -9.10024353e-04 9.98975477e-01 1.21147554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.36, Y:97.56, Z:121.15 [[ 8.25452911e-01 5.63267424e-01 -3.68415643e-02 4.98357329e+02] [-5.62654802e-01 8.26274094e-01 2.62810872e-02 9.75586984e+01] [ 4.52445105e-02 -9.64716887e-04 9.98975477e-01 1.21152359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.41, Y:97.52, Z:121.16 [[ 8.25217058e-01 5.63613410e-01 -3.68338259e-02 4.98405488e+02] [-5.63000649e-01 8.26038137e-01 2.62919284e-02 9.75189333e+01] [ 4.52446283e-02 -9.59079939e-04 9.98975477e-01 1.21155853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.45, Y:97.48, Z:121.17 [[ 8.24357191e-01 5.64870867e-01 -3.68256079e-02 4.98452320e+02] [-5.64258845e-01 8.25178820e-01 2.63034338e-02 9.74802164e+01] [ 4.52457552e-02 -9.04249804e-04 9.98975477e-01 1.21165078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.730385723 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:498.50, Y:97.44, Z:121.16 [[ 8.25692926e-01 5.62917001e-01 -3.68190430e-02 4.98502623e+02] [-5.62302625e-01 8.26512797e-01 2.63126200e-02 9.74439327e+01] [ 4.52432314e-02 -1.02269962e-03 9.98975477e-01 1.21158404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:498.55, Y:97.41, Z:121.17 [[ 8.28397515e-01 5.58929421e-01 -3.68165657e-02 4.98554086e+02] [-5.58310945e-01 8.29214298e-01 2.63160859e-02 9.74094363e+01] [ 4.52376573e-02 -1.24508856e-03 9.98975477e-01 1.21166203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8503857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:498.60, Y:97.37, Z:121.17 [[ 8.26576274e-01 5.61619416e-01 -3.68143274e-02 4.98602839e+02] [-5.61003459e-01 8.27394959e-01 2.63192167e-02 9.73698251e+01] [ 4.52413720e-02 -1.10187503e-03 9.98975477e-01 1.21168799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.65, Y:97.34, Z:121.17 [[ 8.25949758e-01 5.62540648e-01 -3.68105476e-02 4.98653790e+02] [-5.61925369e-01 8.26768952e-01 2.63245021e-02 9.73360290e+01] [ 4.52424203e-02 -1.05793557e-03 9.98975477e-01 1.21173333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.70, Y:97.30, Z:121.18 [[ 8.25601615e-01 5.63051925e-01 -3.68035634e-02 4.98704141e+02] [-5.62436719e-01 8.26420864e-01 2.63342629e-02 9.72984434e+01] [ 4.52427901e-02 -1.04193460e-03 9.98975477e-01 1.21178068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.75, Y:97.26, Z:121.18 [[ 8.27011922e-01 5.60978886e-01 -3.67963534e-02 4.98754684e+02] [-5.60361178e-01 8.27829286e-01 2.63443334e-02 9.72618121e+01] [ 4.52397138e-02 -1.16782984e-03 9.98975477e-01 1.21184545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.81, Y:97.23, Z:121.18 [[ 8.29268223e-01 5.57638612e-01 -3.67884991e-02 4.98807869e+02] [-5.57017127e-01 8.30082718e-01 2.63552970e-02 9.72272206e+01] [ 4.52342286e-02 -1.36378620e-03 9.98975478e-01 1.21184422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.86, Y:97.19, Z:121.19 [[ 8.30038307e-01 5.56492205e-01 -3.67809064e-02 4.98857979e+02] [-5.55869127e-01 8.30851584e-01 2.63658890e-02 9.71913410e+01] [ 4.52318860e-02 -1.43932756e-03 9.98975478e-01 1.21187424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.91, Y:97.16, Z:121.19 [[ 8.30920934e-01 5.55173921e-01 -3.67738871e-02 4.98910772e+02] [-5.54549119e-01 8.31732889e-01 2.63756756e-02 9.71571268e+01] [ 4.52291385e-02 -1.52317432e-03 9.98975478e-01 1.21188452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.96, Y:97.12, Z:121.19 [[ 8.29411596e-01 5.57426808e-01 -3.67662601e-02 4.98961002e+02] [-5.56803742e-01 8.30224883e-01 2.63863029e-02 9.71215225e+01] [ 4.52326966e-02 -1.41351446e-03 9.98975478e-01 1.21192836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.01, Y:97.08, Z:121.19 [[ 8.28665123e-01 5.58536346e-01 -3.67595394e-02 4.99010353e+02] [-5.57913954e-01 8.29478926e-01 2.63956624e-02 9.70846613e+01] [ 4.52342001e-02 -1.36450490e-03 9.98975478e-01 1.21190110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.390385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:499.06, Y:97.05, Z:121.20 [[ 8.29067093e-01 5.57939976e-01 -3.67523946e-02 4.99060265e+02] [-5.57316559e-01 8.29880110e-01 2.64056068e-02 9.70488700e+01] [ 4.52328249e-02 -1.40930156e-03 9.98975478e-01 1.21197334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.450385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:499.11, Y:97.01, Z:121.20 [[ 8.30321856e-01 5.56071379e-01 -3.67455663e-02 4.99112219e+02] [-5.55445713e-01 8.31133143e-01 2.64151056e-02 9.70145089e+01] [ 4.52291422e-02 -1.52287220e-03 9.98975478e-01 1.21200483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:499.16, Y:96.98, Z:121.20 [[ 8.30393552e-01 5.55964763e-01 -3.67386821e-02 4.99163243e+02] [-5.55338570e-01 8.31204433e-01 2.64246768e-02 9.69784154e+01] [ 4.52285446e-02 -1.54047401e-03 9.98975478e-01 1.21202958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.21, Y:96.94, Z:121.21 [[ 8.30075756e-01 5.56439647e-01 -3.67308945e-02 4.99212661e+02] [-5.55813440e-01 8.30886626e-01 2.64354973e-02 9.69419355e+01] [ 4.52289678e-02 -1.52794059e-03 9.98975478e-01 1.21206597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.26, Y:96.90, Z:121.21 [[ 8.28953132e-01 5.58111168e-01 -3.67236955e-02 4.99260687e+02] [-5.57486154e-01 8.29764921e-01 2.64454942e-02 9.69044583e+01] [ 4.52315600e-02 -1.44912350e-03 9.98975478e-01 1.21213840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.31, Y:96.87, Z:121.21 [[ 8.30868799e-01 5.55255510e-01 -3.67199837e-02 4.99314509e+02] [-5.54627478e-01 8.31678257e-01 2.64506472e-02 9.68709100e+01] [ 4.52260796e-02 -1.61110550e-03 9.98975478e-01 1.21213449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.750385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:499.37, Y:96.83, Z:121.21 [[ 8.30944885e-01 5.55142136e-01 -3.67124938e-02 4.99366762e+02] [-5.54513536e-01 8.31753901e-01 2.64610388e-02 9.68349404e+01] [ 4.52253975e-02 -1.63009013e-03 9.98975478e-01 1.21214027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.41, Y:96.80, Z:121.22 [[ 8.28316598e-01 5.59056663e-01 -3.67050611e-02 4.99414701e+02] [-5.58431431e-01 8.29128219e-01 2.64713448e-02 9.67972625e+01] [ 4.52321837e-02 -1.42939447e-03 9.98975478e-01 1.21220959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.47, Y:96.77, Z:121.22 [[ 8.29001740e-01 5.58040581e-01 -3.66991152e-02 4.99468388e+02] [-5.57413990e-01 8.29812313e-01 2.64795856e-02 9.67660976e+01] [ 4.52300610e-02 -1.49502234e-03 9.98975478e-01 1.21217897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.52, Y:96.73, Z:121.23 [[ 8.25798751e-01 5.62770049e-01 -3.66919016e-02 4.99517954e+02] [-5.62147658e-01 8.26612553e-01 2.64895774e-02 9.67298359e+01] [ 4.52375272e-02 -1.24879339e-03 9.98975479e-01 1.21226326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.57, Y:96.69, Z:121.23 [[ 8.26041908e-01 5.62413584e-01 -3.66841509e-02 4.99568677e+02] [-5.61790367e-01 8.26855077e-01 2.65003066e-02 9.66931062e+01] [ 4.52366089e-02 -1.28156122e-03 9.98975479e-01 1.21228418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.050385723 meters Centerline goodness : 0.994345 with order 1 Centerline is valid? [True, True] Translation: X:499.62, Y:96.66, Z:121.23 [[ 8.25823344e-01 5.62734675e-01 -3.66809169e-02 4.99619113e+02] [-5.62111575e-01 8.26636603e-01 2.65047823e-02 9.66567000e+01] [ 4.52369486e-02 -1.26949994e-03 9.98975479e-01 1.21226860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.67, Y:96.63, Z:121.23 [[ 8.25332910e-01 5.63454268e-01 -3.66725302e-02 4.99671407e+02] [-5.62831363e-01 8.26146318e-01 2.65163813e-02 9.66274971e+01] [ 4.52376440e-02 -1.24439199e-03 9.98975479e-01 1.21231333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:499.72, Y:96.60, Z:121.24 [[ 8.21516802e-01 5.69003685e-01 -3.66735764e-02 4.99723571e+02] [-5.68386340e-01 8.22334438e-01 2.65149343e-02 9.65954200e+01] [ 4.52450401e-02 -9.37704179e-04 9.98975479e-01 1.21235801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.230385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:499.78, Y:96.56, Z:121.23 [[ 8.20520897e-01 5.70439234e-01 -3.66679331e-02 4.99779760e+02] [-5.69822971e-01 8.21339349e-01 2.65227361e-02 9.65645850e+01] [ 4.52464256e-02 -8.68228592e-04 9.98975479e-01 1.21232065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.290385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:499.83, Y:96.53, Z:121.24 [[ 8.16835328e-01 5.75704852e-01 -3.66601948e-02 4.99827229e+02] [-5.75093386e-01 8.17657370e-01 2.65334279e-02 9.65257613e+01] [ 4.52509016e-02 -5.90405720e-04 9.98975479e-01 1.21238736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3503857229999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:499.88, Y:96.49, Z:121.24 [[ 8.16589001e-01 5.76054649e-01 -3.66530223e-02 4.99877447e+02] [-5.75443091e-01 8.17410974e-01 2.65433322e-02 9.64897279e+01] [ 4.52509926e-02 -5.83264646e-04 9.98975479e-01 1.21241116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.93, Y:96.45, Z:121.24 [[ 8.15384732e-01 5.77758492e-01 -3.66451149e-02 4.99929350e+02] [-5.77148161e-01 8.16207616e-01 2.65542445e-02 9.64544131e+01] [ 4.52519621e-02 -5.02264843e-04 9.98975479e-01 1.21243416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.98, Y:96.42, Z:121.25 [[ 8.12825004e-01 5.81354685e-01 -3.66366390e-02 4.99979436e+02] [-5.80747468e-01 8.13650189e-01 2.65659334e-02 9.64163570e+01] [ 4.52536381e-02 -3.16819603e-04 9.98975479e-01 1.21248117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.03, Y:96.38, Z:121.25 [[ 8.13131610e-01 5.80926251e-01 -3.66288901e-02 5.00029560e+02] [-5.80318118e-01 8.13956120e-01 2.65766134e-02 9.63803698e+01] [ 4.52533616e-02 -3.53875881e-04 9.98975479e-01 1.21246159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.08, Y:96.34, Z:121.25 [[ 8.11837221e-01 5.82734224e-01 -3.66217256e-02 5.00077052e+02] [-5.82127482e-01 8.12662755e-01 2.65864821e-02 9.63419614e+01] [ 4.52539654e-02 -2.65382764e-04 9.98975479e-01 1.21253418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.650385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:500.13, Y:96.30, Z:121.26 [[ 8.12081308e-01 5.82394393e-01 -3.66158380e-02 5.00127372e+02] [-5.81786940e-01 8.12906320e-01 2.65945882e-02 9.63045882e+01] [ 4.52537852e-02 -2.94351664e-04 9.98975479e-01 1.21256648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.18, Y:96.27, Z:121.26 [[ 8.12448836e-01 5.81882035e-01 -3.66085568e-02 5.00177295e+02] [-5.81273610e-01 8.13273131e-01 2.66046073e-02 9.62680120e+01] [ 4.52534987e-02 -3.35294253e-04 9.98975479e-01 1.21258217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:500.23, Y:96.23, Z:121.26 [[ 8.13175096e-01 5.80867084e-01 -3.66018264e-02 5.00225756e+02] [-5.80257214e-01 8.13998322e-01 2.66138637e-02 9.62294349e+01] [ 4.52529426e-02 -4.03257369e-04 9.98975479e-01 1.21260848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.28, Y:96.19, Z:121.26 [[ 8.14849633e-01 5.78516083e-01 -3.65953211e-02 5.00276107e+02] [-5.77903436e-01 8.15670794e-01 2.66228057e-02 9.61924235e+01] [ 4.52514559e-02 -5.45021665e-04 9.98975480e-01 1.21261761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.32, Y:96.15, Z:121.27 [[ 8.13602646e-01 5.80268950e-01 -3.65879693e-02 5.00324196e+02] [-5.79657618e-01 8.14424787e-01 2.66329055e-02 9.61526102e+01] [ 4.52523972e-02 -4.60107254e-04 9.98975480e-01 1.21268668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.950385723 meters Centerline goodness : 0.995740 with order 1 Centerline is valid? [True, True] Translation: X:500.37, Y:96.11, Z:121.27 [[ 8.12134743e-01 5.82322091e-01 -3.65806165e-02 5.00372400e+02] [-5.81712383e-01 8.12958088e-01 2.66430009e-02 9.61120704e+01] [ 4.52533161e-02 -3.58309018e-04 9.98975480e-01 1.21269084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:500.42, Y:96.08, Z:121.27 [[ 8.12980377e-01 5.81141526e-01 -3.65709292e-02 5.00422843e+02] [-5.80530025e-01 8.13802391e-01 2.66562913e-02 9.60770231e+01] [ 4.52525875e-02 -4.40519348e-04 9.98975480e-01 1.21271417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.47, Y:96.04, Z:121.27 [[ 8.14031517e-01 5.79668726e-01 -3.65630645e-02 5.00472439e+02] [-5.79055253e-01 8.14852061e-01 2.66670746e-02 9.60401428e+01] [ 4.52515576e-02 -5.35804617e-04 9.98975480e-01 1.21274439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.52, Y:96.00, Z:121.28 [[ 8.12882775e-01 5.81278971e-01 -3.65561442e-02 5.00518735e+02] [-5.80666697e-01 8.13704214e-01 2.66765578e-02 9.59998878e+01] [ 4.52524106e-02 -4.57978897e-04 9.98975480e-01 1.21280208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.190385723 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:500.57, Y:95.96, Z:121.28 [[ 8.12587054e-01 5.81692540e-01 -3.65522887e-02 5.00568721e+02] [-5.81080446e-01 8.13408627e-01 2.66818395e-02 9.59611869e+01] [ 4.52525740e-02 -4.41497094e-04 9.98975480e-01 1.21283449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.250385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:500.62, Y:95.92, Z:121.28 [[ 8.13069762e-01 5.81018102e-01 -3.65448700e-02 5.00618940e+02] [-5.80404871e-01 8.13890486e-01 2.66919967e-02 9.59234848e+01] [ 4.52520553e-02 -4.91634851e-04 9.98975480e-01 1.21283383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.67, Y:95.89, Z:121.29 [[ 8.15441058e-01 5.77685815e-01 -3.65373908e-02 5.00668798e+02] [-5.77068771e-01 8.16258920e-01 2.67022308e-02 9.58870558e+01] [ 4.52494711e-02 -6.89508115e-04 9.98975480e-01 1.21286757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.72, Y:95.85, Z:121.29 [[ 8.14624612e-01 5.78836989e-01 -3.65305675e-02 5.00715254e+02] [-5.78220683e-01 8.15443030e-01 2.67115622e-02 9.58467147e+01] [ 4.52502369e-02 -6.37166348e-04 9.98975480e-01 1.21290667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.76, Y:95.81, Z:121.30 [[ 8.16729218e-01 5.75864008e-01 -3.65243644e-02 5.00764581e+02] [-5.75244344e-01 8.17545096e-01 2.67200415e-02 9.58086466e+01] [ 4.52474252e-02 -8.12604580e-04 9.98975480e-01 1.21295745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.490385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:500.81, Y:95.77, Z:121.30 [[ 8.17680478e-01 5.74512926e-01 -3.65175728e-02 5.00811814e+02] [-5.73891500e-01 8.18495015e-01 2.67293201e-02 9.57690784e+01] [ 4.52457912e-02 -8.98918597e-04 9.98975480e-01 1.21301803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.86, Y:95.73, Z:121.30 [[ 8.18610853e-01 5.73186924e-01 -3.65105636e-02 5.00858484e+02] [-5.72563752e-01 8.19424055e-01 2.67388908e-02 9.57297161e+01] [ 4.52440167e-02 -9.84120877e-04 9.98975480e-01 1.21301745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.91, Y:95.69, Z:121.30 [[ 8.18905155e-01 5.72766839e-01 -3.65033685e-02 5.00907086e+02] [-5.72142812e-01 8.19717701e-01 2.67487098e-02 9.56921003e+01] [ 4.52432313e-02 -1.01951640e-03 9.98975480e-01 1.21301107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:500.96, Y:95.65, Z:121.30 [[ 8.18293889e-01 5.73640028e-01 -3.64997178e-02 5.00957562e+02] [-5.73016646e-01 8.19106930e-01 2.67536904e-02 9.56542759e+01] [ 4.52441595e-02 -9.77435470e-04 9.98975481e-01 1.21304068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.730385723 meters Centerline goodness : 0.993890 with order 1 Centerline is valid? [True, True] Translation: X:501.41, Y:96.30, Z:122.27 [[ 8.39818355e-01 5.41639584e-01 -3.64923432e-02 5.01414566e+02] [-5.40984862e-01 8.40606377e-01 2.67637457e-02 9.63002866e+01] [ 4.51720005e-02 -2.73487964e-03 9.98975481e-01 1.22266889e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 705.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.47, Y:96.27, Z:122.27 [[ 8.38567106e-01 5.43501491e-01 -3.75677736e-02 5.01465488e+02] [-5.42919365e-01 8.39407910e-01 2.51579849e-02 9.62656889e+01] [ 4.52080886e-02 -7.00386791e-04 9.98977346e-01 1.22272821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.52, Y:96.23, Z:122.28 [[ 8.37018178e-01 5.45884464e-01 -3.75595719e-02 5.01515980e+02] [-5.45304183e-01 8.37860256e-01 2.51702236e-02 9.62297276e+01] [ 4.52097065e-02 -5.86542980e-04 9.98977346e-01 1.22279404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.57, Y:96.19, Z:122.28 [[ 8.35960760e-01 5.47502848e-01 -3.75531519e-02 5.01565642e+02] [-5.46923767e-01 8.36803663e-01 2.51797984e-02 9.61917223e+01] [ 4.52106264e-02 -5.10612064e-04 9.98977346e-01 1.22281551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.62, Y:96.16, Z:122.28 [[ 8.36492917e-01 5.46689901e-01 -3.75466480e-02 5.01617131e+02] [-5.46109566e-01 8.37334958e-01 2.51894928e-02 9.61574759e+01] [ 4.52099623e-02 -5.66248660e-04 9.98977346e-01 1.22276748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.030385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:501.67, Y:96.12, Z:122.28 [[ 8.37121684e-01 5.45726847e-01 -3.75432273e-02 5.01666793e+02] [-5.45145315e-01 8.37962898e-01 2.51945901e-02 9.61196444e+01] [ 4.52091958e-02 -6.24423224e-04 9.98977346e-01 1.22277435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:501.71, Y:96.08, Z:122.29 [[ 8.37497797e-01 5.45149885e-01 -3.75372110e-02 5.01713434e+02] [-5.44567372e-01 8.38338332e-01 2.52035506e-02 9.60790456e+01] [ 4.52085956e-02 -6.66377757e-04 9.98977347e-01 1.22291010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.76, Y:96.04, Z:122.29 [[ 8.39650290e-01 5.41828802e-01 -3.75358534e-02 5.01763401e+02] [-5.41242874e-01 8.40488447e-01 2.52055723e-02 9.60433065e+01] [ 4.52055562e-02 -8.47852904e-04 9.98977347e-01 1.22286286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.81, Y:96.01, Z:122.29 [[ 8.39801882e-01 5.41594214e-01 -3.75300839e-02 5.01813153e+02] [-5.41007668e-01 8.40639607e-01 2.52141599e-02 9.60053923e+01] [ 4.52051181e-02 -8.70835755e-04 9.98977347e-01 1.22288641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.86, Y:95.97, Z:122.30 [[ 8.38533583e-01 5.43556281e-01 -3.75233100e-02 5.01861774e+02] [-5.42971245e-01 8.39372364e-01 2.52242368e-02 9.59683982e+01] [ 4.52068217e-02 -7.77291364e-04 9.98977347e-01 1.22301462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.91, Y:95.93, Z:122.29 [[ 8.38163091e-01 5.44127498e-01 -3.75219742e-02 5.01912645e+02] [-5.43542945e-01 8.39002208e-01 2.52262236e-02 9.59342551e+01] [ 4.52073012e-02 -7.48885221e-04 9.98977347e-01 1.22292830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:501.96, Y:95.90, Z:122.30 [[ 8.38074943e-01 5.44263398e-01 -3.75199137e-02 5.01963482e+02] [-5.43678844e-01 8.38914059e-01 2.52292879e-02 9.58980170e+01] [ 4.52073611e-02 -7.45250698e-04 9.98977347e-01 1.22295821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.02, Y:95.86, Z:122.30 [[ 8.38225556e-01 5.44031890e-01 -3.75129407e-02 5.02016493e+02] [-5.43446640e-01 8.39064187e-01 2.52396517e-02 9.58642185e+01] [ 4.52069405e-02 -7.70239442e-04 9.98977347e-01 1.22298900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.07, Y:95.83, Z:122.30 [[ 8.38820408e-01 5.43114751e-01 -3.75058605e-02 5.02068206e+02] [-5.42528114e-01 8.39658070e-01 2.52501685e-02 9.58306630e+01] [ 4.52058374e-02 -8.32372832e-04 9.98977347e-01 1.22299430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.12, Y:95.80, Z:122.30 [[ 8.39879589e-01 5.41475832e-01 -3.74993195e-02 5.02121452e+02] [-5.40887127e-01 8.40715799e-01 2.52598789e-02 9.57994977e+01] [ 4.52038843e-02 -9.32357494e-04 9.98977347e-01 1.22303947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.18, Y:95.77, Z:122.31 [[ 8.40376574e-01 5.40704351e-01 -3.74969208e-02 5.02175311e+02] [-5.40114720e-01 8.41212130e-01 2.52634391e-02 9.57677892e+01] [ 4.52029161e-02 -9.78163485e-04 9.98977347e-01 1.22307178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.23, Y:95.73, Z:122.31 [[ 8.41097267e-01 5.39583128e-01 -3.74891380e-02 5.02227319e+02] [-5.38991869e-01 8.41931672e-01 2.52749829e-02 9.57349255e+01] [ 4.52012470e-02 -1.05237843e-03 9.98977347e-01 1.22310013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.28, Y:95.71, Z:122.31 [[ 8.43517287e-01 5.35792551e-01 -3.74823780e-02 5.02281661e+02] [-5.35197098e-01 8.44348704e-01 2.52850040e-02 9.57060973e+01] [ 4.51957141e-02 -1.26787804e-03 9.98977347e-01 1.22307456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.33, Y:95.67, Z:122.31 [[ 8.41026376e-01 5.39694523e-01 -3.74760948e-02 5.02332629e+02] [-5.39102514e-01 8.41860248e-01 2.52943132e-02 9.56731997e+01] [ 4.52008367e-02 -1.06972767e-03 9.98977347e-01 1.22310909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.870385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:502.38, Y:95.64, Z:122.31 [[ 8.38399699e-01 5.43766433e-01 -3.74701368e-02 5.02384113e+02] [-5.43178080e-01 8.39236156e-01 2.53031360e-02 9.56379713e+01] [ 4.52052896e-02 -8.61184612e-04 9.98977347e-01 1.22312909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.43, Y:95.60, Z:122.32 [[ 8.36661126e-01 5.46437868e-01 -3.74675488e-02 5.02434039e+02] [-5.45852015e-01 8.37499335e-01 2.53069677e-02 9.56028148e+01] [ 4.52077326e-02 -7.21619076e-04 9.98977347e-01 1.22318992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.49, Y:95.57, Z:122.32 [[ 8.38387839e-01 5.43785360e-01 -3.74608271e-02 5.02488850e+02] [-5.43196410e-01 8.39223876e-01 2.53169135e-02 9.55731145e+01] [ 4.52049875e-02 -8.76805603e-04 9.98977347e-01 1.22320369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.54, Y:95.54, Z:122.33 [[ 8.37505791e-01 5.45143300e-01 -3.74544172e-02 5.02539852e+02] [-5.44555282e-01 8.38342483e-01 2.53263929e-02 9.55361296e+01] [ 4.52061426e-02 -8.15000003e-04 9.98977347e-01 1.22329119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.59, Y:95.50, Z:122.33 [[ 8.37564500e-01 5.45053604e-01 -3.74470052e-02 5.02590246e+02] [-5.44465007e-01 8.38400784e-01 2.53373474e-02 9.55004744e+01] [ 4.52058111e-02 -8.33078779e-04 9.98977347e-01 1.22332366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.170385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:502.64, Y:95.46, Z:122.33 [[ 8.38805094e-01 5.43142777e-01 -3.74424669e-02 5.02642555e+02] [-5.42551976e-01 8.39639823e-01 2.53440522e-02 9.54648904e+01] [ 4.52036252e-02 -9.44235668e-04 9.98977347e-01 1.22331953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.70, Y:95.43, Z:122.34 [[ 8.39579531e-01 5.41945358e-01 -3.74358199e-02 5.02695022e+02] [-5.41352929e-01 8.40413105e-01 2.53538667e-02 9.54317140e+01] [ 4.52019640e-02 -1.02059678e-03 9.98977348e-01 1.22335216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.75, Y:95.40, Z:122.34 [[ 8.40263099e-01 5.40885334e-01 -3.74296773e-02 5.02748243e+02] [-5.40291450e-01 8.41095637e-01 2.53629318e-02 9.53976678e+01] [ 4.52003761e-02 -1.08860100e-03 9.98977348e-01 1.22337307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.80, Y:95.37, Z:122.34 [[ 8.41932166e-01 5.38284097e-01 -3.74227008e-02 5.02803010e+02] [-5.37687185e-01 8.42762535e-01 2.53732213e-02 9.53664435e+01] [ 4.51964517e-02 -1.24082452e-03 9.98977348e-01 1.22337795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.85, Y:95.33, Z:122.34 [[ 8.39716292e-01 5.41734858e-01 -3.74151418e-02 5.02854255e+02] [-5.41140862e-01 8.40548750e-01 2.53843629e-02 9.53312762e+01] [ 4.52008449e-02 -1.06880102e-03 9.98977348e-01 1.22343238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.91, Y:95.30, Z:122.35 [[ 8.40776722e-01 5.40088078e-01 -3.74081743e-02 5.02908646e+02] [-5.39491996e-01 8.41607687e-01 2.53946265e-02 9.52993690e+01] [ 4.51983421e-02 -1.16980014e-03 9.98977348e-01 1.22345532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.96, Y:95.27, Z:122.35 [[ 8.40371496e-01 5.40718900e-01 -3.74008106e-02 5.02962658e+02] [-5.40122959e-01 8.41202563e-01 2.54054671e-02 9.52660568e+01] [ 4.51988739e-02 -1.14899390e-03 9.98977348e-01 1.22348271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.01, Y:95.23, Z:122.35 [[ 8.38149367e-01 5.44157209e-01 -3.73974672e-02 5.03012386e+02] [-5.43564459e-01 8.38982712e-01 2.54103876e-02 9.52300579e+01] [ 4.52030741e-02 -9.69766291e-04 9.98977348e-01 1.22353748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.07, Y:95.20, Z:122.36 [[ 8.37087571e-01 5.45789661e-01 -3.73904354e-02 5.03065308e+02] [-5.45198074e-01 8.37921743e-01 2.54207304e-02 9.51954240e+01] [ 4.52046307e-02 -8.94184118e-04 9.98977348e-01 1.22356184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:503.12, Y:95.17, Z:122.36 [[ 8.36146913e-01 5.47230134e-01 -3.73834188e-02 5.03119710e+02] [-5.46639523e-01 8.36981776e-01 2.54310448e-02 9.51658443e+01] [ 4.52058743e-02 -8.28835385e-04 9.98977348e-01 1.22355865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.770385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:503.17, Y:95.13, Z:122.36 [[ 8.35007524e-01 5.48967609e-01 -3.73764560e-02 5.03171606e+02] [-5.48378278e-01 8.35843290e-01 2.54412740e-02 9.51312038e+01] [ 4.52072954e-02 -7.47218628e-04 9.98977348e-01 1.22360105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.22, Y:95.10, Z:122.36 [[ 8.37050147e-01 5.45848503e-01 -3.73692887e-02 5.03224349e+02] [-5.45255588e-01 8.37883375e-01 2.54517973e-02 9.50977644e+01] [ 4.52039312e-02 -9.28617193e-04 9.98977348e-01 1.22362442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.28, Y:95.06, Z:122.36 [[ 8.38923025e-01 5.42966122e-01 -3.73623785e-02 5.03277404e+02] [-5.42369894e-01 8.39753885e-01 2.54619373e-02 9.50641069e+01] [ 4.52001719e-02 -1.09637621e-03 9.98977348e-01 1.22364337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.33, Y:95.03, Z:122.37 [[ 8.39045035e-01 5.42778043e-01 -3.73553965e-02 5.03329583e+02] [-5.42181173e-01 8.39875434e-01 2.54721766e-02 9.50293268e+01] [ 4.51996180e-02 -1.11891061e-03 9.98977348e-01 1.22367327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.010385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:503.38, Y:95.00, Z:122.37 [[ 8.38300685e-01 5.43927439e-01 -3.73484025e-02 5.03382900e+02] [-5.43331251e-01 8.39131574e-01 2.54824273e-02 9.49958070e+01] [ 4.52008152e-02 -1.06938203e-03 9.98977348e-01 1.22368049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.44, Y:94.96, Z:122.37 [[ 8.37358121e-01 5.45377841e-01 -3.73414945e-02 5.03436020e+02] [-5.44782642e-01 8.38189718e-01 2.54925461e-02 9.49623870e+01] [ 4.52023265e-02 -1.00339250e-03 9.98977349e-01 1.22371805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.49, Y:94.93, Z:122.38 [[ 8.36882524e-01 5.46107841e-01 -3.73345388e-02 5.03488753e+02] [-5.45512912e-01 8.37714315e-01 2.55027289e-02 9.49282984e+01] [ 4.52029178e-02 -9.76315083e-04 9.98977349e-01 1.22377038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.54, Y:94.90, Z:122.38 [[ 8.36707201e-01 5.46376901e-01 -3.73274827e-02 5.03540755e+02] [-5.45781780e-01 8.37538854e-01 2.55130525e-02 9.48953305e+01] [ 4.52029597e-02 -9.74294790e-04 9.98977349e-01 1.22378617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.250385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:503.59, Y:94.86, Z:122.38 [[ 8.37144312e-01 5.45707381e-01 -3.73209710e-02 5.03593051e+02] [-5.45111171e-01 8.37975184e-01 2.55225743e-02 9.48608058e+01] [ 4.52019048e-02 -1.02199969e-03 9.98977349e-01 1.22381696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.64, Y:94.83, Z:122.38 [[ 8.37575183e-01 5.45046309e-01 -3.73139799e-02 5.03644688e+02] [-5.44448988e-01 8.38405258e-01 2.55327913e-02 9.48252640e+01] [ 4.52007906e-02 -1.07007379e-03 9.98977349e-01 1.22384245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:503.70, Y:94.79, Z:122.39 [[ 8.37931593e-01 5.44498695e-01 -3.73070729e-02 5.03697253e+02] [-5.43900382e-01 8.38760952e-01 2.55428795e-02 9.47914774e+01] [ 4.51997805e-02 -1.11185452e-03 9.98977349e-01 1.22386231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:503.75, Y:94.76, Z:122.39 [[ 8.38126813e-01 5.44198626e-01 -3.73001558e-02 5.03748905e+02] [-5.43599568e-01 8.38955634e-01 2.55529765e-02 9.47574936e+01] [ 4.51990705e-02 -1.14028615e-03 9.98977349e-01 1.22389638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:503.80, Y:94.72, Z:122.39 [[ 8.37106369e-01 5.45767443e-01 -3.72937653e-02 5.03801146e+02] [-5.45169523e-01 8.37936012e-01 2.55622998e-02 9.47217924e+01] [ 4.52008600e-02 -1.06693974e-03 9.98977349e-01 1.22392805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.86, Y:94.69, Z:122.39 [[ 8.35963582e-01 5.47516758e-01 -3.72865911e-02 5.03855276e+02] [-5.46920108e-01 8.36794138e-01 2.55727603e-02 9.46885553e+01] [ 4.52027156e-02 -9.85109830e-04 9.98977349e-01 1.22392864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:503.91, Y:94.65, Z:122.40 [[ 8.34083597e-01 5.50376982e-01 -3.72790860e-02 5.03908254e+02] [-5.49782692e-01 8.34915844e-01 2.55836962e-02 9.46541482e+01] [ 4.52055771e-02 -8.43545028e-04 9.98977349e-01 1.22397113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.96, Y:94.62, Z:122.40 [[ 8.32087813e-01 5.53390200e-01 -3.72714148e-02 5.03958350e+02] [-5.52798424e-01 8.32921848e-01 2.55948671e-02 9.46180263e+01] [ 4.52081243e-02 -6.93597663e-04 9.98977349e-01 1.22400921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.730385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:504.01, Y:94.58, Z:122.41 [[ 8.29615404e-01 5.57090344e-01 -3.72643220e-02 5.04008708e+02] [-5.56501825e-01 8.30451741e-01 2.56051896e-02 9.45823752e+01] [ 4.52106249e-02 -5.04796519e-04 9.98977349e-01 1.22407312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:504.06, Y:94.55, Z:122.41 [[ 8.27975038e-01 5.59525739e-01 -3.72596786e-02 5.04061267e+02] [-5.58939376e-01 8.28812888e-01 2.56119447e-02 9.45471282e+01] [ 4.52118441e-02 -3.80149385e-04 9.98977349e-01 1.22408192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.11, Y:94.51, Z:122.41 [[ 8.29340814e-01 5.57499831e-01 -3.72525417e-02 5.04111225e+02] [-5.56910955e-01 8.30176900e-01 2.56223210e-02 9.45096373e+01] [ 4.52106392e-02 -5.03288004e-04 9.98977350e-01 1.22410646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.16, Y:94.47, Z:122.41 [[ 8.32469852e-01 5.52817084e-01 -3.72453751e-02 5.04161733e+02] [-5.52223039e-01 8.33302273e-01 2.56327344e-02 9.44716557e+01] [ 4.52068692e-02 -7.70724325e-04 9.98977350e-01 1.22414585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9703857229999 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:504.21, Y:94.43, Z:122.42 [[ 8.34849361e-01 5.49217502e-01 -3.72381496e-02 5.04212218e+02] [-5.48619401e-01 8.35678872e-01 2.56432271e-02 9.44332508e+01] [ 4.52028440e-02 -9.78660448e-04 9.98977350e-01 1.22416763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:504.26, Y:94.40, Z:122.42 [[ 8.36533900e-01 5.46648845e-01 -3.72300185e-02 5.04262363e+02] [-5.46047672e-01 8.37361188e-01 2.56550267e-02 9.43956093e+01] [ 4.51992632e-02 -1.13193464e-03 9.98977350e-01 1.22420023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:504.31, Y:94.36, Z:122.42 [[ 8.38371962e-01 5.43826254e-01 -3.72217564e-02 5.04312753e+02] [-5.43221765e-01 8.39196829e-01 2.56670082e-02 9.43575351e+01] [ 4.51947729e-02 -1.29883176e-03 9.98977350e-01 1.22421641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.36, Y:94.32, Z:122.42 [[ 8.37451851e-01 5.45242573e-01 -3.72146981e-02 5.04364280e+02] [-5.44639025e-01 8.38277407e-01 2.56772381e-02 9.43210027e+01] [ 4.51965640e-02 -1.23487369e-03 9.98977350e-01 1.22423996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.41, Y:94.28, Z:122.42 [[ 8.37233485e-01 5.45578302e-01 -3.72076276e-02 5.04414990e+02] [-5.44974631e-01 8.38058951e-01 2.56874795e-02 9.42849098e+01] [ 4.51967168e-02 -1.22920485e-03 9.98977350e-01 1.22421307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.47, Y:94.25, Z:122.43 [[ 8.36480368e-01 5.46732695e-01 -3.72015280e-02 5.04465782e+02] [-5.46129770e-01 8.37306380e-01 2.56963101e-02 9.42479110e+01] [ 4.51980896e-02 -1.17759693e-03 9.98977350e-01 1.22425446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.51, Y:94.21, Z:122.43 [[ 8.34503043e-01 5.49746549e-01 -3.71941197e-02 5.04514257e+02] [-5.49146131e-01 8.35330878e-01 2.57070288e-02 9.42116484e+01] [ 4.52017470e-02 -1.02758683e-03 9.98977350e-01 1.22432954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.57, Y:94.18, Z:122.44 [[ 8.33416557e-01 5.51392675e-01 -3.71881864e-02 5.04565220e+02] [-5.50793509e-01 8.34245299e-01 2.57156091e-02 9.41753397e+01] [ 4.52034682e-02 -9.48802713e-04 9.98977350e-01 1.22436700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.62, Y:94.14, Z:122.44 [[ 8.32963962e-01 5.52076629e-01 -3.71810833e-02 5.04616214e+02] [-5.51477686e-01 8.33792865e-01 2.57258751e-02 9.41388792e+01] [ 4.52039764e-02 -9.24189049e-04 9.98977350e-01 1.22439293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.67, Y:94.10, Z:122.44 [[ 8.32873791e-01 5.52213138e-01 -3.71739052e-02 5.04668382e+02] [-5.51613868e-01 8.33702457e-01 2.57362433e-02 9.41025610e+01] [ 4.52038678e-02 -9.29400925e-04 9.98977350e-01 1.22436381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:504.72, Y:94.07, Z:122.44 [[ 8.32852476e-01 5.52245803e-01 -3.71661942e-02 5.04718365e+02] [-5.51646069e-01 8.33680806e-01 2.57473740e-02 9.40652547e+01] [ 4.52036220e-02 -9.41179252e-04 9.98977350e-01 1.22439545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.77, Y:94.03, Z:122.44 [[ 8.31713773e-01 5.53959788e-01 -3.71584800e-02 5.04766469e+02] [-5.53361264e-01 8.32542978e-01 2.57585024e-02 9.40270727e+01] [ 4.52052061e-02 -8.61637788e-04 9.98977351e-01 1.22444364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.82, Y:93.99, Z:122.45 [[ 8.29738266e-01 5.56914881e-01 -3.71513719e-02 5.04815672e+02] [-5.56318852e-01 8.30569266e-01 2.57687502e-02 9.39872635e+01] [ 4.52077882e-02 -7.13309565e-04 9.98977351e-01 1.22446779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:504.87, Y:93.95, Z:122.45 [[ 8.30579105e-01 5.55660336e-01 -3.71475572e-02 5.04865947e+02] [-5.55062806e-01 8.31409026e-01 2.57742483e-02 9.39510657e+01] [ 4.52065418e-02 -7.88324705e-04 9.98977351e-01 1.22447028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.91, Y:93.91, Z:122.45 [[ 8.30513470e-01 5.55758977e-01 -3.71394030e-02 5.04913423e+02] [-5.55161021e-01 8.31343084e-01 2.57859928e-02 9.39128997e+01] [ 4.52063828e-02 -7.97265454e-04 9.98977351e-01 1.22454662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.96, Y:93.87, Z:122.46 [[ 8.30956246e-01 5.55097137e-01 -3.71333570e-02 5.04963580e+02] [-5.54498131e-01 8.31785102e-01 2.57946964e-02 9.38745596e+01] [ 4.52055353e-02 -8.43887036e-04 9.98977351e-01 1.22456342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.01, Y:93.84, Z:122.45 [[ 8.31054933e-01 5.54949852e-01 -3.71262745e-02 5.05013805e+02] [-5.54350244e-01 8.31883354e-01 2.58048862e-02 9.38373021e+01] [ 4.52051475e-02 -8.64318655e-04 9.98977351e-01 1.22454336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.990385723 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:505.06, Y:93.80, Z:122.46 [[ 8.29010277e-01 5.57999816e-01 -3.71236571e-02 5.05062719e+02] [-5.57403087e-01 8.29840775e-01 2.58086511e-02 9.37998241e+01] [ 4.52079470e-02 -7.02795876e-04 9.98977351e-01 1.22455965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.11, Y:93.76, Z:122.46 [[ 8.27380534e-01 5.60414072e-01 -3.71149544e-02 5.05113693e+02] [-5.59819206e-01 8.28212367e-01 2.58211603e-02 9.37631424e+01] [ 4.52096058e-02 -5.86261107e-04 9.98977351e-01 1.22463859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.110385723 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:505.16, Y:93.73, Z:122.46 [[ 8.28466922e-01 5.58807343e-01 -3.71067770e-02 5.05163152e+02] [-5.58210338e-01 8.29297220e-01 2.58329064e-02 9.37256362e+01] [ 4.52081648e-02 -6.88321879e-04 9.98977351e-01 1.22461883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:505.21, Y:93.69, Z:122.47 [[ 8.28327710e-01 5.59013915e-01 -3.71032075e-02 5.05212440e+02] [-5.58416888e-01 8.29157992e-01 2.58380322e-02 9.36874624e+01] [ 4.52082406e-02 -6.83300329e-04 9.98977351e-01 1.22470972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.26, Y:93.65, Z:122.47 [[ 8.28100649e-01 5.59350736e-01 -3.70954246e-02 5.05261665e+02] [-5.58753546e-01 8.28930814e-01 2.58492012e-02 9.36509442e+01] [ 4.52083102e-02 -6.78540286e-04 9.98977351e-01 1.22468924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.31, Y:93.61, Z:122.47 [[ 8.26613256e-01 5.61546922e-01 -3.70888069e-02 5.05311156e+02] [-5.60951512e-01 8.27444698e-01 2.58586929e-02 9.36128522e+01] [ 4.52098061e-02 -5.70115958e-04 9.98977351e-01 1.22474068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3503857229999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:505.36, Y:93.58, Z:122.48 [[ 8.25499028e-01 5.63184049e-01 -3.70820900e-02 5.05361734e+02] [-5.62589856e-01 8.26331340e-01 2.58683216e-02 9.35762117e+01] [ 4.52107192e-02 -4.92266658e-04 9.98977351e-01 1.22477871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.41, Y:93.54, Z:122.48 [[ 8.24129902e-01 5.65186119e-01 -3.70749839e-02 5.05412615e+02] [-5.64593490e-01 8.24963329e-01 2.58785022e-02 9.35406079e+01] [ 4.52116724e-02 -3.94952930e-04 9.98977351e-01 1.22479072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.46, Y:93.50, Z:122.48 [[ 8.24047532e-01 5.65306446e-01 -3.70713734e-02 5.05462382e+02] [-5.64713705e-01 8.24880880e-01 2.58836733e-02 9.35044596e+01] [ 4.52116744e-02 -3.94664480e-04 9.98977351e-01 1.22484655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.51, Y:93.47, Z:122.48 [[ 8.25318594e-01 5.63449579e-01 -3.70646736e-02 5.05513305e+02] [-5.62854533e-01 8.26150297e-01 2.58932636e-02 9.34679111e+01] [ 4.52105396e-02 -5.08172299e-04 9.98977352e-01 1.22484503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5903857229999 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:505.57, Y:93.43, Z:122.49 [[ 8.26220932e-01 5.62125858e-01 -3.70606407e-02 5.05566303e+02] [-5.61529221e-01 8.27051494e-01 2.58990346e-02 9.34330990e+01] [ 4.52095753e-02 -5.87691805e-04 9.98977352e-01 1.22485434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.650385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:505.62, Y:93.40, Z:122.49 [[ 8.26068606e-01 5.62350210e-01 -3.70526558e-02 5.05617921e+02] [-5.61753286e-01 8.26898962e-01 2.59104532e-02 9.33998174e+01] [ 4.52095514e-02 -5.89360753e-04 9.98977352e-01 1.22489623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.710385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:505.67, Y:93.37, Z:122.49 [[ 8.27393939e-01 5.60398658e-01 -3.70488108e-02 5.05670928e+02] [-5.59799530e-01 8.28222706e-01 2.59159499e-02 9.33652761e+01] [ 4.52079299e-02 -7.02792964e-04 9.98977352e-01 1.22494209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.770385723 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:505.72, Y:93.33, Z:122.49 [[ 8.27713018e-01 5.59927806e-01 -3.70406817e-02 5.05719828e+02] [-5.59327687e-01 8.28541067e-01 2.59275634e-02 9.33280953e+01] [ 4.52072896e-02 -7.42702910e-04 9.98977352e-01 1.22493515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.830385723 meters Centerline goodness : 0.997381 with order 1 Centerline is valid? [True, True] Translation: X:505.77, Y:93.29, Z:122.50 [[ 8.29624315e-01 5.57092456e-01 -3.70336549e-02 5.05772001e+02] [-5.56489059e-01 8.30449979e-01 2.59375961e-02 9.32949743e+01] [ 4.52042371e-02 -9.09636645e-04 9.98977352e-01 1.22498322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.890385723 meters Centerline goodness : 0.994156 with order 1 Centerline is valid? [True, True] Translation: X:505.83, Y:93.27, Z:122.50 [[ 8.31191431e-01 5.54751768e-01 -3.70308158e-02 5.05827415e+02] [-5.54145866e-01 8.32015258e-01 2.59416489e-02 9.32657899e+01] [ 4.52013794e-02 -1.04200274e-03 9.98977352e-01 1.22499600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.950385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:505.88, Y:93.24, Z:122.50 [[ 8.31199268e-01 5.54740226e-01 -3.70278175e-02 5.05882487e+02] [-5.54134122e-01 8.32022947e-01 2.59459278e-02 9.32359566e+01] [ 4.52012437e-02 -1.04785907e-03 9.98977352e-01 1.22504303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.94, Y:93.20, Z:122.51 [[ 8.30144002e-01 5.56318743e-01 -3.70188117e-02 5.05937169e+02] [-5.55713632e-01 8.30968412e-01 2.59587707e-02 9.32043605e+01] [ 4.52028138e-02 -9.77659458e-04 9.98977352e-01 1.22506168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.99, Y:93.17, Z:122.51 [[ 8.28820392e-01 5.58289256e-01 -3.70116731e-02 5.05990958e+02] [-5.57685652e-01 8.29645905e-01 2.59689448e-02 9.31716285e+01] [ 4.52047659e-02 -8.82711922e-04 9.98977352e-01 1.22509328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.04, Y:93.14, Z:122.51 [[ 8.26492188e-01 5.61730656e-01 -3.70045053e-02 5.06041988e+02] [-5.61130033e-01 8.27319871e-01 2.59791546e-02 9.31364996e+01] [ 4.52078501e-02 -7.07229043e-04 9.98977352e-01 1.22513990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.10, Y:93.11, Z:122.51 [[ 8.26044497e-01 5.62388961e-01 -3.70019835e-02 5.06095134e+02] [-5.61788836e-01 8.26872542e-01 2.59827459e-02 9.31051813e+01] [ 4.52083336e-02 -6.75603032e-04 9.98977352e-01 1.22512480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.250385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:506.15, Y:93.07, Z:122.51 [[ 8.27287910e-01 5.60558696e-01 -3.69954366e-02 5.06149626e+02] [-5.59956323e-01 8.28114321e-01 2.59920643e-02 9.30747196e+01] [ 4.52065285e-02 -7.87091935e-04 9.98977352e-01 1.22512768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.310385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:506.20, Y:93.04, Z:122.52 [[ 8.27404991e-01 5.60386321e-01 -3.69885401e-02 5.06202593e+02] [-5.59783337e-01 8.28230957e-01 2.60018747e-02 9.30401959e+01] [ 4.52061489e-02 -8.08512512e-04 9.98977352e-01 1.22518382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.25, Y:93.01, Z:122.52 [[ 8.27921343e-01 5.59623652e-01 -3.69813295e-02 5.06254586e+02] [-5.59019450e-01 8.28746417e-01 2.60121261e-02 9.30050470e+01] [ 4.52051453e-02 -8.62711884e-04 9.98977352e-01 1.22522444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.31, Y:92.97, Z:122.53 [[ 8.28532837e-01 5.58718399e-01 -3.69741557e-02 5.06306754e+02] [-5.58112841e-01 8.29356917e-01 2.60223190e-02 9.29723375e+01] [ 4.52039202e-02 -9.24594738e-04 9.98977352e-01 1.22528255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.36, Y:92.94, Z:122.53 [[ 8.28306084e-01 5.59054958e-01 -3.69673513e-02 5.06359082e+02] [-5.58449303e-01 8.29130093e-01 2.60319818e-02 9.29374359e+01] [ 4.52040519e-02 -9.18057322e-04 9.98977353e-01 1.22531587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.550385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:506.41, Y:92.91, Z:122.53 [[ 8.28984044e-01 5.58049678e-01 -3.69595921e-02 5.06410867e+02] [-5.57442534e-01 8.29806956e-01 2.60429935e-02 9.29051216e+01] [ 4.52026108e-02 -9.86377379e-04 9.98977353e-01 1.22530792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.610385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:506.46, Y:92.87, Z:122.53 [[ 8.29520285e-01 5.57252675e-01 -3.69533920e-02 5.06463375e+02] [-5.56644349e-01 8.30342323e-01 2.60517881e-02 9.28719400e+01] [ 4.52013940e-02 -1.04058982e-03 9.98977353e-01 1.22533247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.670385723 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:506.52, Y:92.84, Z:122.53 [[ 8.31205748e-01 5.54735916e-01 -3.69468309e-02 5.06515735e+02] [-5.54124688e-01 8.32025630e-01 2.60610898e-02 9.28376499e+01] [ 4.51977328e-02 -1.18897650e-03 9.98977353e-01 1.22532843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.730385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:506.57, Y:92.80, Z:122.54 [[ 8.32449071e-01 5.52868908e-01 -3.69393296e-02 5.06569086e+02] [-5.52255370e-01 8.33267227e-01 2.60717178e-02 9.28040972e+01] [ 4.51945749e-02 -1.30343413e-03 9.98977353e-01 1.22536768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.62, Y:92.77, Z:122.54 [[ 8.33883911e-01 5.50702898e-01 -3.69315766e-02 5.06622218e+02] [-5.50086749e-01 8.34700102e-01 2.60826957e-02 9.27718448e+01] [ 4.51906069e-02 -1.43436934e-03 9.98977353e-01 1.22539161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8503857229999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:506.67, Y:92.74, Z:122.55 [[ 8.34492252e-01 5.49781109e-01 -3.69244358e-02 5.06672527e+02] [-5.49163613e-01 8.35307424e-01 2.60928008e-02 9.27365506e+01] [ 4.51885843e-02 -1.49668348e-03 9.98977353e-01 1.22547751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.72, Y:92.70, Z:122.55 [[ 8.34037484e-01 5.50471198e-01 -3.69179665e-02 5.06723498e+02] [-5.49853972e-01 8.34852860e-01 2.61019508e-02 9.27012865e+01] [ 4.51894421e-02 -1.47051489e-03 9.98977353e-01 1.22549298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.78, Y:92.67, Z:122.55 [[ 8.32610630e-01 5.52627459e-01 -3.69111270e-02 5.06778200e+02] [-5.52011917e-01 8.33427278e-01 2.61116191e-02 9.26702243e+01] [ 4.51927378e-02 -1.36542968e-03 9.98977353e-01 1.22551121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.83, Y:92.64, Z:122.55 [[ 8.30445813e-01 5.55875738e-01 -3.69041356e-02 5.06831680e+02] [-5.55262952e-01 8.31264532e-01 2.61214964e-02 9.26373827e+01] [ 4.51974051e-02 -1.20098806e-03 9.98977353e-01 1.22553151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.88, Y:92.60, Z:122.55 [[ 8.29205455e-01 5.57724784e-01 -3.68968683e-02 5.06883674e+02] [-5.57113368e-01 8.30025196e-01 2.61317576e-02 9.26043880e+01] [ 4.51996592e-02 -1.11285737e-03 9.98977353e-01 1.22554394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.94, Y:92.57, Z:122.56 [[ 8.30583852e-01 5.55670395e-01 -3.68900679e-02 5.06936245e+02] [-5.55056525e-01 8.31401758e-01 2.61413542e-02 9.25705436e+01] [ 4.51964439e-02 -1.23651373e-03 9.98977353e-01 1.22558795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.99, Y:92.54, Z:122.56 [[ 8.31789566e-01 5.53864407e-01 -3.68827428e-02 5.06988596e+02] [-5.53248304e-01 8.32605791e-01 2.61516849e-02 9.25357892e+01] [ 4.51932728e-02 -1.34738374e-03 9.98977353e-01 1.22562679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.04, Y:92.50, Z:122.57 [[ 8.32136812e-01 5.53343043e-01 -3.68755055e-02 5.07040642e+02] [-5.52725977e-01 8.32952310e-01 2.61618860e-02 9.25016187e+01] [ 4.51920351e-02 -1.38821862e-03 9.98977354e-01 1.22569295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.09, Y:92.47, Z:122.57 [[ 8.32156852e-01 5.53313347e-01 -3.68688604e-02 5.07093718e+02] [-5.52695839e-01 8.32972014e-01 2.61712473e-02 9.24667601e+01] [ 4.51916294e-02 -1.40131708e-03 9.98977354e-01 1.22569459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.14, Y:92.43, Z:122.57 [[ 8.32456198e-01 5.52863411e-01 -3.68609108e-02 5.07143799e+02] [-5.52244967e-01 8.33270650e-01 2.61824393e-02 9.24324381e+01] [ 4.51904278e-02 -1.43948146e-03 9.98977354e-01 1.22569020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.20, Y:92.40, Z:122.57 [[ 8.31316415e-01 5.54576133e-01 -3.68555405e-02 5.07196652e+02] [-5.53959032e-01 8.32131885e-01 2.61899965e-02 9.23980452e+01] [ 4.51930174e-02 -1.35571445e-03 9.98977354e-01 1.22570393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.25, Y:92.36, Z:122.57 [[ 8.30072262e-01 5.56437103e-01 -3.68482055e-02 5.07247156e+02] [-5.55821373e-01 8.30888768e-01 2.62003126e-02 9.23623083e+01] [ 4.51955861e-02 -1.26713258e-03 9.98977354e-01 1.22574718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.30, Y:92.33, Z:122.58 [[ 8.29455532e-01 5.57356465e-01 -3.68414289e-02 5.07298367e+02] [-5.56741218e-01 8.30272402e-01 2.62098379e-02 9.23260248e+01] [ 4.51966443e-02 -1.22875301e-03 9.98977354e-01 1.22577606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.35, Y:92.29, Z:122.58 [[ 8.30466372e-01 5.55849674e-01 -3.68340308e-02 5.07349959e+02] [-5.55232484e-01 8.31281774e-01 2.62202307e-02 9.22908821e+01] [ 4.51939652e-02 -1.32356942e-03 9.98977354e-01 1.22578881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.40, Y:92.25, Z:122.58 [[ 8.32391399e-01 5.52963215e-01 -3.68271877e-02 5.07400483e+02] [-5.52342774e-01 8.33204330e-01 2.62298386e-02 9.22538001e+01] [ 4.51887081e-02 -1.49226101e-03 9.98977354e-01 1.22582697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.45, Y:92.22, Z:122.59 [[ 8.35506640e-01 5.48245326e-01 -3.68200605e-02 5.07451291e+02] [-5.47619856e-01 8.36315708e-01 2.62398396e-02 9.22175763e+01] [ 4.51790644e-02 -1.76016396e-03 9.98977354e-01 1.22585929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.50, Y:92.18, Z:122.59 [[ 8.36360154e-01 5.46942890e-01 -3.68126138e-02 5.07503167e+02] [-5.46315701e-01 8.37167891e-01 2.62502826e-02 9.21840641e+01] [ 4.51757437e-02 -1.84338142e-03 9.98977354e-01 1.22587457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.56, Y:92.15, Z:122.59 [[ 8.34333640e-01 5.50029586e-01 -3.68080311e-02 5.07555765e+02] [-5.49405104e-01 8.35143471e-01 2.62567069e-02 9.21490416e+01] [ 4.51819525e-02 -1.68433369e-03 9.98977354e-01 1.22589318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.61, Y:92.12, Z:122.59 [[ 8.30150214e-01 5.56323936e-01 -3.68008313e-02 5.07609157e+02] [-5.55705149e-01 8.30964405e-01 2.62667941e-02 9.21159795e+01] [ 4.51930272e-02 -1.35497334e-03 9.98977354e-01 1.22590276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.66, Y:92.08, Z:122.59 [[ 8.27184745e-01 5.60723875e-01 -3.67985545e-02 5.07661788e+02] [-5.60109279e-01 8.28002104e-01 2.62699834e-02 9.20811571e+01] [ 4.51994874e-02 -1.11891766e-03 9.98977354e-01 1.22594275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.71, Y:92.05, Z:122.60 [[ 8.23672773e-01 5.65870630e-01 -3.67912033e-02 5.07713202e+02] [-5.65260683e-01 8.24493607e-01 2.62802747e-02 9.20464884e+01] [ 4.52053475e-02 -8.49726093e-04 9.98977354e-01 1.22598913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.110385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:507.76, Y:92.01, Z:122.60 [[ 8.23311254e-01 5.66396787e-01 -3.67866637e-02 5.07764822e+02] [-5.65787080e-01 8.24132267e-01 2.62866276e-02 9.20106521e+01] [ 4.52057380e-02 -8.28657342e-04 9.98977354e-01 1.22600881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.82, Y:91.98, Z:122.61 [[ 8.23062097e-01 5.66759255e-01 -3.67795067e-02 5.07816695e+02] [-5.66149463e-01 8.23883046e-01 2.62966377e-02 9.19757149e+01] [ 4.52058748e-02 -8.21067821e-04 9.98977354e-01 1.22605208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.87, Y:91.94, Z:122.61 [[ 8.22515692e-01 5.67552404e-01 -3.67723300e-02 5.07867404e+02] [-5.66942956e-01 8.23336896e-01 2.63066695e-02 9.19390737e+01] [ 4.52064296e-02 -7.89835012e-04 9.98977355e-01 1.22608418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.92, Y:91.90, Z:122.61 [[ 8.21897480e-01 5.68447764e-01 -3.67650881e-02 5.07918688e+02] [-5.67838758e-01 8.22719012e-01 2.63167867e-02 9.19019852e+01] [ 4.52070555e-02 -7.53058680e-04 9.98977355e-01 1.22611748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3503857229999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:507.97, Y:91.87, Z:122.61 [[ 8.19708729e-01 5.71599923e-01 -3.67576843e-02 5.07968944e+02] [-5.70993612e-01 8.20532252e-01 2.63271238e-02 9.18657104e+01] [ 4.52094474e-02 -5.92170320e-04 9.98977355e-01 1.22612807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.02, Y:91.83, Z:122.62 [[ 8.18086366e-01 5.73919904e-01 -3.67510614e-02 5.08019360e+02] [-5.73315514e-01 8.18911300e-01 2.63363657e-02 9.18283763e+01] [ 4.52108240e-02 -4.75468074e-04 9.98977355e-01 1.22616409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.07, Y:91.79, Z:122.62 [[ 8.17670982e-01 5.74512034e-01 -3.67435429e-02 5.08066163e+02] [-5.73907770e-01 8.18496008e-01 2.63468511e-02 9.17888708e+01] [ 4.52110262e-02 -4.55650796e-04 9.98977355e-01 1.22618694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.11, Y:91.75, Z:122.62 [[ 8.16856945e-01 5.75669249e-01 -3.67375378e-02 5.08114890e+02] [-5.75065777e-01 8.17682551e-01 2.63552218e-02 9.17492858e+01] [ 4.52115344e-02 -4.01945291e-04 9.98977355e-01 1.22621092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.16, Y:91.71, Z:122.62 [[ 8.15997958e-01 5.76886669e-01 -3.67301565e-02 5.08163177e+02] [-5.76283966e-01 8.16824125e-01 2.63655048e-02 9.17082903e+01] [ 4.52119862e-02 -3.47197867e-04 9.98977355e-01 1.22623648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.21, Y:91.67, Z:122.63 [[ 8.15684253e-01 5.77330611e-01 -3.67228159e-02 5.08211226e+02] [-5.76727898e-01 8.16510412e-01 2.63757250e-02 9.16686012e+01] [ 4.52120750e-02 -3.35191124e-04 9.98977355e-01 1.22626037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.26, Y:91.63, Z:122.63 [[ 8.15726117e-01 5.77271890e-01 -3.67160329e-02 5.08257703e+02] [-5.76668692e-01 8.16551923e-01 2.63851639e-02 9.16264370e+01] [ 4.52119607e-02 -3.50080623e-04 9.98977355e-01 1.22628666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.30, Y:91.58, Z:122.63 [[ 8.16560020e-01 5.76092125e-01 -3.67096465e-02 5.08304585e+02] [-5.75487335e-01 8.17384660e-01 2.63940463e-02 9.15844019e+01] [ 4.52113041e-02 -4.26386364e-04 9.98977355e-01 1.22631044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:508.35, Y:91.54, Z:122.63 [[ 8.16726022e-01 5.75856904e-01 -3.67073629e-02 5.08351118e+02] [-5.75251734e-01 8.17550384e-01 2.63972218e-02 9.15413929e+01] [ 4.52111411e-02 -4.43323821e-04 9.98977355e-01 1.22634573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.40, Y:91.50, Z:122.64 [[ 8.15952730e-01 5.76952542e-01 -3.67002314e-02 5.08397971e+02] [-5.76348032e-01 8.16777576e-01 2.64071331e-02 9.14989436e+01] [ 4.52115886e-02 -3.94866215e-04 9.98977355e-01 1.22638507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.44, Y:91.46, Z:122.64 [[ 8.15924472e-01 5.76992965e-01 -3.66929618e-02 5.08444478e+02] [-5.76388043e-01 8.16749015e-01 2.64172304e-02 9.14581138e+01] [ 4.52114965e-02 -4.05080335e-04 9.98977355e-01 1.22639567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.49, Y:91.42, Z:122.65 [[ 8.17272951e-01 5.75081741e-01 -3.66867079e-02 5.08489662e+02] [-5.74474501e-01 8.18095788e-01 2.64259126e-02 9.14153949e+01] [ 4.52103011e-02 -5.21605346e-04 9.98977355e-01 1.22647097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:508.54, Y:91.38, Z:122.65 [[ 8.17996083e-01 5.74053118e-01 -3.66800465e-02 5.08537108e+02] [-5.73444428e-01 8.18817849e-01 2.64351556e-02 9.13760833e+01] [ 4.52094603e-02 -5.89885464e-04 9.98977355e-01 1.22647868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.58, Y:91.33, Z:122.65 [[ 8.18863691e-01 5.72815056e-01 -3.66765156e-02 5.08583061e+02] [-5.72204905e-01 8.19684372e-01 2.64400536e-02 9.13344622e+01] [ 4.52084274e-02 -6.64317790e-04 9.98977355e-01 1.22650925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.190385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:508.63, Y:91.29, Z:122.66 [[ 8.19968360e-01 5.71232882e-01 -3.66726464e-02 5.08630548e+02] [-5.70620907e-01 8.20787683e-01 2.64454190e-02 9.12925208e+01] [ 4.52069494e-02 -7.58228104e-04 9.98977356e-01 1.22655398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:508.68, Y:91.25, Z:122.66 [[ 8.19779418e-01 5.71504533e-01 -3.66643592e-02 5.08676332e+02] [-5.70892316e-01 8.20598559e-01 2.64569037e-02 9.12515257e+01] [ 4.52069607e-02 -7.57424157e-04 9.98977356e-01 1.22657163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:508.72, Y:91.21, Z:122.66 [[ 8.20064925e-01 5.71095169e-01 -3.66582363e-02 5.08724292e+02] [-5.70482165e-01 8.20883477e-01 2.64653847e-02 9.12109004e+01] [ 4.52063938e-02 -7.90463698e-04 9.98977356e-01 1.22658373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.370385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:508.77, Y:91.17, Z:122.66 [[ 8.20135032e-01 5.70994960e-01 -3.66508538e-02 5.08771368e+02] [-5.70381399e-01 8.20953167e-01 2.64756045e-02 9.11707021e+01] [ 4.52060712e-02 -8.08605519e-04 9.98977356e-01 1.22661103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.82, Y:91.13, Z:122.66 [[ 8.20049044e-01 5.71118739e-01 -3.66463044e-02 5.08819251e+02] [-5.70505021e-01 8.20867060e-01 2.64819000e-02 9.11315949e+01] [ 4.52060535e-02 -8.09556119e-04 9.98977356e-01 1.22663936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:508.87, Y:91.09, Z:122.67 [[ 8.19625176e-01 5.71727284e-01 -3.66399087e-02 5.08867964e+02] [-5.71113778e-01 8.20443352e-01 2.64907461e-02 9.10909672e+01] [ 4.52064518e-02 -7.86925755e-04 9.98977356e-01 1.22666514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:508.92, Y:91.05, Z:122.67 [[ 8.19113771e-01 5.72460202e-01 -3.66326030e-02 5.08915867e+02] [-5.71846976e-01 8.19932156e-01 2.65008449e-02 9.10506619e+01] [ 4.52069282e-02 -7.58963708e-04 9.98977356e-01 1.22669516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:508.96, Y:91.01, Z:122.67 [[ 8.17804219e-01 5.74329923e-01 -3.66251090e-02 5.08964034e+02] [-5.73718105e-01 8.18623657e-01 2.65111978e-02 9.10098624e+01] [ 4.52083549e-02 -6.68481264e-04 9.98977356e-01 1.22672630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.01, Y:90.97, Z:122.67 [[ 8.16614780e-01 5.76020355e-01 -3.66176487e-02 5.09013160e+02] [-5.75409771e-01 8.17435138e-01 2.65214981e-02 9.09709127e+01] [ 4.52094755e-02 -5.87694495e-04 9.98977356e-01 1.22674850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:509.06, Y:90.94, Z:122.67 [[ 8.17016362e-01 5.75451091e-01 -3.66101891e-02 5.09064734e+02] [-5.74839475e-01 8.17835951e-01 2.65317913e-02 9.09363364e+01] [ 4.52088771e-02 -6.31925728e-04 9.98977356e-01 1.22673910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.11, Y:90.90, Z:122.68 [[ 8.14525573e-01 5.78971471e-01 -3.66077510e-02 5.09112254e+02] [-5.78363246e-01 8.15347681e-01 2.65351550e-02 9.08984247e+01] [ 4.52111426e-02 -4.40984642e-04 9.98977356e-01 1.22681867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.16, Y:90.86, Z:122.68 [[ 8.15220858e-01 5.77992465e-01 -3.66014208e-02 5.09163954e+02] [-5.77382860e-01 8.16041944e-01 2.65438837e-02 9.08629428e+01] [ 4.52104593e-02 -5.06094596e-04 9.98977356e-01 1.22684362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.22, Y:90.83, Z:122.69 [[ 8.18188525e-01 5.73784288e-01 -3.65941153e-02 5.09215525e+02] [-5.73170011e-01 8.19006121e-01 2.65539514e-02 9.08280810e+01] [ 4.52070445e-02 -7.51488809e-04 9.98977356e-01 1.22686113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.27, Y:90.79, Z:122.69 [[ 8.22161479e-01 5.68077312e-01 -3.65878372e-02 5.09265853e+02] [-5.67456977e-01 8.22974488e-01 2.65625990e-02 9.07926143e+01] [ 4.52004664e-02 -1.07672217e-03 9.98977356e-01 1.22685003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.32, Y:90.76, Z:122.69 [[ 8.24396984e-01 5.64828614e-01 -3.65820978e-02 5.09315832e+02] [-5.64204725e-01 8.25207269e-01 2.65705009e-02 9.07569277e+01] [ 4.51955923e-02 -1.26484841e-03 9.98977356e-01 1.22690155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.37, Y:90.72, Z:122.69 [[ 8.27200242e-01 5.60715565e-01 -3.65761507e-02 5.09366658e+02] [-5.60087287e-01 8.28007128e-01 2.65786851e-02 9.07222247e+01] [ 4.51883959e-02 -1.50005770e-03 9.98977356e-01 1.22692542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.42, Y:90.69, Z:122.70 [[ 8.29338776e-01 5.57548030e-01 -3.65703392e-02 5.09418295e+02] [-5.56916319e-01 8.30142977e-01 2.65866789e-02 9.06884306e+01] [ 4.51819607e-02 -1.68274502e-03 9.98977357e-01 1.22699824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.47, Y:90.65, Z:122.70 [[ 8.30493446e-01 5.55827063e-01 -3.65638136e-02 5.09470642e+02] [-5.55193291e-01 8.31296025e-01 2.65956502e-02 9.06529715e+01] [ 4.51779351e-02 -1.78752916e-03 9.98977357e-01 1.22703685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.52, Y:90.62, Z:122.71 [[ 8.32108543e-01 5.53406744e-01 -3.65560951e-02 5.09521300e+02] [-5.52770173e-01 8.32908904e-01 2.66062553e-02 9.06188331e+01] [ 4.51719782e-02 -1.93217335e-03 9.98977357e-01 1.22707645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.330385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:509.58, Y:90.59, Z:122.71 [[ 8.35739157e-01 5.47908906e-01 -3.65498700e-02 5.09576348e+02] [-5.47266700e-01 8.36535003e-01 2.66148041e-02 9.05890727e+01] [ 4.51577338e-02 -2.24050724e-03 9.98977357e-01 1.22709819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.63, Y:90.56, Z:122.71 [[ 8.36025387e-01 5.47472509e-01 -3.65431855e-02 5.09630172e+02] [-5.46829489e-01 8.36820575e-01 2.66239791e-02 9.05575202e+01] [ 4.51559861e-02 -2.27543096e-03 9.98977357e-01 1.22711638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.450385723 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:509.69, Y:90.53, Z:122.71 [[ 8.37026315e-01 5.45941418e-01 -3.65365109e-02 5.09685197e+02] [-5.45296545e-01 8.37820001e-01 2.66331356e-02 9.05282885e+01] [ 4.51511514e-02 -2.36940221e-03 9.98977357e-01 1.22706761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.510385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:509.74, Y:90.49, Z:122.71 [[ 8.35432529e-01 5.48377622e-01 -3.65304393e-02 5.09736499e+02] [-5.47734701e-01 8.36227798e-01 2.66414609e-02 9.04943131e+01] [ 4.51573498e-02 -2.24815385e-03 9.98977357e-01 1.22714526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.79, Y:90.46, Z:122.72 [[ 8.35987795e-01 5.47531181e-01 -3.65241242e-02 5.09791525e+02] [-5.46887079e-01 8.36782107e-01 2.66501158e-02 9.04643200e+01] [ 4.51545030e-02 -2.30459997e-03 9.98977357e-01 1.22720557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.630385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:509.85, Y:90.44, Z:122.72 [[ 8.37337205e-01 5.45465736e-01 -3.65176179e-02 5.09849920e+02] [-5.44819288e-01 8.38129608e-01 2.66590281e-02 9.04395492e+01] [ 4.51480832e-02 -2.42709352e-03 9.98977357e-01 1.22722739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.90, Y:90.41, Z:122.73 [[ 8.33820850e-01 5.50826415e-01 -3.65109693e-02 5.09903183e+02] [-5.50184666e-01 8.34617064e-01 2.66681306e-02 9.04086731e+01] [ 4.51621888e-02 -2.14866786e-03 9.98977357e-01 1.22731179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.750385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:509.96, Y:90.38, Z:122.73 [[ 8.32066386e-01 5.53473567e-01 -3.65039645e-02 5.09961197e+02] [-5.52833933e-01 8.32864300e-01 2.66777156e-02 9.03806219e+01] [ 4.51682592e-02 -2.01700013e-03 9.98977357e-01 1.22731619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.02, Y:90.35, Z:122.74 [[ 8.31878449e-01 5.53756484e-01 -3.64965932e-02 5.10018844e+02] [-5.53116681e-01 8.32676227e-01 2.66877961e-02 9.03526022e+01] [ 4.51683856e-02 -2.01412795e-03 9.98977357e-01 1.22735063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.08, Y:90.32, Z:122.74 [[ 8.32505355e-01 5.52814041e-01 -3.64892986e-02 5.10075828e+02] [-5.52172899e-01 8.33302058e-01 2.66977660e-02 9.03240953e+01] [ 4.51655075e-02 -2.07763140e-03 9.98977357e-01 1.22737222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.13, Y:90.30, Z:122.74 [[ 8.33159906e-01 5.51827535e-01 -3.64820876e-02 5.10130603e+02] [-5.51185019e-01 8.33955501e-01 2.67076161e-02 9.02951969e+01] [ 4.51624356e-02 -2.14333474e-03 9.98977357e-01 1.22740687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.19, Y:90.27, Z:122.74 [[ 8.34273046e-01 5.50143260e-01 -3.64811898e-02 5.10186968e+02] [-5.49499085e-01 8.35067299e-01 2.67088424e-02 9.02666525e+01] [ 4.51579382e-02 -2.23608686e-03 9.98977357e-01 1.22740192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.24, Y:90.24, Z:122.74 [[ 8.35763781e-01 5.47876046e-01 -3.64793229e-02 5.10242515e+02] [-5.47229606e-01 8.36556190e-01 2.67113919e-02 9.02368471e+01] [ 4.51515352e-02 -2.36184834e-03 9.98977357e-01 1.22744134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.30, Y:90.21, Z:122.75 [[ 8.35319663e-01 5.48553427e-01 -3.64718723e-02 5.10298143e+02] [-5.47907188e-01 8.36112236e-01 2.67215612e-02 9.02096566e+01] [ 4.51527827e-02 -2.33784453e-03 9.98977357e-01 1.22745127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.35, Y:90.18, Z:122.75 [[ 8.33604056e-01 5.51157278e-01 -3.64682419e-02 5.10354347e+02] [-5.50513299e-01 8.34398467e-01 2.67265148e-02 9.01814168e+01] [ 4.51595583e-02 -2.20307896e-03 9.98977357e-01 1.22750333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.41, Y:90.15, Z:122.75 [[ 8.30897725e-01 5.55229238e-01 -3.64618055e-02 5.10410890e+02] [-5.54588770e-01 8.31694969e-01 2.67352928e-02 9.01524115e+01] [ 4.51693165e-02 -1.99298614e-03 9.98977358e-01 1.22753628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.47, Y:90.12, Z:122.76 [[ 8.28259966e-01 5.59156951e-01 -3.64545333e-02 5.10465756e+02] [-5.58519829e-01 8.29059886e-01 2.67452050e-02 9.01221808e+01] [ 4.51777586e-02 -1.79140289e-03 9.98977358e-01 1.22755136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3503857229999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:510.52, Y:90.09, Z:122.76 [[ 8.24568668e-01 5.64586607e-01 -3.64482384e-02 5.10522468e+02] [-5.63954376e-01 8.25372460e-01 2.67537810e-02 9.00932369e+01] [ 4.51881986e-02 -1.50518599e-03 9.98977358e-01 1.22757231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.410385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:510.58, Y:90.06, Z:122.76 [[ 8.21674271e-01 5.68791230e-01 -3.64407737e-02 5.10577598e+02] [-5.68162662e-01 8.22480930e-01 2.67639447e-02 9.00630970e+01] [ 4.51949385e-02 -1.28695778e-03 9.98977358e-01 1.22760176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.63, Y:90.03, Z:122.76 [[ 8.19677618e-01 5.71665266e-01 -3.64338680e-02 5.10629117e+02] [-5.71039110e-01 8.20486150e-01 2.67733421e-02 9.00341319e+01] [ 4.51988739e-02 -1.14034567e-03 9.98977358e-01 1.22764147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.68, Y:90.00, Z:122.77 [[ 8.19587798e-01 5.71793946e-01 -3.64352091e-02 5.10681151e+02] [-5.71167997e-01 8.20396492e-01 2.67715170e-02 9.00010059e+01] [ 4.51991091e-02 -1.13098329e-03 9.98977358e-01 1.22769843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.73, Y:89.97, Z:122.77 [[ 8.19330810e-01 5.72162544e-01 -3.64286543e-02 5.10731860e+02] [-5.71536563e-01 8.20139479e-01 2.67804333e-02 8.99656770e+01] [ 4.51993384e-02 -1.12172628e-03 9.98977358e-01 1.22773362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.78, Y:89.94, Z:122.77 [[ 8.16995183e-01 5.75492973e-01 -3.64240283e-02 5.10781643e+02] [-5.74870009e-01 8.17806178e-01 2.67867236e-02 8.99354657e+01] [ 4.52033666e-02 -9.45542664e-04 9.98977358e-01 1.22773835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.83, Y:89.90, Z:122.78 [[ 8.15635346e-01 5.77418487e-01 -3.64262768e-02 5.10832358e+02] [-5.76797575e-01 8.16447912e-01 2.67836656e-02 8.99015680e+01] [ 4.52055413e-02 -8.35116286e-04 9.98977358e-01 1.22778553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.88, Y:89.87, Z:122.78 [[ 8.15899512e-01 5.77045217e-01 -3.64253241e-02 5.10881066e+02] [-5.76423875e-01 8.16711750e-01 2.67849613e-02 8.98674986e+01] [ 4.52051239e-02 -8.57410396e-04 9.98977358e-01 1.22781787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.93, Y:89.83, Z:122.78 [[ 8.17230500e-01 5.75158710e-01 -3.64248351e-02 5.10929287e+02] [-5.74535463e-01 8.18041278e-01 2.67856261e-02 8.98336038e+01] [ 4.52030048e-02 -9.62671088e-04 9.98977358e-01 1.22782175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.98, Y:89.80, Z:122.79 [[ 8.20145752e-01 5.70993596e-01 -3.64315626e-02 5.10977618e+02] [-5.70366639e-01 8.20953664e-01 2.67764729e-02 8.98003803e+01] [ 4.51978193e-02 -1.18126256e-03 9.98977358e-01 1.22788158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.03, Y:89.76, Z:122.79 [[ 8.22753530e-01 5.67229422e-01 -3.64336662e-02 5.11028438e+02] [-5.66598896e-01 8.23558659e-01 2.67736103e-02 8.97625808e+01] [ 4.51920408e-02 -1.38480736e-03 9.98977358e-01 1.22791451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.08, Y:89.73, Z:122.80 [[ 8.24210051e-01 5.65111436e-01 -3.64260521e-02 5.11078765e+02] [-5.64478384e-01 8.25013196e-01 2.67839654e-02 8.97284180e+01] [ 4.51878988e-02 -1.51389441e-03 9.98977358e-01 1.22795668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.13, Y:89.69, Z:122.80 [[ 8.24253606e-01 5.65048297e-01 -3.64199787e-02 5.11128889e+02] [-5.64414820e-01 8.25056415e-01 2.67922213e-02 8.96924477e+01] [ 4.51874361e-02 -1.52760932e-03 9.98977358e-01 1.22798772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.18, Y:89.66, Z:122.80 [[ 8.24308146e-01 5.64968789e-01 -3.64190455e-02 5.11178165e+02] [-5.64335178e-01 8.25110850e-01 2.67934897e-02 8.96584346e+01] [ 4.51872351e-02 -1.53354326e-03 9.98977358e-01 1.22801256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.23, Y:89.63, Z:122.81 [[ 8.24524783e-01 5.64652520e-01 -3.64199700e-02 5.11228015e+02] [-5.64018656e-01 8.25327288e-01 2.67922330e-02 8.96257920e+01] [ 4.51866969e-02 -1.54931761e-03 9.98977358e-01 1.22805878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.28, Y:89.59, Z:122.81 [[ 8.23777967e-01 5.65741443e-01 -3.64208921e-02 5.11276624e+02] [-5.65108696e-01 8.24581352e-01 2.67909796e-02 8.95929382e+01] [ 4.51887558e-02 -1.48805586e-03 9.98977358e-01 1.22808809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.33, Y:89.56, Z:122.81 [[ 8.20242968e-01 5.70854498e-01 -3.64227248e-02 5.11326730e+02] [-5.70226871e-01 8.21050359e-01 2.67884877e-02 8.95610211e+01] [ 4.51972200e-02 -1.20385226e-03 9.98977358e-01 1.22810180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.38, Y:89.53, Z:122.81 [[ 8.16331003e-01 5.76434686e-01 -3.64245447e-02 5.11376881e+02] [-5.75812689e-01 8.17142740e-01 2.67860128e-02 8.95294492e+01] [ 4.52044392e-02 -8.92537666e-04 9.98977358e-01 1.22814204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.430385723 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:511.42, Y:89.50, Z:122.81 [[ 8.14878705e-01 5.78485794e-01 -3.64263933e-02 5.11424682e+02] [-5.77865953e-01 8.15692089e-01 2.67834988e-02 8.94970839e+01] [ 4.52065944e-02 -7.75730301e-04 9.98977358e-01 1.22814154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.490385723 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:511.47, Y:89.46, Z:122.82 [[ 8.14259579e-01 5.79356757e-01 -3.64291814e-02 5.11471393e+02] [-5.78737956e-01 8.15073755e-01 2.67797061e-02 8.94629416e+01] [ 4.52074733e-02 -7.22682216e-04 9.98977358e-01 1.22817144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.52, Y:89.43, Z:122.82 [[ 8.13306692e-01 5.80693498e-01 -3.64319304e-02 5.11516895e+02] [-5.80076203e-01 8.14122010e-01 2.67759657e-02 8.94281763e+01] [ 4.52086656e-02 -6.43776186e-04 9.98977358e-01 1.22821269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.56, Y:89.39, Z:122.82 [[ 8.11331310e-01 5.83450075e-01 -3.64350879e-02 5.11562478e+02] [-5.82835743e-01 8.12148862e-01 2.67716685e-02 8.93919250e+01] [ 4.52106472e-02 -4.85021381e-04 9.98977358e-01 1.22824673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.670385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:511.61, Y:89.35, Z:122.83 [[ 8.07893237e-01 5.88201325e-01 -3.64378640e-02 5.11606238e+02] [-5.87591972e-01 8.08714508e-01 2.67678895e-02 8.93548555e+01] [ 4.52127373e-02 -2.15000610e-04 9.98977358e-01 1.22825651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.65, Y:89.32, Z:122.83 [[ 8.03592870e-01 5.94062748e-01 -3.64410520e-02 5.11651612e+02] [-5.93459582e-01 8.04418695e-01 2.67635488e-02 8.93151629e+01] [ 4.52130908e-02 1.19294506e-04 9.98977358e-01 1.22829215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.70, Y:89.28, Z:122.83 [[ 8.01177269e-01 5.97316469e-01 -3.64420073e-02 5.11696379e+02] [-5.96716716e-01 8.02005576e-01 2.67622479e-02 8.92783991e+01] [ 4.52122245e-02 3.04250256e-04 9.98977358e-01 1.22829133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8503857229999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:511.74, Y:89.24, Z:122.83 [[ 7.99559357e-01 5.99480312e-01 -3.64443582e-02 5.11739951e+02] [-5.98882946e-01 8.00389387e-01 2.67590461e-02 8.92396901e+01] [ 4.52111988e-02 4.30458942e-04 9.98977358e-01 1.22830346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.78, Y:89.20, Z:122.84 [[ 7.98439742e-01 6.00970565e-01 -3.64466574e-02 5.11782682e+02] [-6.00374891e-01 7.99270987e-01 2.67559142e-02 8.91989060e+01] [ 4.52102727e-02 5.18672729e-04 9.98977358e-01 1.22836700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.83, Y:89.16, Z:122.84 [[ 7.98361448e-01 6.01074458e-01 -3.64485218e-02 5.11826771e+02] [-6.00479008e-01 7.99192854e-01 2.67533741e-02 8.91555683e+01] [ 4.52101680e-02 5.27709712e-04 9.98977358e-01 1.22838372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.87, Y:89.11, Z:122.84 [[ 7.98501605e-01 6.00888309e-01 -3.64475887e-02 5.11870580e+02] [-6.00292608e-01 7.99332830e-01 2.67546453e-02 8.91091409e+01] [ 4.52103078e-02 5.15590823e-04 9.98977358e-01 1.22840418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.91, Y:89.06, Z:122.84 [[ 7.97110265e-01 6.02733236e-01 -3.64399800e-02 5.11912663e+02] [-6.02138985e-01 7.97942528e-01 2.67650043e-02 8.90626696e+01] [ 4.52091674e-02 6.07272884e-04 9.98977358e-01 1.22843012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.96, Y:89.02, Z:122.85 [[ 7.95765530e-01 6.04507949e-01 -3.64329575e-02 5.11958871e+02] [-6.03915117e-01 7.96598804e-01 2.67745601e-02 8.90189744e+01] [ 4.52078848e-02 6.96141774e-04 9.98977358e-01 1.22845757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.210385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:512.00, Y:88.97, Z:122.85 [[ 7.95286712e-01 6.05138186e-01 -3.64255559e-02 5.12001903e+02] [-6.04545553e-01 7.96120128e-01 2.67846259e-02 8.89708901e+01] [ 4.52075181e-02 7.19450792e-04 9.98977358e-01 1.22847867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.05, Y:88.92, Z:122.85 [[ 7.96331480e-01 6.03763131e-01 -3.64177952e-02 5.12045247e+02] [-6.03168576e-01 7.97163526e-01 2.67951736e-02 8.89235025e+01] [ 4.52088759e-02 6.28229442e-04 9.98977359e-01 1.22850152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.09, Y:88.88, Z:122.85 [[ 7.98884604e-01 6.00381288e-01 -3.64101600e-02 5.12088002e+02] [-5.99782738e-01 7.99713780e-01 2.68055445e-02 8.88756581e+01] [ 4.52112540e-02 4.23648662e-04 9.98977359e-01 1.22853761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.13, Y:88.83, Z:122.86 [[ 8.01178077e-01 5.97317792e-01 -3.64025162e-02 5.12130276e+02] [-5.96715601e-01 8.02004612e-01 2.68159210e-02 8.88273288e+01] [ 4.52126126e-02 2.37621267e-04 9.98977359e-01 1.22857679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.18, Y:88.78, Z:122.86 [[ 8.02201077e-01 5.95943656e-01 -3.63949191e-02 5.12176275e+02] [-5.95339581e-01 8.03026237e-01 2.68262278e-02 8.87838288e+01] [ 4.52129953e-02 1.47307040e-04 9.98977359e-01 1.22859897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.22, Y:88.74, Z:122.86 [[ 8.02579011e-01 5.95435043e-01 -3.63873721e-02 5.12219851e+02] [-5.94829981e-01 8.03403446e-01 2.68364609e-02 8.87366328e+01] [ 4.52131094e-02 1.05919620e-04 9.98977359e-01 1.22861953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.26, Y:88.69, Z:122.87 [[ 8.01525037e-01 5.96853522e-01 -3.63797749e-02 5.12263301e+02] [-5.96249452e-01 8.02350200e-01 2.68467558e-02 8.86902635e+01] [ 4.52129004e-02 1.73073889e-04 9.98977359e-01 1.22865225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.31, Y:88.64, Z:122.87 [[ 8.00401460e-01 5.98359903e-01 -3.63720860e-02 5.12306655e+02] [-5.97756912e-01 8.01227412e-01 2.68571687e-02 8.86439232e+01] [ 4.52125652e-02 2.45148782e-04 9.98977359e-01 1.22866350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.690385723 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:512.35, Y:88.60, Z:122.87 [[ 8.00450161e-01 5.98294913e-01 -3.63694382e-02 5.12348314e+02] [-5.97691692e-01 8.01275945e-01 2.68607537e-02 8.85979214e+01] [ 4.52126083e-02 2.37016413e-04 9.98977359e-01 1.22872070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.39, Y:88.55, Z:122.88 [[ 8.01810461e-01 5.96471079e-01 -3.63625615e-02 5.12391248e+02] [-5.95865558e-01 8.02634560e-01 2.68700599e-02 8.85516892e+01] [ 4.52130621e-02 1.22502877e-04 9.98977359e-01 1.22876355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.810385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:512.44, Y:88.51, Z:122.88 [[ 8.02398371e-01 5.95680383e-01 -3.63556678e-02 5.12437890e+02] [-5.95073628e-01 8.03221561e-01 2.68793838e-02 8.85092697e+01] [ 4.52131780e-02 6.63253167e-05 9.98977359e-01 1.22878788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.48, Y:88.47, Z:122.88 [[ 8.01829425e-01 5.96446456e-01 -3.63482991e-02 5.12483725e+02] [-5.95840035e-01 8.02652861e-01 2.68893447e-02 8.84658383e+01] [ 4.52131206e-02 9.71040637e-05 9.98977359e-01 1.22880934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.53, Y:88.42, Z:122.88 [[ 8.01065607e-01 5.97472379e-01 -3.63407545e-02 5.12530571e+02] [-5.96866550e-01 8.01889479e-01 2.68995373e-02 8.84226498e+01] [ 4.52129992e-02 1.42286647e-04 9.98977359e-01 1.22883232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.58, Y:88.38, Z:122.89 [[ 8.00652806e-01 5.98025900e-01 -3.63332690e-02 5.12579211e+02] [-5.97420182e-01 8.01476760e-01 2.69096441e-02 8.83832669e+01] [ 4.52129349e-02 1.60946116e-04 9.98977359e-01 1.22885892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:512.63, Y:88.34, Z:122.88 [[ 8.00963610e-01 5.97610015e-01 -3.63258319e-02 5.12627570e+02] [-5.97003414e-01 8.01786913e-01 2.69196799e-02 8.83421498e+01] [ 4.52130470e-02 1.24961659e-04 9.98977359e-01 1.22883156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.67, Y:88.30, Z:122.88 [[ 7.99944103e-01 5.98974482e-01 -3.63180798e-02 5.12674064e+02] [-5.98368810e-01 8.00768090e-01 2.69301345e-02 8.83003977e+01] [ 4.52128227e-02 1.89003947e-04 9.98977360e-01 1.22882174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.71, Y:88.25, Z:122.89 [[ 7.96578634e-01 6.03443449e-01 -3.63109377e-02 5.12714972e+02] [-6.02841961e-01 7.97405680e-01 2.69397610e-02 8.82537005e+01] [ 4.52111703e-02 4.30118879e-04 9.98977360e-01 1.22891236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.230385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:512.76, Y:88.21, Z:122.89 [[ 7.99863280e-01 5.99083064e-01 -3.63072320e-02 5.12764410e+02] [-5.98476841e-01 8.00686862e-01 2.69447544e-02 8.82147133e+01] [ 4.52128696e-02 1.76917883e-04 9.98977360e-01 1.22888588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.81, Y:88.17, Z:122.89 [[ 8.00185439e-01 5.98653174e-01 -3.62993175e-02 5.12810834e+02] [-5.98046024e-01 8.01008339e-01 2.69554123e-02 8.81724357e+01] [ 4.52129991e-02 1.39334108e-04 9.98977360e-01 1.22892365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.86, Y:88.13, Z:122.90 [[ 7.99836780e-01 5.99119402e-01 -3.62914311e-02 5.12859994e+02] [-5.98512251e-01 8.00659677e-01 2.69660260e-02 8.81345218e+01] [ 4.52129549e-02 1.52446677e-04 9.98977360e-01 1.22895299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.91, Y:88.10, Z:122.90 [[ 7.96928928e-01 6.02982229e-01 -3.62865679e-02 5.12906909e+02] [-6.02378769e-01 7.97754536e-01 2.69725685e-02 8.80961671e+01] [ 4.52117536e-02 3.63038011e-04 9.98977360e-01 1.22901465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.96, Y:88.06, Z:122.90 [[ 7.97418319e-01 6.02335111e-01 -3.62827508e-02 5.12957401e+02] [-6.01730747e-01 7.98243266e-01 2.69777022e-02 8.80611921e+01] [ 4.52120788e-02 3.19932856e-04 9.98977360e-01 1.22904159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.01, Y:88.02, Z:122.91 [[ 7.98430167e-01 6.00993622e-01 -3.62758115e-02 5.13008789e+02] [-6.00387448e-01 7.99253785e-01 2.69870300e-02 8.80248893e+01] [ 4.52126125e-02 2.32283014e-04 9.98977360e-01 1.22907379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:513.06, Y:87.99, Z:122.91 [[ 8.01253472e-01 5.97224821e-01 -3.62682552e-02 5.13061285e+02] [-5.96614313e-01 8.02073883e-01 2.69971812e-02 8.79907062e+01] [ 4.52132070e-02 6.57497321e-06 9.98977360e-01 1.22905402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.11, Y:87.95, Z:122.91 [[ 8.03448373e-01 5.94269152e-01 -3.62613630e-02 5.13111549e+02] [-5.93655209e-01 8.04266216e-01 2.70064353e-02 8.79548148e+01] [ 4.52128806e-02 -1.71529467e-04 9.98977360e-01 1.22906011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.16, Y:87.92, Z:122.91 [[ 8.02284075e-01 5.95840503e-01 -3.62540728e-02 5.13157583e+02] [-5.95227720e-01 8.03102787e-01 2.70162183e-02 8.79154235e+01] [ 4.52131040e-02 -9.52526205e-05 9.98977360e-01 1.22913942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.21, Y:87.88, Z:122.92 [[ 8.02899022e-01 5.95011974e-01 -3.62479139e-02 5.13208201e+02] [-5.94397973e-01 8.03716821e-01 2.70244792e-02 8.78774713e+01] [ 4.52129469e-02 -1.52241384e-04 9.98977360e-01 1.22916940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.830385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:513.26, Y:87.84, Z:122.92 [[ 8.01962313e-01 5.96274332e-01 -3.62404370e-02 5.13256230e+02] [-5.95661165e-01 8.02780737e-01 2.70345022e-02 8.78398666e+01] [ 4.52131045e-02 -9.36309579e-05 9.98977360e-01 1.22916552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.31, Y:87.80, Z:122.92 [[ 8.02048883e-01 5.96158312e-01 -3.62333597e-02 5.13305254e+02] [-5.95544598e-01 8.02866897e-01 2.70439844e-02 8.78009892e+01] [ 4.52130611e-02 -1.12015826e-04 9.98977360e-01 1.22924521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.36, Y:87.77, Z:122.92 [[ 8.04342756e-01 5.93060255e-01 -3.62251806e-02 5.13357206e+02] [-5.92442898e-01 8.05158024e-01 2.70549357e-02 8.77664702e+01] [ 4.52122019e-02 -3.00090605e-04 9.98977360e-01 1.22923128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.41, Y:87.73, Z:122.93 [[ 8.03972252e-01 5.93562851e-01 -3.62182367e-02 5.13407025e+02] [-5.92945584e-01 8.04787588e-01 2.70642284e-02 8.77276081e+01] [ 4.52123079e-02 -2.83445100e-04 9.98977361e-01 1.22927080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.46, Y:87.69, Z:122.93 [[ 8.05158424e-01 5.91953310e-01 -3.62103713e-02 5.13458865e+02] [-5.91333941e-01 8.05972164e-01 2.70747477e-02 8.76918529e+01] [ 4.52115378e-02 -3.87039651e-04 9.98977361e-01 1.22928168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.130385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:513.51, Y:87.65, Z:122.93 [[ 8.04969474e-01 5.92210727e-01 -3.62022342e-02 5.13508357e+02] [-5.91591128e-01 8.05783039e-01 2.70856236e-02 8.76544677e+01] [ 4.52115432e-02 -3.86179644e-04 9.98977361e-01 1.22931404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.56, Y:87.62, Z:122.94 [[ 8.03861661e-01 5.93714051e-01 -3.61946911e-02 5.13556969e+02] [-5.93095521e-01 8.04676038e-01 2.70956998e-02 8.76175554e+01] [ 4.52120983e-02 -3.14285131e-04 9.98977361e-01 1.22936416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.61, Y:87.58, Z:122.94 [[ 8.06167274e-01 5.90579993e-01 -3.61883729e-02 5.13609121e+02] [-5.89957918e-01 8.06978947e-01 2.71041356e-02 8.75842100e+01] [ 4.52104153e-02 -5.00849954e-04 9.98977361e-01 1.22937649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.310385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:513.66, Y:87.55, Z:122.94 [[ 8.08214424e-01 5.87775760e-01 -3.61815123e-02 5.13660947e+02] [-5.87150459e-01 8.09023614e-01 2.71132907e-02 8.75495700e+01] [ 4.52082329e-02 -6.69361070e-04 9.98977361e-01 1.22937989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.71, Y:87.51, Z:122.94 [[ 8.07205820e-01 5.89160555e-01 -3.61746510e-02 5.13711038e+02] [-5.88536232e-01 8.08015765e-01 2.71224420e-02 8.75135331e+01] [ 4.52091613e-02 -6.03300250e-04 9.98977361e-01 1.22943494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.76, Y:87.48, Z:122.95 [[ 8.07802039e-01 5.88343255e-01 -3.61674010e-02 5.13761572e+02] [-5.87717680e-01 8.08611018e-01 2.71321065e-02 8.74765264e+01] [ 4.52083507e-02 -6.61149949e-04 9.98977361e-01 1.22949325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.81, Y:87.44, Z:122.95 [[ 8.05084087e-01 5.92057522e-01 -3.61594274e-02 5.13811743e+02] [-5.91435203e-01 8.05895572e-01 2.71427288e-02 8.74406620e+01] [ 4.52107792e-02 -4.66220727e-04 9.98977361e-01 1.22954339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.86, Y:87.40, Z:122.96 [[ 8.02392538e-01 5.95700602e-01 -3.61525539e-02 5.13862239e+02] [-5.95081555e-01 8.03206523e-01 2.71518808e-02 8.74042554e+01] [ 4.52123589e-02 -2.72748541e-04 9.98977361e-01 1.22959258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.91, Y:87.37, Z:122.96 [[ 8.01239722e-01 5.97250752e-01 -3.61448052e-02 5.13911621e+02] [-5.96632814e-01 8.02054549e-01 2.71621921e-02 8.73681109e+01] [ 4.52127451e-02 -1.98250437e-04 9.98977361e-01 1.22961646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.96, Y:87.33, Z:122.97 [[ 8.01332293e-01 5.97126766e-01 -3.61411366e-02 5.13962885e+02] [-5.96508482e-01 8.02146857e-01 2.71670726e-02 8.73312949e+01] [ 4.52126853e-02 -2.11358039e-04 9.98977361e-01 1.22965376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.01, Y:87.29, Z:122.97 [[ 8.01686039e-01 5.96652231e-01 -3.61332263e-02 5.14013005e+02] [-5.96032991e-01 8.02499877e-01 2.71775894e-02 8.72946476e+01] [ 4.52124790e-02 -2.51299071e-04 9.98977361e-01 1.22966594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.06, Y:87.26, Z:122.97 [[ 8.02219862e-01 5.95934737e-01 -3.61259183e-02 5.14061252e+02] [-5.95314332e-01 8.03032812e-01 2.71873002e-02 8.72561124e+01] [ 4.52121543e-02 -3.03915311e-04 9.98977361e-01 1.22973494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.11, Y:87.22, Z:122.98 [[ 8.02267571e-01 5.95870922e-01 -3.61191040e-02 5.14111603e+02] [-5.95250045e-01 8.03080160e-01 2.71963501e-02 8.72195763e+01] [ 4.52120500e-02 -3.18851424e-04 9.98977362e-01 1.22976511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.16, Y:87.18, Z:122.98 [[ 8.01489922e-01 5.96916932e-01 -3.61120763e-02 5.14161628e+02] [-5.96296695e-01 8.02302999e-01 2.72056785e-02 8.71808871e+01] [ 4.52123573e-02 -2.71565430e-04 9.98977362e-01 1.22979182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.21, Y:87.15, Z:122.98 [[ 8.02124226e-01 5.96064774e-01 -3.61041718e-02 5.14211281e+02] [-5.95443201e-01 8.02936283e-01 2.72161644e-02 8.71456332e+01] [ 4.52119464e-02 -3.32761163e-04 9.98977362e-01 1.22981688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.26, Y:87.11, Z:122.98 [[ 8.01646656e-01 5.96707285e-01 -3.60978516e-02 5.14261224e+02] [-5.96085986e-01 8.02458922e-01 2.72245446e-02 8.71079366e+01] [ 4.52121272e-02 -3.07041711e-04 9.98977362e-01 1.22983298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.31, Y:87.07, Z:122.99 [[ 8.01295807e-01 5.97178807e-01 -3.60901860e-02 5.14312408e+02] [-5.96557528e-01 8.02108089e-01 2.72347027e-02 8.70720568e+01] [ 4.52122174e-02 -2.93180961e-04 9.98977362e-01 1.22986177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:514.36, Y:87.03, Z:122.99 [[ 8.01319011e-01 5.97148148e-01 -3.60822780e-02 5.14362692e+02] [-5.96526367e-01 8.02130908e-01 2.72451757e-02 8.70343336e+01] [ 4.52121166e-02 -3.08047012e-04 9.98977362e-01 1.22988810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.210385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:514.41, Y:87.00, Z:122.99 [[ 8.00925725e-01 5.97676039e-01 -3.60740187e-02 5.14411271e+02] [-5.97054301e-01 8.01737655e-01 2.72561071e-02 8.69951023e+01] [ 4.52122212e-02 -2.91969322e-04 9.98977362e-01 1.22988617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.46, Y:86.96, Z:123.00 [[ 8.00716463e-01 5.97956912e-01 -3.60649080e-02 5.14463897e+02] [-5.97334915e-01 8.01528194e-01 2.72681568e-02 8.69632054e+01] [ 4.52122235e-02 -2.91233265e-04 9.98977362e-01 1.22995365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.330385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:514.51, Y:86.93, Z:123.00 [[ 8.01216807e-01 5.97286816e-01 -3.60567351e-02 5.14513097e+02] [-5.96663654e-01 8.02027645e-01 2.72789597e-02 8.69261951e+01] [ 4.52118613e-02 -3.42617678e-04 9.98977362e-01 1.22995949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.390385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:514.56, Y:86.89, Z:123.00 [[ 8.04132728e-01 5.93355707e-01 -3.60494287e-02 5.14562759e+02] [-5.92728149e-01 8.04940167e-01 2.72886118e-02 8.68904607e+01] [ 4.52094867e-02 -5.76154696e-04 9.98977362e-01 1.22996802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.450385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:514.61, Y:86.85, Z:123.01 [[ 8.04714149e-01 5.92567352e-01 -3.60426379e-02 5.14610870e+02] [-5.91938602e-01 8.05520660e-01 2.72975780e-02 8.68525479e+01] [ 4.52087430e-02 -6.31718543e-04 9.98977362e-01 1.23006720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:514.66, Y:86.82, Z:123.01 [[ 8.06429114e-01 5.90231758e-01 -3.60354815e-02 5.14661917e+02] [-5.89600250e-01 8.07233468e-01 2.73070219e-02 8.68153181e+01] [ 4.52065182e-02 -7.74648494e-04 9.98977362e-01 1.23008347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:514.71, Y:86.78, Z:123.01 [[ 8.06196325e-01 5.90550020e-01 -3.60299950e-02 5.14712009e+02] [-5.89918506e-01 8.07000674e-01 2.73142592e-02 8.67792431e+01] [ 4.52066665e-02 -7.65894547e-04 9.98977362e-01 1.23013299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.630385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:514.76, Y:86.74, Z:123.02 [[ 8.04862584e-01 5.92366918e-01 -3.60229714e-02 5.14763448e+02] [-5.91736806e-01 8.05668032e-01 2.73235189e-02 8.67432861e+01] [ 4.52081052e-02 -6.75560013e-04 9.98977363e-01 1.23015225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.81, Y:86.71, Z:123.01 [[ 8.03752708e-01 5.93872433e-01 -3.60155226e-02 5.14814204e+02] [-5.93243390e-01 8.04558991e-01 2.73333338e-02 8.67078365e+01] [ 4.52091259e-02 -6.03270381e-04 9.98977363e-01 1.23010637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.86, Y:86.67, Z:123.02 [[ 8.01638661e-01 5.96723446e-01 -3.60081333e-02 5.14862722e+02] [-5.96096834e-01 8.02446834e-01 2.73430648e-02 8.66717843e+01] [ 4.52108604e-02 -4.54923596e-04 9.98977363e-01 1.23016883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.810385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:514.91, Y:86.63, Z:123.02 [[ 8.01917251e-01 5.96349456e-01 -3.60006680e-02 5.14912031e+02] [-5.95722026e-01 8.02724789e-01 2.73528903e-02 8.66343787e+01] [ 4.52105099e-02 -4.88363690e-04 9.98977363e-01 1.23022692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.870385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:514.96, Y:86.60, Z:123.03 [[ 8.02559284e-01 5.95485583e-01 -3.59932734e-02 5.14961658e+02] [-5.94856847e-01 8.03365806e-01 2.73626172e-02 8.65977471e+01] [ 4.52098092e-02 -5.49277341e-04 9.98977363e-01 1.23025424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.01, Y:86.56, Z:123.03 [[ 8.02147718e-01 5.96040294e-01 -3.59862074e-02 5.15011571e+02] [-5.95411699e-01 8.02954350e-01 2.73719070e-02 8.65593358e+01] [ 4.52100413e-02 -5.29703875e-04 9.98977363e-01 1.23029561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.06, Y:86.52, Z:123.03 [[ 8.02582465e-01 5.95455214e-01 -3.59788049e-02 5.15062329e+02] [-5.94825595e-01 8.03388298e-01 2.73816337e-02 8.65221079e+01] [ 4.52094874e-02 -5.74905081e-04 9.98977363e-01 1.23033639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.11, Y:86.48, Z:123.04 [[ 8.04364883e-01 5.93045688e-01 -3.59714737e-02 5.15111977e+02] [-5.92413224e-01 8.05168486e-01 2.73912614e-02 8.64838517e+01] [ 4.52073665e-02 -7.22592063e-04 9.98977363e-01 1.23036562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.110385723 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:515.16, Y:86.45, Z:123.04 [[ 8.05117661e-01 5.92023779e-01 -3.59638312e-02 5.15162001e+02] [-5.91389848e-01 8.05920106e-01 2.74012921e-02 8.64455821e+01] [ 4.52061911e-02 -7.92619581e-04 9.98977363e-01 1.23039603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:515.21, Y:86.41, Z:123.04 [[ 8.05332716e-01 5.91731663e-01 -3.59563078e-02 5.15212928e+02] [-5.91097000e-01 8.06134582e-01 2.74111608e-02 8.64088425e+01] [ 4.52056750e-02 -8.21438884e-04 9.98977363e-01 1.23042337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.26, Y:86.37, Z:123.04 [[ 8.05065528e-01 5.92095586e-01 -3.59487403e-02 5.15263559e+02] [-5.91460843e-01 8.05867331e-01 2.74210817e-02 8.63708621e+01] [ 4.52058169e-02 -8.13495397e-04 9.98977363e-01 1.23044951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.32, Y:86.34, Z:123.04 [[ 8.06795181e-01 5.89737028e-01 -3.59412526e-02 5.15316538e+02] [-5.89099504e-01 8.07594775e-01 2.74308926e-02 8.63356424e+01] [ 4.52029808e-02 -9.58137870e-04 9.98977363e-01 1.23043716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:515.36, Y:86.30, Z:123.05 [[ 8.03540329e-01 5.94164471e-01 -3.59377400e-02 5.15363953e+02] [-5.93531149e-01 8.04343253e-01 2.74354936e-02 8.62958773e+01] [ 4.52074743e-02 -7.15357447e-04 9.98977363e-01 1.23050295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.410385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:515.41, Y:86.26, Z:123.05 [[ 8.01887100e-01 5.96394247e-01 -3.59302309e-02 5.15414200e+02] [-5.95762717e-01 8.02691435e-01 2.74453242e-02 8.62582431e+01] [ 4.52091221e-02 -6.02159451e-04 9.98977363e-01 1.23052009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:515.46, Y:86.22, Z:123.06 [[ 8.00440984e-01 5.98334188e-01 -3.59225529e-02 5.15464568e+02] [-5.97704157e-01 8.01246494e-01 2.74553702e-02 8.62200490e+01] [ 4.52103062e-02 -5.05344373e-04 9.98977364e-01 1.23056301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:515.52, Y:86.18, Z:123.06 [[ 7.98952186e-01 6.00321182e-01 -3.59149413e-02 5.15515139e+02] [-5.99692707e-01 7.99758910e-01 2.74653235e-02 8.61826611e+01] [ 4.52113097e-02 -4.05551906e-04 9.98977364e-01 1.23059868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:515.57, Y:86.15, Z:123.06 [[ 7.97225109e-01 6.02613307e-01 -3.59072164e-02 5.15565100e+02] [-6.01986696e-01 7.98033282e-01 2.74754190e-02 8.61453846e+01] [ 4.52122069e-02 -2.88427390e-04 9.98977364e-01 1.23063034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.62, Y:86.11, Z:123.07 [[ 7.95264393e-01 6.05198917e-01 -3.59000804e-02 5.15615379e+02] [-6.04574513e-01 7.96074272e-01 2.74847399e-02 8.61068424e+01] [ 4.52128652e-02 -1.53361310e-04 9.98977364e-01 1.23065831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.67, Y:86.07, Z:123.07 [[ 7.93498557e-01 6.07512771e-01 -3.58925243e-02 5.15665808e+02] [-6.06890283e-01 7.94309909e-01 2.74946040e-02 8.60685481e+01] [ 4.52131108e-02 -3.41043261e-05 9.98977364e-01 1.23066830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.72, Y:86.03, Z:123.07 [[ 7.94920161e-01 6.05651887e-01 -3.58849501e-02 5.15716226e+02] [-6.05027053e-01 7.95729708e-01 2.75044860e-02 8.60315593e+01] [ 4.52128647e-02 -1.52504885e-04 9.98977364e-01 1.23068900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.77, Y:85.99, Z:123.07 [[ 7.95177047e-01 6.05315050e-01 -3.58769305e-02 5.15765233e+02] [-6.04689401e-01 7.95985965e-01 2.75149428e-02 8.59925347e+01] [ 4.52127421e-02 -1.84851350e-04 9.98977364e-01 1.23071614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:515.81, Y:85.95, Z:123.07 [[ 7.94723368e-01 6.05911043e-01 -3.58688855e-02 5.15810852e+02] [-6.05285527e-01 7.95532389e-01 2.75254264e-02 8.59510996e+01] [ 4.52128200e-02 -1.64182281e-04 9.98977364e-01 1.23074464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.86, Y:85.91, Z:123.08 [[ 7.94014960e-01 6.06839457e-01 -3.58624719e-02 5.15857088e+02] [-6.06214510e-01 7.94824420e-01 2.75337800e-02 8.59087967e+01] [ 4.52129526e-02 -1.21882422e-04 9.98977364e-01 1.23079527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.90, Y:85.87, Z:123.08 [[ 7.93186352e-01 6.07922337e-01 -3.58586657e-02 5.15902606e+02] [-6.07298271e-01 7.93996491e-01 2.75387362e-02 8.58663893e+01] [ 4.52130676e-02 -6.64440653e-05 9.98977364e-01 1.23083548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:515.95, Y:85.83, Z:123.09 [[ 7.93693203e-01 6.07260865e-01 -3.58516710e-02 5.15948894e+02] [-6.06635712e-01 7.94502504e-01 2.75478393e-02 8.58255560e+01] [ 4.52129671e-02 -1.15628769e-04 9.98977364e-01 1.23087041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.00, Y:85.78, Z:123.09 [[ 7.94343454e-01 6.06410453e-01 -3.58446741e-02 5.15995162e+02] [-6.05784023e-01 7.95151767e-01 2.75569405e-02 8.57840340e+01] [ 4.52127727e-02 -1.75544428e-04 9.98977364e-01 1.23089493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.04, Y:85.74, Z:123.09 [[ 7.94078304e-01 6.06758036e-01 -3.58375981e-02 5.16041266e+02] [-6.06131545e-01 7.94886569e-01 2.75661398e-02 8.57414333e+01] [ 4.52128022e-02 -1.67374781e-04 9.98977364e-01 1.23089682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.09, Y:85.70, Z:123.09 [[ 7.94705307e-01 6.05936741e-01 -3.58349088e-02 5.16086135e+02] [-6.05309258e-01 7.95512802e-01 2.75696353e-02 8.56986638e+01] [ 4.52125837e-02 -2.18533481e-04 9.98977364e-01 1.23088211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.13, Y:85.66, Z:123.09 [[ 7.94607111e-01 6.06065984e-01 -3.58268345e-02 5.16134224e+02] [-6.05438159e-01 7.95414340e-01 2.75801239e-02 8.56583773e+01] [ 4.52125528e-02 -2.24429860e-04 9.98977364e-01 1.23090593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.18, Y:85.62, Z:123.09 [[ 7.95105367e-01 6.05412614e-01 -3.58193033e-02 5.16180122e+02] [-6.04783685e-01 7.95911736e-01 2.75899014e-02 8.56162168e+01] [ 4.52122782e-02 -2.73948408e-04 9.98977365e-01 1.23092303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.23, Y:85.57, Z:123.10 [[ 7.95840733e-01 6.04446029e-01 -3.58123611e-02 5.16225640e+02] [-6.03815715e-01 7.96646021e-01 2.75989097e-02 8.55738190e+01] [ 4.52118263e-02 -3.40270135e-04 9.98977365e-01 1.23096322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.27, Y:85.53, Z:123.10 [[ 7.95135019e-01 6.05374482e-01 -3.58055574e-02 5.16274705e+02] [-6.04744712e-01 7.95940731e-01 2.76077336e-02 8.55343455e+01] [ 4.52121190e-02 -2.98654317e-04 9.98977365e-01 1.23100984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.32, Y:85.50, Z:123.10 [[ 7.93937523e-01 6.06944563e-01 -3.57981443e-02 5.16323887e+02] [-6.06315952e-01 7.94744140e-01 2.76173427e-02 8.54964204e+01] [ 4.52125614e-02 -2.21458780e-04 9.98977365e-01 1.23103700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.37, Y:85.46, Z:123.11 [[ 7.93374992e-01 6.07680100e-01 -3.57913002e-02 5.16373323e+02] [-6.07051837e-01 7.94181880e-01 2.76262096e-02 8.54594020e+01] [ 4.52126999e-02 -1.90769237e-04 9.98977365e-01 1.23107451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.42, Y:85.42, Z:123.11 [[ 7.92912606e-01 6.08283455e-01 -3.57887942e-02 5.16422503e+02] [-6.07655659e-01 7.93719858e-01 2.76294556e-02 8.54225306e+01] [ 4.52128174e-02 -1.60480303e-04 9.98977365e-01 1.23111758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.47, Y:85.39, Z:123.11 [[ 7.96307217e-01 6.03832836e-01 -3.57871782e-02 5.16473044e+02] [-6.03200435e-01 7.97110866e-01 2.76315486e-02 8.53885128e+01] [ 4.52111850e-02 -4.16360108e-04 9.98977365e-01 1.23107685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:516.52, Y:85.35, Z:123.11 [[ 7.97858495e-01 6.01781834e-01 -3.57833293e-02 5.16522977e+02] [-6.01147143e-01 7.98660337e-01 2.76365321e-02 8.53513097e+01] [ 4.52098888e-02 -5.38995669e-04 9.98977365e-01 1.23111180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8503857229999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:516.57, Y:85.32, Z:123.11 [[ 7.99533253e-01 5.99555364e-01 -3.57762806e-02 5.16573869e+02] [-5.98918033e-01 8.00332998e-01 2.76456538e-02 8.53152745e+01] [ 4.52080380e-02 -6.76559964e-04 9.98977365e-01 1.23110904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.62, Y:85.28, Z:123.12 [[ 7.97807791e-01 6.01849891e-01 -3.57692328e-02 5.16620783e+02] [-6.01214451e-01 7.98609039e-01 2.76547696e-02 8.52763944e+01] [ 4.52096527e-02 -5.58210983e-04 9.98977365e-01 1.23116765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.67, Y:85.24, Z:123.12 [[ 7.98121008e-01 6.01434851e-01 -3.57627918e-02 5.16670660e+02] [-6.00798622e-01 7.98921629e-01 2.76630965e-02 8.52399283e+01] [ 4.52092182e-02 -5.92262444e-04 9.98977365e-01 1.23119095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.72, Y:85.21, Z:123.12 [[ 7.99686888e-01 5.99351512e-01 -3.57581600e-02 5.16724181e+02] [-5.98712929e-01 8.00485634e-01 2.76690825e-02 8.52067490e+01] [ 4.52073998e-02 -7.17729743e-04 9.98977365e-01 1.23116847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.77, Y:85.17, Z:123.12 [[ 7.97951352e-01 6.01660615e-01 -3.57511436e-02 5.16773518e+02] [-6.01023938e-01 7.98751617e-01 2.76781454e-02 8.51684370e+01] [ 4.52091337e-02 -5.98520392e-04 9.98977365e-01 1.23121786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.82, Y:85.13, Z:123.13 [[ 7.97021823e-01 6.02891903e-01 -3.57430704e-02 5.16820317e+02] [-6.02255995e-01 7.97822700e-01 2.76885670e-02 8.51297322e+01] [ 4.52098458e-02 -5.41913711e-04 9.98977365e-01 1.23128019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.87, Y:85.09, Z:123.13 [[ 7.97731208e-01 6.01953184e-01 -3.57391083e-02 5.16869845e+02] [-6.01316105e-01 7.98531153e-01 2.76936802e-02 8.50927945e+01] [ 4.52090903e-02 -6.01611538e-04 9.98977365e-01 1.23130042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.92, Y:85.06, Z:123.13 [[ 7.99388877e-01 5.99750469e-01 -3.57323209e-02 5.16920198e+02] [-5.99110794e-01 8.00186748e-01 2.77024350e-02 8.50564420e+01] [ 4.52070780e-02 -7.37399221e-04 9.98977365e-01 1.23128462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.97, Y:85.02, Z:123.14 [[ 7.99083037e-01 6.00158319e-01 -3.57252373e-02 5.16966965e+02] [-5.99518643e-01 7.99880907e-01 2.77115670e-02 8.50172158e+01] [ 4.52072627e-02 -7.25897344e-04 9.98977365e-01 1.23135705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.02, Y:84.98, Z:123.14 [[ 7.99268784e-01 5.99911308e-01 -3.57188108e-02 5.17015654e+02] [-5.99271015e-01 8.00066160e-01 2.77198480e-02 8.49781190e+01] [ 4.52068621e-02 -7.50361168e-04 9.98977365e-01 1.23136571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:517.06, Y:84.94, Z:123.14 [[ 7.98258625e-01 6.01254957e-01 -3.57161540e-02 5.17064285e+02] [-6.00615854e-01 7.99056954e-01 2.77232708e-02 8.49406596e+01] [ 4.52079952e-02 -6.78651693e-04 9.98977365e-01 1.23140990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.11, Y:84.90, Z:123.14 [[ 7.96110344e-01 6.04096986e-01 -3.57092536e-02 5.17114052e+02] [-6.03460335e-01 7.96910630e-01 2.77321561e-02 8.49026813e+01] [ 4.52099957e-02 -5.28738205e-04 9.98977365e-01 1.23143634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.16, Y:84.87, Z:123.15 [[ 7.94380478e-01 6.06370391e-01 -3.57016076e-02 5.17164121e+02] [-6.05735588e-01 7.95182230e-01 2.77419959e-02 8.48653688e+01] [ 4.52112088e-02 -4.11965696e-04 9.98977366e-01 1.23145285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.21, Y:84.83, Z:123.15 [[ 7.92215349e-01 6.09196839e-01 -3.56938654e-02 5.17214559e+02] [-6.08564448e-01 7.93019005e-01 2.77519537e-02 8.48278168e+01] [ 4.52123161e-02 -2.63506230e-04 9.98977366e-01 1.23148318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.26, Y:84.79, Z:123.15 [[ 7.91292112e-01 6.10396018e-01 -3.56860665e-02 5.17264048e+02] [-6.09764393e-01 7.92096369e-01 2.77619786e-02 8.47889679e+01] [ 4.52126049e-02 -2.07741948e-04 9.98977366e-01 1.23151641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.750385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:517.31, Y:84.75, Z:123.15 [[ 7.90963075e-01 6.10822780e-01 -3.56783737e-02 5.17312592e+02] [-6.10191143e-01 7.91767323e-01 2.77718615e-02 8.47507752e+01] [ 4.52126561e-02 -1.95889365e-04 9.98977366e-01 1.23152498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.36, Y:84.71, Z:123.16 [[ 7.88954989e-01 6.13414431e-01 -3.56757776e-02 5.17363462e+02] [-6.12785285e-01 7.89761187e-01 2.77751961e-02 8.47131249e+01] [ 4.52130506e-02 -5.17879399e-05 9.98977366e-01 1.23155082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.870385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:517.41, Y:84.67, Z:123.16 [[ 7.87891836e-01 6.14779869e-01 -3.56674475e-02 5.17413922e+02] [-6.14151636e-01 7.88698746e-01 2.77858891e-02 8.46748555e+01] [ 4.52130764e-02 1.29460156e-05 9.98977366e-01 1.23156714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:517.46, Y:84.64, Z:123.16 [[ 7.86606082e-01 6.16424583e-01 -3.56595671e-02 5.17462657e+02] [-6.15797579e-01 7.87413947e-01 2.77959988e-02 8.46356946e+01] [ 4.52129775e-02 9.45733226e-05 9.98977366e-01 1.23163104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:517.51, Y:84.60, Z:123.17 [[ 7.86734045e-01 6.16261710e-01 -3.56517388e-02 5.17511748e+02] [-6.15634084e-01 7.87541427e-01 2.78060360e-02 8.45976578e+01] [ 4.52130165e-02 7.24703603e-05 9.98977366e-01 1.23165956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.050385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:517.56, Y:84.56, Z:123.17 [[ 7.87504514e-01 6.15277263e-01 -3.56444933e-02 5.17561188e+02] [-6.14648207e-01 7.88310783e-01 2.78153208e-02 8.45602544e+01] [ 4.52130729e-02 4.13315911e-06 9.98977366e-01 1.23167419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.61, Y:84.52, Z:123.17 [[ 7.88908102e-01 6.13476690e-01 -3.56420666e-02 5.17610149e+02] [-6.12845654e-01 7.89712821e-01 2.78184301e-02 8.45222684e+01] [ 4.52129554e-02 -1.03099287e-04 9.98977366e-01 1.23173846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.66, Y:84.48, Z:123.18 [[ 7.89540762e-01 6.12662662e-01 -3.56349318e-02 5.17659611e+02] [-6.12030383e-01 7.90344505e-01 2.78275666e-02 8.44847956e+01] [ 4.52127836e-02 -1.61337214e-04 9.98977366e-01 1.23175481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.71, Y:84.45, Z:123.18 [[ 7.91401672e-01 6.10257379e-01 -3.56275931e-02 5.17710532e+02] [-6.09622235e-01 7.92203152e-01 2.78369591e-02 8.44472330e+01] [ 4.52120013e-02 -3.10843022e-04 9.98977366e-01 1.23178592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.76, Y:84.41, Z:123.18 [[ 7.91774208e-01 6.09774409e-01 -3.56198591e-02 5.17759042e+02] [-6.09138331e-01 7.92574947e-01 2.78468520e-02 8.44084757e+01] [ 4.52117057e-02 -3.50997673e-04 9.98977366e-01 1.23182564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3503857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:517.81, Y:84.37, Z:123.19 [[ 7.92875373e-01 6.08342056e-01 -3.56172071e-02 5.17809499e+02] [-6.07704379e-01 7.93674840e-01 2.78502436e-02 8.43743320e+01] [ 4.52109556e-02 -4.37039566e-04 9.98977366e-01 1.23185308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.86, Y:84.34, Z:123.19 [[ 7.92315961e-01 6.09070868e-01 -3.56103223e-02 5.17861748e+02] [-6.08433531e-01 7.93115699e-01 2.78590440e-02 8.43384217e+01] [ 4.52112378e-02 -4.06651056e-04 9.98977366e-01 1.23187561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4703857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:517.91, Y:84.30, Z:123.19 [[ 7.90808116e-01 6.11027802e-01 -3.56026578e-02 5.17914196e+02] [-6.10392003e-01 7.91609077e-01 2.78688354e-02 8.43035781e+01] [ 4.52120203e-02 -3.07323653e-04 9.98977367e-01 1.23190123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.97, Y:84.27, Z:123.19 [[ 7.88550764e-01 6.13938667e-01 -3.55950280e-02 5.17966994e+02] [-6.13305384e-01 7.89353717e-01 2.78785771e-02 8.42688340e+01] [ 4.52128041e-02 -1.53050962e-04 9.98977367e-01 1.23193158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.02, Y:84.23, Z:123.20 [[ 7.87585255e-01 6.15177218e-01 -3.55873251e-02 5.18017645e+02] [-6.14544754e-01 7.88388852e-01 2.78884065e-02 8.42326306e+01] [ 4.52129627e-02 -9.44937980e-05 9.98977367e-01 1.23196703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.650385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:518.07, Y:84.20, Z:123.20 [[ 7.86441894e-01 6.16638627e-01 -3.55802059e-02 5.18071377e+02] [-6.16007246e-01 7.87246342e-01 2.78974863e-02 8.41988883e+01] [ 4.52130546e-02 -2.20873128e-05 9.98977367e-01 1.23199148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.710385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:518.12, Y:84.16, Z:123.20 [[ 7.85898858e-01 6.17331003e-01 -3.55727149e-02 5.18122573e+02] [-6.16699898e-01 7.86703523e-01 2.79070348e-02 8.41624177e+01] [ 4.52130580e-02 5.58288007e-06 9.98977367e-01 1.23202662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.770385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:518.18, Y:84.13, Z:123.21 [[ 7.85982317e-01 6.17225181e-01 -3.55650647e-02 5.18175606e+02] [-6.16593527e-01 7.86786551e-01 2.79167810e-02 8.41277748e+01] [ 4.52130548e-02 -1.29075874e-05 9.98977367e-01 1.23205524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.23, Y:84.09, Z:123.21 [[ 7.86804877e-01 6.16176731e-01 -3.55573047e-02 5.18227881e+02] [-6.15543559e-01 7.87607915e-01 2.79266614e-02 8.40926562e+01] [ 4.52129735e-02 -8.57634628e-05 9.98977367e-01 1.23207960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.890385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:518.28, Y:84.06, Z:123.21 [[ 7.87890663e-01 6.14788200e-01 -3.55495866e-02 5.18280686e+02] [-6.14153169e-01 7.88692232e-01 2.79364827e-02 8.40576960e+01] [ 4.52127028e-02 -1.78002553e-04 9.98977367e-01 1.23207525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.33, Y:84.02, Z:123.21 [[ 7.88183106e-01 6.14413702e-01 -3.55414433e-02 5.18331862e+02] [-6.13777824e-01 7.88984003e-01 2.79468391e-02 8.40232350e+01] [ 4.52125510e-02 -2.12676691e-04 9.98977367e-01 1.23212097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.010385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:518.38, Y:83.99, Z:123.21 [[ 7.87271587e-01 6.15581667e-01 -3.55339267e-02 5.18383521e+02] [-6.14946545e-01 7.88073084e-01 2.79563930e-02 8.39871587e+01] [ 4.52127742e-02 -1.57808390e-04 9.98977367e-01 1.23211915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.44, Y:83.95, Z:123.21 [[ 7.85863176e-01 6.17379101e-01 -3.55262474e-02 5.18435723e+02] [-6.16745372e-01 7.86665775e-01 2.79661483e-02 8.39521911e+01] [ 4.52129984e-02 -6.69174945e-05 9.98977367e-01 1.23213324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.130385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:518.49, Y:83.92, Z:123.22 [[ 7.84419972e-01 6.19212219e-01 -3.55181016e-02 5.18485169e+02] [-6.18579897e-01 7.85223679e-01 2.79764900e-02 8.39165851e+01] [ 4.52130388e-02 2.54661597e-05 9.98977367e-01 1.23218844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.54, Y:83.88, Z:123.22 [[ 7.83640336e-01 6.20198961e-01 -3.55115932e-02 5.18535968e+02] [-6.19567276e-01 7.84444545e-01 2.79847488e-02 8.38798181e+01] [ 4.52129877e-02 7.18431231e-05 9.98977367e-01 1.23222754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.250385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:518.59, Y:83.84, Z:123.23 [[ 7.82531046e-01 6.21598479e-01 -3.55034307e-02 5.18585078e+02] [-6.20967763e-01 7.83336014e-01 2.79951006e-02 8.38416175e+01] [ 4.52128278e-02 1.39450592e-04 9.98977367e-01 1.23227572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.310385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:518.64, Y:83.80, Z:123.23 [[ 7.80308470e-01 6.24386685e-01 -3.54959029e-02 5.18635068e+02] [-6.23758411e-01 7.81115346e-01 2.80046420e-02 8.38037622e+01] [ 4.52121201e-02 2.88608653e-04 9.98977368e-01 1.23230395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.68, Y:83.76, Z:123.23 [[ 7.80258956e-01 6.24449005e-01 -3.54880542e-02 5.18682620e+02] [-6.23820343e-01 7.81065530e-01 2.80145846e-02 8.37646535e+01] [ 4.52121753e-02 2.79539624e-04 9.98977368e-01 1.23229960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.73, Y:83.72, Z:123.24 [[ 7.81022872e-01 6.23493525e-01 -3.54837737e-02 5.18729810e+02] [-6.22863630e-01 7.81828483e-01 2.80200052e-02 8.37235912e+01] [ 4.52125168e-02 2.17287214e-04 9.98977368e-01 1.23235969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.490385723 meters Centerline goodness : 0.992878 with order 1 Centerline is valid? [True, True] Translation: X:518.77, Y:83.69, Z:123.23 [[ 7.82596703e-01 6.21517447e-01 -3.54748405e-02 5.18774271e+02] [-6.20885006e-01 7.83400316e-01 2.80313106e-02 8.36859422e+01] [ 4.52129499e-02 8.85852555e-05 9.98977368e-01 1.23232771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.550385723 meters Centerline goodness : 0.995184 with order 1 Centerline is valid? [True, True] Translation: X:518.82, Y:83.65, Z:123.24 [[ 7.83275228e-01 6.20661965e-01 -3.54773625e-02 5.18816551e+02] [-6.20028791e-01 7.84078264e-01 2.80281183e-02 8.36462617e+01] [ 4.52130158e-02 4.32554880e-05 9.98977368e-01 1.23237064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.25, Y:84.21, Z:124.21 [[ 8.30853329e-01 5.55358799e-01 -3.54873318e-02 5.19247549e+02] [-5.54663357e-01 8.31603086e-01 2.80154901e-02 8.42146907e+01] [ 4.50700236e-02 -3.59324065e-03 9.98977368e-01 1.24206621e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 726.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:519.30, Y:84.18, Z:124.21 [[ 8.31015359e-01 5.54983239e-01 -3.75110351e-02 5.19295918e+02] [-5.54420922e-01 8.31861529e-01 2.49767585e-02 8.41761767e+01] [ 4.50656693e-02 4.08327262e-05 9.98984026e-01 1.24209915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.730385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:519.35, Y:84.14, Z:124.21 [[ 8.32173284e-01 5.53245871e-01 -3.75050940e-02 5.19346655e+02] [-5.52681386e-01 8.33018008e-01 2.49856764e-02 8.41399133e+01] [ 4.50656410e-02 -6.40450513e-05 9.98984026e-01 1.24208323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.790385723 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:519.40, Y:84.10, Z:124.21 [[ 8.31799010e-01 5.53808586e-01 -3.75027716e-02 5.19395123e+02] [-5.53244514e-01 8.32644011e-01 2.49891618e-02 8.40994737e+01] [ 4.50656705e-02 -3.77573676e-05 9.98984026e-01 1.24213137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8503857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:519.44, Y:84.06, Z:124.22 [[ 8.32186481e-01 5.53226709e-01 -3.74949191e-02 5.19444809e+02] [-5.52661516e-01 8.33030733e-01 2.50009384e-02 8.40616786e+01] [ 4.50656068e-02 -8.34441448e-05 9.98984026e-01 1.24218629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.50, Y:84.02, Z:124.22 [[ 8.32536022e-01 5.52701089e-01 -3.74870346e-02 5.19495040e+02] [-5.52134831e-01 8.33379560e-01 2.50127551e-02 8.40228236e+01] [ 4.50655054e-02 -1.26122163e-04 9.98984026e-01 1.24221470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.54, Y:83.98, Z:124.23 [[ 8.32896315e-01 5.52158464e-01 -3.74801049e-02 5.19543833e+02] [-5.51591190e-01 8.33739169e-01 2.50231346e-02 8.39839723e+01] [ 4.50653670e-02 -1.67980966e-04 9.98984026e-01 1.24225379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.59, Y:83.95, Z:124.23 [[ 8.32836223e-01 5.52249532e-01 -3.74737164e-02 5.19593710e+02] [-5.51681919e-01 8.33678849e-01 2.50326980e-02 8.39450154e+01] [ 4.50653406e-02 -1.74565841e-04 9.98984026e-01 1.24228317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.64, Y:83.91, Z:124.23 [[ 8.33084912e-01 5.51874803e-01 -3.74664071e-02 5.19642532e+02] [-5.51306319e-01 8.33926951e-01 2.50436332e-02 8.39072023e+01] [ 4.50651967e-02 -2.08005956e-04 9.98984026e-01 1.24228705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.69, Y:83.87, Z:124.23 [[ 8.33134049e-01 5.51801017e-01 -3.74605715e-02 5.19691705e+02] [-5.51232067e-01 8.33975772e-01 2.50523590e-02 8.38698563e+01] [ 4.50651262e-02 -2.22505030e-04 9.98984026e-01 1.24231365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.74, Y:83.83, Z:124.23 [[ 8.32465856e-01 5.52808964e-01 -3.74546073e-02 5.19742422e+02] [-5.52240632e-01 8.33307997e-01 2.50612727e-02 8.38325669e+01] [ 4.50653200e-02 -1.78697797e-04 9.98984026e-01 1.24234377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:519.79, Y:83.79, Z:124.24 [[ 8.31146409e-01 5.54791235e-01 -3.74477188e-02 5.19791497e+02] [-5.54224448e-01 8.31989590e-01 2.50715616e-02 8.37945585e+01] [ 4.50655948e-02 -8.36971490e-05 9.98984026e-01 1.24236632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.84, Y:83.75, Z:124.24 [[ 8.30821552e-01 5.55277890e-01 -3.74434774e-02 5.19840177e+02] [-5.54711311e-01 8.31664873e-01 2.50778943e-02 8.37547185e+01] [ 4.50656251e-02 -6.49346654e-05 9.98984027e-01 1.24239529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.89, Y:83.72, Z:124.24 [[ 8.30699411e-01 5.55461099e-01 -3.74360235e-02 5.19888525e+02] [-5.54894205e-01 8.31542520e-01 2.50890165e-02 8.37174264e+01] [ 4.50656180e-02 -6.83987459e-05 9.98984027e-01 1.24242655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.94, Y:83.68, Z:124.24 [[ 8.31467188e-01 5.54311558e-01 -3.74300919e-02 5.19937868e+02] [-5.53743100e-01 8.32309243e-01 2.50978627e-02 8.36785980e+01] [ 4.50654468e-02 -1.41394206e-04 9.98984027e-01 1.24243964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.99, Y:83.64, Z:124.25 [[ 8.31575758e-01 5.54149158e-01 -3.74228397e-02 5.19988823e+02] [-5.53580049e-01 8.32417373e-01 2.51086716e-02 8.36421812e+01] [ 4.50653712e-02 -1.63225117e-04 9.98984027e-01 1.24246797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.04, Y:83.61, Z:124.25 [[ 8.32009230e-01 5.53498618e-01 -3.74155258e-02 5.20041912e+02] [-5.52928361e-01 8.32850068e-01 2.51195656e-02 8.36078081e+01] [ 4.50651681e-02 -2.11605084e-04 9.98984027e-01 1.24250354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.09, Y:83.57, Z:124.25 [[ 8.31554458e-01 5.54182111e-01 -3.74081828e-02 5.20092699e+02] [-5.53612053e-01 8.32395431e-01 2.51304962e-02 8.35739012e+01] [ 4.50652718e-02 -1.87755314e-04 9.98984027e-01 1.24253113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.15, Y:83.54, Z:124.25 [[ 8.34203124e-01 5.50187433e-01 -3.74023589e-02 5.20145955e+02] [-5.49612960e-01 8.35041087e-01 2.51391611e-02 8.35409201e+01] [ 4.50637569e-02 -4.14345589e-04 9.98984027e-01 1.24249465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.750385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:520.20, Y:83.51, Z:124.25 [[ 8.37765843e-01 5.44747382e-01 -3.73989478e-02 5.20198836e+02] [-5.44167242e-01 8.38599893e-01 2.51442346e-02 8.35083655e+01] [ 4.50600096e-02 -7.13698638e-04 9.98984027e-01 1.24251157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.810385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:520.25, Y:83.47, Z:124.26 [[ 8.39588103e-01 5.41935067e-01 -3.73925195e-02 5.20251261e+02] [-5.41351708e-01 8.40419904e-01 2.51537906e-02 8.34736088e+01] [ 4.50571389e-02 -8.76319008e-04 9.98984027e-01 1.24261882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.30, Y:83.44, Z:124.27 [[ 8.40993642e-01 5.39751832e-01 -3.73852192e-02 5.20303798e+02] [-5.39165831e-01 8.41823584e-01 2.51646361e-02 8.34410387e+01] [ 4.50544177e-02 -1.00646619e-03 9.98984027e-01 1.24267367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.36, Y:83.41, Z:124.27 [[ 8.41421012e-01 5.39085790e-01 -3.73790371e-02 5.20357018e+02] [-5.38498725e-01 8.42250202e-01 2.51738157e-02 8.34104667e+01] [ 4.50533478e-02 -1.05321366e-03 9.98984027e-01 1.24268927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:520.41, Y:83.38, Z:124.27 [[ 8.41561840e-01 5.38866309e-01 -3.73733813e-02 5.20409187e+02] [-5.38278656e-01 8.42390613e-01 2.51822095e-02 8.33776671e+01] [ 4.50528299e-02 -1.07509310e-03 9.98984027e-01 1.24271351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.46, Y:83.34, Z:124.28 [[ 8.41894463e-01 5.38346922e-01 -3.73671718e-02 5.20462038e+02] [-5.37758349e-01 8.42722582e-01 2.51914202e-02 8.33442257e+01] [ 4.50518831e-02 -1.11400858e-03 9.98984027e-01 1.24275532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.52, Y:83.31, Z:124.27 [[ 8.43434483e-01 5.35931085e-01 -3.73650131e-02 5.20516460e+02] [-5.35339999e-01 8.44260811e-01 2.51946217e-02 8.33131558e+01] [ 4.50483972e-02 -1.24702665e-03 9.98984027e-01 1.24272414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.57, Y:83.28, Z:124.28 [[ 8.42912438e-01 5.36752031e-01 -3.73614570e-02 5.20567302e+02] [-5.36161516e-01 8.43739174e-01 2.51998940e-02 8.32797723e+01] [ 4.50494192e-02 -1.20952864e-03 9.98984027e-01 1.24280122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.62, Y:83.25, Z:124.28 [[ 8.43052074e-01 5.36532952e-01 -3.73576270e-02 5.20620870e+02] [-5.35941971e-01 8.43878476e-01 2.52055705e-02 8.32457220e+01] [ 4.50489165e-02 -1.22808819e-03 9.98984027e-01 1.24281253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:520.67, Y:83.21, Z:124.29 [[ 8.42718245e-01 5.37057365e-01 -3.73543271e-02 5.20672888e+02] [-5.36466682e-01 8.43544861e-01 2.52104600e-02 8.32119525e+01] [ 4.50495139e-02 -1.20596268e-03 9.98984027e-01 1.24287553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.73, Y:83.18, Z:124.29 [[ 8.42066867e-01 5.38078580e-01 -3.73474625e-02 5.20725887e+02] [-5.37488448e-01 8.42893877e-01 2.52206252e-02 8.31788414e+01] [ 4.50506257e-02 -1.16362318e-03 9.98984027e-01 1.24287819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.78, Y:83.15, Z:124.29 [[ 8.38736147e-01 5.43255940e-01 -3.73451449e-02 5.20776850e+02] [-5.42670762e-01 8.39566669e-01 2.52240566e-02 8.31462777e+01] [ 4.50568575e-02 -8.90209849e-04 9.98984027e-01 1.24293965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.83, Y:83.11, Z:124.30 [[ 8.37888413e-01 5.44562941e-01 -3.73391274e-02 5.20829770e+02] [-5.43978662e-01 8.38719568e-01 2.52329612e-02 8.31122138e+01] [ 4.50579923e-02 -8.30717290e-04 9.98984028e-01 1.24295273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.88, Y:83.08, Z:124.30 [[ 8.37366358e-01 5.45365831e-01 -3.73321958e-02 5.20880829e+02] [-5.44781892e-01 8.38197752e-01 2.52432123e-02 8.30758107e+01] [ 4.50585480e-02 -7.99912568e-04 9.98984028e-01 1.24298128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.93, Y:83.04, Z:124.30 [[ 8.37345335e-01 5.45398613e-01 -3.73248306e-02 5.20932022e+02] [-5.44814222e-01 8.38176410e-01 2.52540979e-02 8.30403521e+01] [ 4.50583425e-02 -8.11302503e-04 9.98984028e-01 1.24302033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.98, Y:83.01, Z:124.30 [[ 8.38673832e-01 5.43354000e-01 -3.73180193e-02 5.20984776e+02] [-5.42767135e-01 8.39503162e-01 2.52641589e-02 8.30078023e+01] [ 4.50559770e-02 -9.33394590e-04 9.98984028e-01 1.24304197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:521.04, Y:82.97, Z:124.31 [[ 8.39279345e-01 5.42418702e-01 -3.73112975e-02 5.21036550e+02] [-5.41830472e-01 8.40107708e-01 2.52740821e-02 8.29729115e+01] [ 4.50546434e-02 -9.95617130e-04 9.98984028e-01 1.24306257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.770385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:521.09, Y:82.94, Z:124.31 [[ 8.39974184e-01 5.41342555e-01 -3.73042607e-02 5.21088644e+02] [-5.40752803e-01 8.40801464e-01 2.52844640e-02 8.29371981e+01] [ 4.50530334e-02 -1.06591349e-03 9.98984028e-01 1.24308049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.14, Y:82.90, Z:124.31 [[ 8.41177392e-01 5.39471533e-01 -3.72969363e-02 5.21141274e+02] [-5.38879462e-01 8.42003014e-01 2.52952636e-02 8.29041541e+01] [ 4.50502074e-02 -1.17925082e-03 9.98984028e-01 1.24310846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:521.19, Y:82.87, Z:124.31 [[ 8.41545366e-01 5.38897801e-01 -3.72901729e-02 5.21194078e+02] [-5.38304726e-01 8.42370267e-01 2.53052303e-02 8.28699980e+01] [ 4.50490659e-02 -1.22202300e-03 9.98984028e-01 1.24314215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.25, Y:82.84, Z:124.32 [[ 8.41317673e-01 5.39253682e-01 -3.72832413e-02 5.21246102e+02] [-5.38660504e-01 8.42142500e-01 2.53154388e-02 8.28364593e+01] [ 4.50492456e-02 -1.21531653e-03 9.98984028e-01 1.24316957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.30, Y:82.80, Z:124.32 [[ 8.39878707e-01 5.41492562e-01 -3.72768315e-02 5.21296612e+02] [-5.40901165e-01 8.40704812e-01 2.53248737e-02 8.28009266e+01] [ 4.50520423e-02 -1.10674061e-03 9.98984028e-01 1.24322285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.35, Y:82.77, Z:124.32 [[ 8.39357287e-01 5.42300626e-01 -3.72743362e-02 5.21350555e+02] [-5.41709862e-01 8.40183843e-01 2.53285458e-02 8.27710575e+01] [ 4.50529813e-02 -1.06782397e-03 9.98984028e-01 1.24322920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:521.40, Y:82.73, Z:124.33 [[ 8.36747596e-01 5.46319108e-01 -3.72678583e-02 5.21400877e+02] [-5.45731889e-01 8.37576675e-01 2.53380737e-02 8.27349963e+01] [ 4.50573627e-02 -8.63313530e-04 9.98984028e-01 1.24326101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.45, Y:82.70, Z:124.33 [[ 8.35243347e-01 5.48616565e-01 -3.72614402e-02 5.21451238e+02] [-5.48031207e-01 8.36073741e-01 2.53475085e-02 8.27000591e+01] [ 4.50593747e-02 -7.50905844e-04 9.98984028e-01 1.24328867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.250385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:521.50, Y:82.67, Z:124.33 [[ 8.36263836e-01 5.47060161e-01 -3.72555617e-02 5.21503207e+02] [-5.46472873e-01 8.37092865e-01 2.53561457e-02 8.26662980e+01] [ 4.50577020e-02 -8.45273819e-04 9.98984028e-01 1.24330872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.55, Y:82.63, Z:124.33 [[ 8.38127604e-01 5.44200884e-01 -3.72493863e-02 5.21553447e+02] [-5.43610365e-01 8.38954335e-01 2.53652144e-02 8.26307061e+01] [ 4.50543062e-02 -1.01013390e-03 9.98984028e-01 1.24334298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.61, Y:82.60, Z:124.33 [[ 8.40066160e-01 5.41204044e-01 -3.72428515e-02 5.21605063e+02] [-5.40610151e-01 8.40890471e-01 2.53748056e-02 8.25954746e+01] [ 4.50501063e-02 -1.18265191e-03 9.98984029e-01 1.24334994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.66, Y:82.56, Z:124.34 [[ 8.42627115e-01 5.37208549e-01 -3.72360065e-02 5.21656993e+02] [-5.36610305e-01 8.43448274e-01 2.53848462e-02 8.25599870e+01] [ 4.50436018e-02 -1.40873492e-03 9.98984029e-01 1.24335417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.490385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:521.71, Y:82.53, Z:124.34 [[ 8.42753297e-01 5.37011081e-01 -3.72287560e-02 5.21707756e+02] [-5.36412175e-01 8.43573973e-01 2.53954753e-02 8.25255406e+01] [ 4.50428612e-02 -1.43216252e-03 9.98984029e-01 1.24336160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.76, Y:82.49, Z:124.34 [[ 8.41272875e-01 5.39327729e-01 -3.72229766e-02 5.21758632e+02] [-5.38730710e-01 8.42094925e-01 2.54039435e-02 8.24905828e+01] [ 4.50463308e-02 -1.31848800e-03 9.98984029e-01 1.24337695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.610385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:521.81, Y:82.46, Z:124.34 [[ 8.37956028e-01 5.44466997e-01 -3.72207442e-02 5.21810866e+02] [-5.43874875e-01 8.38781613e-01 2.54072139e-02 8.24583638e+01] [ 4.50534653e-02 -1.04670045e-03 9.98984029e-01 1.24341057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.86, Y:82.42, Z:124.35 [[ 8.36720293e-01 5.46364530e-01 -3.72149454e-02 5.21862260e+02] [-5.45773903e-01 8.37546947e-01 2.54157047e-02 8.24228405e+01] [ 4.50555035e-02 -9.54889908e-04 9.98984029e-01 1.24346222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.91, Y:82.39, Z:124.35 [[ 8.35504981e-01 5.48221347e-01 -3.72126494e-02 5.21913155e+02] [-5.47632408e-01 8.36332839e-01 2.54190659e-02 8.23854737e+01] [ 4.50574353e-02 -8.58903406e-04 9.98984029e-01 1.24352868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.790385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:521.96, Y:82.35, Z:124.35 [[ 8.35703123e-01 5.47919750e-01 -3.72053530e-02 5.21964734e+02] [-5.47330037e-01 8.36530429e-01 2.54297411e-02 8.23523910e+01] [ 4.50568673e-02 -8.88106841e-04 9.98984029e-01 1.24353283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.02, Y:82.32, Z:124.35 [[ 8.35244849e-01 5.48618481e-01 -3.71995323e-02 5.22017620e+02] [-5.48029081e-01 8.36072378e-01 2.54382530e-02 8.23176127e+01] [ 4.50573972e-02 -8.60744338e-04 9.98984029e-01 1.24354255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.910385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:522.07, Y:82.28, Z:124.35 [[ 8.35690713e-01 5.47939574e-01 -3.71921476e-02 5.22069272e+02] [-5.47349022e-01 8.36517420e-01 2.54490453e-02 8.22827298e+01] [ 4.50564184e-02 -9.10445223e-04 9.98984029e-01 1.24354727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9703857229999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:522.12, Y:82.24, Z:124.36 [[ 8.36466402e-01 5.46755163e-01 -3.71853506e-02 5.22118418e+02] [-5.46163000e-01 8.37291955e-01 2.54589729e-02 8.22447050e+01] [ 4.50548198e-02 -9.86312818e-04 9.98984029e-01 1.24355736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.17, Y:82.21, Z:124.36 [[ 8.37990818e-01 5.44416284e-01 -3.71792844e-02 5.22168179e+02] [-5.43821424e-01 8.38814431e-01 2.54678287e-02 8.22070849e+01] [ 4.50516210e-02 -1.12291525e-03 9.98984029e-01 1.24361517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.22, Y:82.17, Z:124.36 [[ 8.38521751e-01 5.43598645e-01 -3.71723861e-02 5.22218109e+02] [-5.43002536e-01 8.39344460e-01 2.54778934e-02 8.21712669e+01] [ 4.50501847e-02 -1.17906785e-03 9.98984029e-01 1.24362225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:522.27, Y:82.14, Z:124.37 [[ 8.39516661e-01 5.42061251e-01 -3.71668681e-02 5.22270287e+02] [-5.41463280e-01 8.40338018e-01 2.54859405e-02 8.21361982e+01] [ 4.50476730e-02 -1.27137734e-03 9.98984029e-01 1.24365928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.32, Y:82.10, Z:124.37 [[ 8.36480248e-01 5.46735752e-01 -3.71592824e-02 5.22319315e+02] [-5.46141881e-01 8.37304574e-01 2.54969958e-02 8.20981033e+01] [ 4.50537563e-02 -1.03349301e-03 9.98984029e-01 1.24373105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.37, Y:82.06, Z:124.38 [[ 8.34115867e-01 5.50336624e-01 -3.71526734e-02 5.22369034e+02] [-5.49745883e-01 8.34942439e-01 2.55066224e-02 8.20633337e+01] [ 4.50575722e-02 -8.50949190e-04 9.98984029e-01 1.24375704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.42, Y:82.03, Z:124.38 [[ 8.32505538e-01 5.52769985e-01 -3.71466309e-02 5.22418830e+02] [-5.52181268e-01 8.33333553e-01 2.55154195e-02 8.20255208e+01] [ 4.50596919e-02 -7.30054300e-04 9.98984030e-01 1.24380671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.47, Y:81.99, Z:124.38 [[ 8.31313828e-01 5.54560744e-01 -3.71443183e-02 5.22467061e+02] [-5.53973661e-01 8.32143002e-01 2.55187856e-02 8.19884099e+01] [ 4.50611012e-02 -6.37145363e-04 9.98984030e-01 1.24384180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.52, Y:81.95, Z:124.38 [[ 8.30869643e-01 5.55226424e-01 -3.71383102e-02 5.22517528e+02] [-5.54639614e-01 8.31699011e-01 2.55275264e-02 8.19543644e+01] [ 4.50614530e-02 -6.11668788e-04 9.98984030e-01 1.24380577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:522.57, Y:81.92, Z:124.38 [[ 8.30215949e-01 5.56203725e-01 -3.71334679e-02 5.22566112e+02] [-5.55617576e-01 8.31045784e-01 2.55345683e-02 8.19153191e+01] [ 4.50620339e-02 -5.67198441e-04 9.98984030e-01 1.24381598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.61, Y:81.88, Z:124.39 [[ 8.31029232e-01 5.54988260e-01 -3.71274281e-02 5.22613404e+02] [-5.54400506e-01 8.31857931e-01 2.55433471e-02 8.18752483e+01] [ 4.50610033e-02 -6.43803243e-04 9.98984030e-01 1.24385900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:522.66, Y:81.83, Z:124.39 [[ 8.33048060e-01 5.51953745e-01 -3.71213365e-02 5.22661688e+02] [-5.51362578e-01 8.33874327e-01 2.55521968e-02 8.18345663e+01] [ 4.50581602e-02 -8.18892144e-04 9.98984030e-01 1.24389473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.690385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:522.71, Y:81.79, Z:124.39 [[ 8.33479391e-01 5.51302662e-01 -3.71144130e-02 5.22710154e+02] [-5.50710402e-01 8.34304875e-01 2.55622492e-02 8.17947425e+01] [ 4.50572717e-02 -8.66314606e-04 9.98984030e-01 1.24393162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:522.76, Y:81.76, Z:124.40 [[ 8.31942153e-01 5.53620184e-01 -3.71072267e-02 5.22758547e+02] [-5.53029759e-01 8.32768950e-01 2.55726769e-02 8.17557689e+01] [ 4.50592963e-02 -7.53587302e-04 9.98984030e-01 1.24396291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.810385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:522.81, Y:81.72, Z:124.40 [[ 8.30647415e-01 5.55561355e-01 -3.71005935e-02 5.22810913e+02] [-5.54972432e-01 8.31475283e-01 2.55822967e-02 8.17206445e+01] [ 4.50607619e-02 -6.60062020e-04 9.98984030e-01 1.24398318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.870385723 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:522.86, Y:81.69, Z:124.40 [[ 8.28940584e-01 5.58105347e-01 -3.70935247e-02 5.22864076e+02] [-5.57518507e-01 8.29769930e-01 2.55925420e-02 8.16873545e+01] [ 4.50624260e-02 -5.34370214e-04 9.98984030e-01 1.24400756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.930385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:522.92, Y:81.66, Z:124.40 [[ 8.29085964e-01 5.57889828e-01 -3.70864421e-02 5.22918691e+02] [-5.57302313e-01 8.29914832e-01 2.56028014e-02 8.16552768e+01] [ 4.50621309e-02 -5.58563310e-04 9.98984030e-01 1.24402550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.990385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:522.97, Y:81.62, Z:124.40 [[ 8.30199107e-01 5.56232470e-01 -3.70794015e-02 5.22971407e+02] [-5.55642846e-01 8.31026475e-01 2.56129941e-02 8.16219786e+01] [ 4.50607433e-02 -6.60980664e-04 9.98984030e-01 1.24403800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.050385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:523.02, Y:81.59, Z:124.40 [[ 8.32594833e-01 5.52640400e-01 -3.70733457e-02 5.23024506e+02] [-5.52046817e-01 8.33419365e-01 2.56217564e-02 8.15891836e+01] [ 4.50572620e-02 -8.66319450e-04 9.98984030e-01 1.24401591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.07, Y:81.55, Z:124.41 [[ 8.34118897e-01 5.50337788e-01 -3.70673022e-02 5.23074325e+02] [-5.49741541e-01 8.34941505e-01 2.56304966e-02 8.15530988e+01] [ 4.50544599e-02 -1.00144571e-03 9.98984030e-01 1.24411073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.170385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:523.13, Y:81.52, Z:124.41 [[ 8.35753295e-01 5.47852989e-01 -3.70612084e-02 5.23126665e+02] [-5.47253906e-01 8.36573839e-01 2.56393052e-02 8.15202150e+01] [ 4.50510074e-02 -1.14624275e-03 9.98984030e-01 1.24410568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.230385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:523.18, Y:81.49, Z:124.42 [[ 8.35747537e-01 5.47862182e-01 -3.70551344e-02 5.23177467e+02] [-5.47262720e-01 8.36567805e-01 2.56480806e-02 8.14858423e+01] [ 4.50507458e-02 -1.15642658e-03 9.98984030e-01 1.24418716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.290385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:523.23, Y:81.45, Z:124.42 [[ 8.35822885e-01 5.47747693e-01 -3.70482090e-02 5.23230901e+02] [-5.47147675e-01 8.36642746e-01 2.56580803e-02 8.14540621e+01] [ 4.50502696e-02 -1.17476924e-03 9.98984030e-01 1.24417266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3503857229999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:523.28, Y:81.42, Z:124.42 [[ 8.33828439e-01 5.50779481e-01 -3.70418418e-02 5.23282291e+02] [-5.50182036e-01 8.34650177e-01 2.56672692e-02 8.14182343e+01] [ 4.50539850e-02 -1.02234306e-03 9.98984031e-01 1.24424251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.410385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:523.33, Y:81.39, Z:124.43 [[ 8.30932880e-01 5.55138742e-01 -3.70341234e-02 5.23334607e+02] [-5.54545113e-01 8.31757379e-01 2.56784008e-02 8.13851748e+01] [ 4.50584806e-02 -7.99935369e-04 9.98984031e-01 1.24427268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.39, Y:81.35, Z:124.43 [[ 8.29137734e-01 5.57816832e-01 -3.70270176e-02 5.23387477e+02] [-5.57225409e-01 8.29963817e-01 2.56886430e-02 8.13518766e+01] [ 4.50606423e-02 -6.67028250e-04 9.98984031e-01 1.24430393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.44, Y:81.32, Z:124.43 [[ 8.30923788e-01 5.55153305e-01 -3.70198133e-02 5.23440371e+02] [-5.54558773e-01 8.31747635e-01 2.56990209e-02 8.13185326e+01] [ 4.50580386e-02 -8.24265556e-04 9.98984031e-01 1.24430725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.49, Y:81.29, Z:124.43 [[ 8.33280613e-01 5.51609915e-01 -3.70124493e-02 5.23491865e+02] [-5.51011409e-01 8.34101578e-01 2.57096224e-02 8.12850193e+01] [ 4.50538250e-02 -1.02904807e-03 9.98984031e-01 1.24434268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.55, Y:81.25, Z:124.44 [[ 8.35521305e-01 5.48210278e-01 -3.70086556e-02 5.23545141e+02] [-5.47608190e-01 8.36339647e-01 2.57150822e-02 8.12516769e+01] [ 4.50490783e-02 -1.21925609e-03 9.98984031e-01 1.24437993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:523.60, Y:81.22, Z:124.44 [[ 8.35062203e-01 5.48909890e-01 -3.70006731e-02 5.23596889e+02] [-5.48307979e-01 8.35880676e-01 2.57265629e-02 8.12182109e+01] [ 4.50497124e-02 -1.19551597e-03 9.98984031e-01 1.24442131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:523.65, Y:81.19, Z:124.45 [[ 8.35418650e-01 5.48367726e-01 -3.69934608e-02 5.23650651e+02] [-5.47764826e-01 8.36236394e-01 2.57369297e-02 8.11861284e+01] [ 4.50485798e-02 -1.23739441e-03 9.98984031e-01 1.24447092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.71, Y:81.16, Z:124.45 [[ 8.36923706e-01 5.46068424e-01 -3.69862952e-02 5.23707701e+02] [-5.45462824e-01 8.37739451e-01 2.57472231e-02 8.11591056e+01] [ 4.50446242e-02 -1.37381237e-03 9.98984031e-01 1.24445322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.76, Y:81.13, Z:124.45 [[ 8.34704178e-01 5.49455289e-01 -3.69840587e-02 5.23761144e+02] [-5.48852857e-01 8.35522266e-01 2.57504353e-02 8.11254431e+01] [ 4.50497174e-02 -1.19518959e-03 9.98984031e-01 1.24451744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:523.82, Y:81.09, Z:124.45 [[ 8.33969962e-01 5.50569536e-01 -3.69768642e-02 5.23815960e+02] [-5.49967740e-01 8.34788517e-01 2.57607622e-02 8.10944783e+01] [ 4.50509526e-02 -1.14761943e-03 9.98984031e-01 1.24453662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.010385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:523.87, Y:81.06, Z:124.46 [[ 8.33993379e-01 5.50534538e-01 -3.69698062e-02 5.23871509e+02] [-5.49932258e-01 8.34811579e-01 2.57708873e-02 8.10641833e+01] [ 4.50505859e-02 -1.16186037e-03 9.98984031e-01 1.24456359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.93, Y:81.03, Z:124.46 [[ 8.33510034e-01 5.51266536e-01 -3.69625418e-02 5.23926731e+02] [-5.50664514e-01 8.34328423e-01 2.57813023e-02 8.10336152e+01] [ 4.50512685e-02 -1.13501406e-03 9.98984031e-01 1.24459030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.130385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:523.98, Y:81.00, Z:124.46 [[ 8.32054913e-01 5.53460868e-01 -3.69552279e-02 5.23980569e+02] [-5.52860539e-01 8.32874545e-01 2.57917819e-02 8.10033334e+01] [ 4.50538106e-02 -1.02909164e-03 9.98984031e-01 1.24460537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.190385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:524.04, Y:80.97, Z:124.46 [[ 8.30736982e-01 5.55437552e-01 -3.69484982e-02 5.24035088e+02] [-5.54838745e-01 8.31557727e-01 2.58014191e-02 8.09715848e+01] [ 4.50558862e-02 -9.33734720e-04 9.98984032e-01 1.24459741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.09, Y:80.94, Z:124.47 [[ 8.28585275e-01 5.58642796e-01 -3.69414232e-02 5.24088073e+02] [-5.58046713e-01 8.29408000e-01 2.58115449e-02 8.09386791e+01] [ 4.50589455e-02 -7.72026260e-04 9.98984032e-01 1.24465735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.14, Y:80.90, Z:124.47 [[ 8.28159840e-01 5.59273766e-01 -3.69341809e-02 5.24139218e+02] [-5.58677847e-01 8.28982685e-01 2.58219038e-02 8.09039321e+01] [ 4.50593098e-02 -7.50355087e-04 9.98984032e-01 1.24468435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.19, Y:80.87, Z:124.47 [[ 8.27741364e-01 5.59893378e-01 -3.69274877e-02 5.24192580e+02] [-5.59297649e-01 8.28564346e-01 2.58314721e-02 8.08698696e+01] [ 4.50596698e-02 -7.28320890e-04 9.98984032e-01 1.24470848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.430385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:524.24, Y:80.83, Z:124.47 [[ 8.28321699e-01 5.59034953e-01 -3.69199785e-02 5.24244008e+02] [-5.58437893e-01 8.29143715e-01 2.58422002e-02 8.08346956e+01] [ 4.50586613e-02 -7.88140185e-04 9.98984032e-01 1.24470872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.490385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:524.29, Y:80.80, Z:124.47 [[ 8.29383984e-01 5.57458190e-01 -3.69130517e-02 5.24294810e+02] [-5.56859128e-01 8.30204542e-01 2.58520907e-02 8.07988618e+01] [ 4.50568429e-02 -8.85940231e-04 9.98984032e-01 1.24472969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.550385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:524.35, Y:80.76, Z:124.47 [[ 8.30313331e-01 5.56073458e-01 -3.69063946e-02 5.24345695e+02] [-5.55472605e-01 8.31132578e-01 2.58615909e-02 8.07623701e+01] [ 4.50550512e-02 -9.72732521e-04 9.98984032e-01 1.24474826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.610385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:524.40, Y:80.72, Z:124.48 [[ 8.30575377e-01 5.55682458e-01 -3.68991787e-02 5.24395744e+02] [-5.55080762e-01 8.31394006e-01 2.58718825e-02 8.07247119e+01] [ 4.50543072e-02 -1.00652430e-03 9.98984032e-01 1.24480106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.44, Y:80.69, Z:124.49 [[ 8.32143697e-01 5.53331585e-01 -3.68920641e-02 5.24444947e+02] [-5.52727128e-01 8.32960289e-01 2.58820236e-02 8.06860760e+01] [ 4.50509655e-02 -1.14631820e-03 9.98984032e-01 1.24485823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.730385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:524.50, Y:80.65, Z:124.49 [[ 8.32864418e-01 5.52246659e-01 -3.68848135e-02 5.24495142e+02] [-5.51640681e-01 8.33679882e-01 2.58923524e-02 8.06488476e+01] [ 4.50490920e-02 -1.21765535e-03 9.98984032e-01 1.24486421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.790385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:524.54, Y:80.61, Z:124.49 [[ 8.32343404e-01 5.53032101e-01 -3.68775370e-02 5.24544746e+02] [-5.52426435e-01 8.33159099e-01 2.59027118e-02 8.06108339e+01] [ 4.50498867e-02 -1.18782505e-03 9.98984032e-01 1.24492539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8503857229999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:524.59, Y:80.57, Z:124.49 [[ 8.32900094e-01 5.52193828e-01 -3.68701706e-02 5.24593856e+02] [-5.51586877e-01 8.33714834e-01 2.59131931e-02 8.05731506e+01] [ 4.50483134e-02 -1.24599869e-03 9.98984032e-01 1.24493708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.910385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:524.64, Y:80.54, Z:124.50 [[ 8.33672501e-01 5.51027453e-01 -3.68633683e-02 5.24644539e+02] [-5.50418934e-01 8.34486070e-01 2.59228662e-02 8.05358484e+01] [ 4.50461783e-02 -1.32088477e-03 9.98984032e-01 1.24499881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.70, Y:80.50, Z:124.50 [[ 8.33326341e-01 5.51551296e-01 -3.68561796e-02 5.24695506e+02] [-5.50942838e-01 8.34139955e-01 2.59330827e-02 8.04996906e+01] [ 4.50466374e-02 -1.30507273e-03 9.98984033e-01 1.24501003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.75, Y:80.46, Z:124.50 [[ 8.32337186e-01 5.53043320e-01 -3.68496169e-02 5.24746215e+02] [-5.52435909e-01 8.33151582e-01 2.59424047e-02 8.04632103e+01] [ 4.50485903e-02 -1.23577659e-03 9.98984033e-01 1.24501873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.80, Y:80.43, Z:124.50 [[ 8.34403211e-01 5.49921727e-01 -3.68425717e-02 5.24796318e+02] [-5.49310828e-01 8.35214994e-01 2.59524062e-02 8.04264799e+01] [ 4.50432604e-02 -1.41674754e-03 9.98984033e-01 1.24503365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.150385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:524.85, Y:80.39, Z:124.51 [[ 8.35340221e-01 5.48497802e-01 -3.68358113e-02 5.24846227e+02] [-5.47885097e-01 8.36150641e-01 2.59619981e-02 8.03897321e+01] [ 4.50403862e-02 -1.50530913e-03 9.98984033e-01 1.24505313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.210385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:524.89, Y:80.35, Z:124.51 [[ 8.34501651e-01 5.49773266e-01 -3.68286638e-02 5.24893711e+02] [-5.49161353e-01 8.35312670e-01 2.59721333e-02 8.03520643e+01] [ 4.50422341e-02 -1.44890933e-03 9.98984033e-01 1.24510902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.270385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:524.95, Y:80.32, Z:124.52 [[ 8.33195313e-01 5.51751443e-01 -3.68227587e-02 5.24945145e+02] [-5.51141086e-01 8.34007504e-01 2.59805028e-02 8.03165009e+01] [ 4.50452370e-02 -1.35229797e-03 9.98984033e-01 1.24516031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.00, Y:80.28, Z:124.52 [[ 8.31727671e-01 5.53961818e-01 -3.68155653e-02 5.24995799e+02] [-5.53353169e-01 8.32541143e-01 2.59906922e-02 8.02803246e+01] [ 4.50483239e-02 -1.24516815e-03 9.98984033e-01 1.24518336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.05, Y:80.25, Z:124.52 [[ 8.32181144e-01 5.53280803e-01 -3.68089202e-02 5.25047145e+02] [-5.52671074e-01 8.32993805e-01 2.60000998e-02 8.02450880e+01] [ 4.50469586e-02 -1.29356735e-03 9.98984033e-01 1.24518820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.450385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:525.10, Y:80.21, Z:124.52 [[ 8.34637641e-01 5.49568531e-01 -3.68026927e-02 5.25098628e+02] [-5.48954799e-01 8.35447284e-01 2.60089117e-02 8.02083122e+01] [ 4.50403891e-02 -1.50500190e-03 9.98984033e-01 1.24518824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.510385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:525.15, Y:80.17, Z:124.52 [[ 8.37857225e-01 5.44647913e-01 -3.67956546e-02 5.25150995e+02] [-5.44028992e-01 8.38662909e-01 2.60188649e-02 8.01729271e+01] [ 4.50302712e-02 -1.78219107e-03 9.98984033e-01 1.24523169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:525.20, Y:80.14, Z:124.53 [[ 8.40004293e-01 5.41331133e-01 -3.67884696e-02 5.25202924e+02] [-5.40708588e-01 8.40807179e-01 2.60290200e-02 8.01376818e+01] [ 4.50223282e-02 -1.97264708e-03 9.98984033e-01 1.24526818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.26, Y:80.10, Z:124.53 [[ 8.40339979e-01 5.40810363e-01 -3.67813936e-02 5.25255072e+02] [-5.40186884e-01 8.41142140e-01 2.60390152e-02 8.01033801e+01] [ 4.50205494e-02 -2.01279906e-03 9.98984033e-01 1.24530783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.690385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:525.31, Y:80.07, Z:124.53 [[ 8.39069922e-01 5.42779213e-01 -3.67748790e-02 5.25306495e+02] [-5.42157215e-01 8.39873232e-01 2.60482125e-02 8.00679528e+01] [ 4.50246648e-02 -1.91850568e-03 9.98984033e-01 1.24533203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.750385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:525.36, Y:80.03, Z:124.54 [[ 8.35790823e-01 5.47815490e-01 -3.67680370e-02 5.25359061e+02] [-5.47197910e-01 8.36597535e-01 2.60578667e-02 8.00339922e+01] [ 4.50349521e-02 -1.65953284e-03 9.98984033e-01 1.24536768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.41, Y:80.00, Z:124.54 [[ 8.33394639e-01 5.51454487e-01 -3.67603555e-02 5.25410283e+02] [-5.50839954e-01 8.34203673e-01 2.60686986e-02 7.99992329e+01] [ 4.50413244e-02 -1.47644111e-03 9.98984034e-01 1.24541479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.870385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:525.46, Y:79.96, Z:124.54 [[ 8.32558671e-01 5.52716231e-01 -3.67536064e-02 5.25459970e+02] [-5.52102504e-01 8.33368317e-01 2.60782105e-02 7.99640009e+01] [ 4.50431414e-02 -1.41988218e-03 9.98984034e-01 1.24541860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.51, Y:79.93, Z:124.55 [[ 8.31665223e-01 5.54059920e-01 -3.67499818e-02 5.25511949e+02] [-5.53447276e-01 8.32475689e-01 2.60833174e-02 7.99308678e+01] [ 4.50451872e-02 -1.35341067e-03 9.98984034e-01 1.24545005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.56, Y:79.89, Z:124.55 [[ 8.30527264e-01 5.55764668e-01 -3.67436800e-02 5.25562710e+02] [-5.55153296e-01 8.31338689e-01 2.60921918e-02 7.98949232e+01] [ 4.50475611e-02 -1.27190163e-03 9.98984034e-01 1.24550992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.050385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:525.61, Y:79.86, Z:124.56 [[ 8.30504658e-01 5.55798765e-01 -3.67388954e-02 5.25613159e+02] [-5.55187128e-01 8.31315884e-01 2.60989270e-02 7.98576125e+01] [ 4.50473787e-02 -1.27831864e-03 9.98984034e-01 1.24555027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.66, Y:79.82, Z:124.56 [[ 8.30034371e-01 5.56501331e-01 -3.67316247e-02 5.25664811e+02] [-5.55889929e-01 8.30845773e-01 2.61091557e-02 7.98211626e+01] [ 4.50480950e-02 -1.25275639e-03 9.98984034e-01 1.24555958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.170385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:525.71, Y:79.78, Z:124.56 [[ 8.29606788e-01 5.57139029e-01 -3.67243748e-02 5.25713669e+02] [-5.56527799e-01 8.30418321e-01 2.61193492e-02 7.97831362e+01] [ 4.50487025e-02 -1.23065392e-03 9.98984034e-01 1.24557370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.76, Y:79.75, Z:124.56 [[ 8.30236653e-01 5.56200408e-01 -3.67179222e-02 5.25761758e+02] [-5.55587860e-01 8.31047192e-01 2.61284170e-02 7.97462020e+01] [ 4.50469623e-02 -1.29273761e-03 9.98984034e-01 1.24559507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.290385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:525.81, Y:79.71, Z:124.56 [[ 8.32135939e-01 5.53355227e-01 -3.67120234e-02 5.25811659e+02] [-5.52739544e-01 8.32944098e-01 2.61367026e-02 7.97084906e+01] [ 4.50419442e-02 -1.45710246e-03 9.98984034e-01 1.24559386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:525.86, Y:79.67, Z:124.57 [[ 8.34340287e-01 5.50026351e-01 -3.67055810e-02 5.25860897e+02] [-5.49407047e-01 8.35145674e-01 2.61457469e-02 7.96712502e+01] [ 4.50353570e-02 -1.64814514e-03 9.98984034e-01 1.24565527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.91, Y:79.63, Z:124.57 [[ 8.42136417e-01 5.38014333e-01 -3.66992134e-02 5.25908832e+02] [-5.37383164e-01 8.42932540e-01 2.61546817e-02 7.96333372e+01] [ 4.50065548e-02 -2.30427056e-03 9.98984034e-01 1.24566259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:525.96, Y:79.60, Z:124.57 [[ 8.47638913e-01 5.29303192e-01 -3.66933859e-02 5.25958563e+02] [-5.28663496e-01 8.48428201e-01 2.61628548e-02 7.95958332e+01] [ 4.49797859e-02 -2.77820017e-03 9.98984034e-01 1.24571039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.01, Y:79.56, Z:124.58 [[ 8.50231215e-01 5.25129438e-01 -3.66872582e-02 5.26010337e+02] [-5.24485502e-01 8.51017047e-01 2.61714447e-02 7.95639747e+01] [ 4.49648781e-02 -3.00984421e-03 9.98984034e-01 1.24576227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.06, Y:79.53, Z:124.58 [[ 8.49296181e-01 5.26640726e-01 -3.66816449e-02 5.26063467e+02] [-5.25997850e-01 8.50082882e-01 2.61793098e-02 7.95315559e+01] [ 4.49695291e-02 -2.93952148e-03 9.98984034e-01 1.24580984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.12, Y:79.50, Z:124.58 [[ 8.45109124e-01 5.33334289e-01 -3.66756673e-02 5.26121311e+02] [-5.32697287e-01 8.45900589e-01 2.61876815e-02 7.95044948e+01] [ 4.49907570e-02 -2.59442010e-03 9.98984034e-01 1.24584172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.18, Y:79.47, Z:124.59 [[ 8.42625312e-01 5.37250422e-01 -3.66683489e-02 5.26177182e+02] [-5.36616657e-01 8.43419369e-01 2.61979247e-02 7.94738398e+01] [ 4.50016418e-02 -2.39818771e-03 9.98984034e-01 1.24587682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.23, Y:79.44, Z:124.59 [[ 8.40843461e-01 5.40035406e-01 -3.66610814e-02 5.26230138e+02] [-5.39403829e-01 8.41639261e-01 2.62080908e-02 7.94420486e+01] [ 4.50087024e-02 -2.26177409e-03 9.98984034e-01 1.24591152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.29, Y:79.41, Z:124.59 [[ 8.39016091e-01 5.42870420e-01 -3.66565957e-02 5.26286514e+02] [-5.42241260e-01 8.39813802e-01 2.62143634e-02 7.94131542e+01] [ 4.50157175e-02 -2.11755400e-03 9.98984034e-01 1.24593671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.34, Y:79.38, Z:124.60 [[ 8.38849984e-01 5.43127540e-01 -3.66494041e-02 5.26341067e+02] [-5.42498187e-01 8.39647543e-01 2.62244138e-02 7.93804980e+01] [ 4.50157835e-02 -2.11611385e-03 9.98984035e-01 1.24595931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.950385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:526.39, Y:79.35, Z:124.60 [[ 8.39806848e-01 5.41647328e-01 -3.66419214e-02 5.26393421e+02] [-5.41016115e-01 8.40602935e-01 2.62348649e-02 7.93465024e+01] [ 4.50113511e-02 -2.20834925e-03 9.98984035e-01 1.24595818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.45, Y:79.32, Z:124.60 [[ 8.41885984e-01 5.38410499e-01 -3.66350195e-02 5.26448786e+02] [-5.37775809e-01 8.42679302e-01 2.62444993e-02 7.93152276e+01] [ 4.50018866e-02 -2.39344891e-03 9.98984035e-01 1.24598401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.50, Y:79.28, Z:124.60 [[ 8.42604618e-01 5.37285626e-01 -3.66280372e-02 5.26502431e+02] [-5.36649455e-01 8.43396749e-01 2.62542405e-02 7.92818189e+01] [ 4.49979936e-02 -2.46552806e-03 9.98984035e-01 1.24600378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.56, Y:79.25, Z:124.60 [[ 8.41076459e-01 5.39675189e-01 -3.66207734e-02 5.26555446e+02] [-5.39040830e-01 8.41870041e-01 2.62643686e-02 7.92488261e+01] [ 4.50041601e-02 -2.35025006e-03 9.98984035e-01 1.24600300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.61, Y:79.21, Z:124.60 [[ 8.38189081e-01 5.44149284e-01 -3.66144868e-02 5.26608939e+02] [-5.43518781e-01 8.38985731e-01 2.62731297e-02 7.92148814e+01] [ 4.50155367e-02 -2.12118919e-03 9.98984035e-01 1.24601866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.66, Y:79.18, Z:124.61 [[ 8.34742861e-01 5.49421752e-01 -3.66072885e-02 5.26661669e+02] [-5.48795845e-01 8.35543127e-01 2.62831555e-02 7.91806527e+01] [ 4.50275056e-02 -1.84974863e-03 9.98984035e-01 1.24605132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.71, Y:79.14, Z:124.62 [[ 8.29511192e-01 5.57289527e-01 -3.66000643e-02 5.26707137e+02] [-5.56670771e-01 8.30317000e-01 2.62932115e-02 7.91405484e+01] [ 4.50425870e-02 -1.43632726e-03 9.98984035e-01 1.24619032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.76, Y:79.11, Z:124.61 [[ 8.29332210e-01 5.57555907e-01 -3.65991221e-02 5.26759871e+02] [-5.56937351e-01 8.30138172e-01 2.62945230e-02 7.91100062e+01] [ 4.50429949e-02 -1.42347678e-03 9.98984035e-01 1.24608785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.81, Y:79.07, Z:124.63 [[ 8.28644703e-01 5.58577176e-01 -3.65991221e-02 5.26805634e+02] [-5.57959614e-01 8.29451426e-01 2.62945230e-02 7.90713098e+01] [ 4.50447144e-02 -1.36798519e-03 9.98984035e-01 1.24626643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.85, Y:79.03, Z:124.63 [[ 8.31114770e-01 5.54895255e-01 -3.65991221e-02 5.26853541e+02] [-5.54274120e-01 8.31918745e-01 2.62945230e-02 7.90325835e+01] [ 4.50382017e-02 -1.56782026e-03 9.98984035e-01 1.24626354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.90, Y:79.00, Z:124.62 [[ 8.32709414e-01 5.52499775e-01 -3.65927824e-02 5.26902136e+02] [-5.51875940e-01 8.33511296e-01 2.63033426e-02 7.89970411e+01] [ 4.50330884e-02 -1.70836482e-03 9.98984035e-01 1.24619603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.95, Y:78.96, Z:124.63 [[ 8.33537581e-01 5.51249552e-01 -3.65927824e-02 5.26946942e+02] [-5.50624515e-01 8.34338527e-01 2.63033426e-02 7.89573116e+01] [ 4.50304740e-02 -1.77594152e-03 9.98984035e-01 1.24628222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.00, Y:78.92, Z:124.63 [[ 8.36560692e-01 5.46650873e-01 -3.65927824e-02 5.26995259e+02] [-5.46021435e-01 8.37358183e-01 2.63033426e-02 7.89196117e+01] [ 4.50200110e-02 -2.02389894e-03 9.98984035e-01 1.24626222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.05, Y:78.88, Z:124.63 [[ 8.39473299e-01 5.42167485e-01 -3.65923338e-02 5.27045055e+02] [-5.41533762e-01 8.40267390e-01 2.63039667e-02 7.88829887e+01] [ 4.50085003e-02 -2.26549356e-03 9.98984035e-01 1.24629008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.09, Y:78.84, Z:124.63 [[ 8.41234628e-01 5.39430960e-01 -3.65860486e-02 5.27094676e+02] [-5.38794277e-01 8.42026347e-01 2.63127058e-02 7.88437937e+01] [ 4.50003051e-02 -2.42280568e-03 9.98984035e-01 1.24633013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.15, Y:78.81, Z:124.63 [[ 8.41953836e-01 5.38308199e-01 -3.65789674e-02 5.27145592e+02] [-5.37670034e-01 8.42744361e-01 2.63225463e-02 7.88075450e+01] [ 4.49963610e-02 -2.49495421e-03 9.98984035e-01 1.24633328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.20, Y:78.77, Z:124.64 [[ 8.40552735e-01 5.40493786e-01 -3.65727547e-02 5.27197470e+02] [-5.39857303e-01 8.41344615e-01 2.63311754e-02 7.87718514e+01] [ 4.50021269e-02 -2.38867278e-03 9.98984035e-01 1.24637332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.25, Y:78.74, Z:124.64 [[ 8.36843773e-01 5.46219252e-01 -3.65653882e-02 5.27249034e+02] [-5.45587745e-01 8.37639626e-01 2.63414011e-02 7.87392788e+01] [ 4.50167985e-02 -2.09400976e-03 9.98984035e-01 1.24640720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.30, Y:78.71, Z:124.64 [[ 8.32686174e-01 5.52536845e-01 -3.65618710e-02 5.27300912e+02] [-5.51911164e-01 8.33486617e-01 2.63462820e-02 7.87063323e+01] [ 4.50311217e-02 -1.75927997e-03 9.98984035e-01 1.24644975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.35, Y:78.67, Z:124.65 [[ 8.28519702e-01 5.58765386e-01 -3.65560766e-02 5.27353865e+02] [-5.58145371e-01 8.29324541e-01 2.63543194e-02 7.86729160e+01] [ 4.50427329e-02 -1.43146793e-03 9.98984035e-01 1.24648194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.40, Y:78.64, Z:124.66 [[ 8.25354419e-01 5.63430788e-01 -3.65490040e-02 5.27403103e+02] [-5.62814890e-01 8.26162413e-01 2.63641243e-02 7.86377931e+01] [ 4.50497727e-02 -1.18942289e-03 9.98984036e-01 1.24661424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.45, Y:78.60, Z:124.67 [[ 8.22140664e-01 5.68109997e-01 -3.65480406e-02 5.27454025e+02] [-5.67498640e-01 8.22952099e-01 2.63654597e-02 7.86020341e+01] [ 4.50557680e-02 -9.35153253e-04 9.98984036e-01 1.24668184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.51, Y:78.57, Z:124.66 [[ 8.22715063e-01 5.67278288e-01 -3.65413439e-02 5.27506396e+02] [-5.66665698e-01 8.23525567e-01 2.63747378e-02 7.85705534e+01] [ 4.50545471e-02 -9.92167935e-04 9.98984036e-01 1.24659814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.56, Y:78.54, Z:124.66 [[ 8.22173796e-01 5.68062509e-01 -3.65408722e-02 5.27558069e+02] [-5.67450663e-01 8.22984862e-01 2.63753914e-02 7.85353892e+01] [ 4.50554557e-02 -9.50013532e-04 9.98984036e-01 1.24662723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.61, Y:78.50, Z:124.66 [[ 8.21212356e-01 5.69451996e-01 -3.65334155e-02 5.27608205e+02] [-5.68841063e-01 8.22024111e-01 2.63857158e-02 7.84995848e+01] [ 4.50567469e-02 -8.86568897e-04 9.98984036e-01 1.24663251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.66, Y:78.46, Z:124.67 [[ 8.20732191e-01 5.70144265e-01 -3.65265277e-02 5.27658818e+02] [-5.69533593e-01 8.21544142e-01 2.63952474e-02 7.84617603e+01] [ 4.50572538e-02 -8.60344660e-04 9.98984036e-01 1.24666077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.71, Y:78.42, Z:124.67 [[ 8.21587575e-01 5.68911435e-01 -3.65189738e-02 5.27707409e+02] [-5.68299081e-01 8.22398257e-01 2.64056944e-02 7.84239230e+01] [ 4.50556419e-02 -9.40891192e-04 9.98984036e-01 1.24668274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.76, Y:78.39, Z:124.67 [[ 8.21595148e-01 5.68900946e-01 -3.65119974e-02 5.27756326e+02] [-5.68288154e-01 8.22405499e-01 2.64153375e-02 7.83850454e+01] [ 4.50553779e-02 -9.53377529e-04 9.98984036e-01 1.24671945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.81, Y:78.35, Z:124.67 [[ 8.21054984e-01 5.69680733e-01 -3.65044685e-02 5.27806229e+02] [-5.69068248e-01 8.21865567e-01 2.64257378e-02 7.83473928e+01] [ 4.50559994e-02 -9.23449739e-04 9.98984036e-01 1.24673973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.85, Y:78.31, Z:124.68 [[ 8.20032380e-01 5.71152228e-01 -3.64969673e-02 5.27854463e+02] [-5.70540736e-01 8.20843713e-01 2.64360937e-02 7.83091544e+01] [ 4.50573400e-02 -8.55446222e-04 9.98984036e-01 1.24676836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.90, Y:78.27, Z:124.68 [[ 8.17733817e-01 5.74438754e-01 -3.64900464e-02 5.27903615e+02] [-5.73830098e-01 8.18547278e-01 2.64456434e-02 7.82701008e+01] [ 4.50602306e-02 -6.86410004e-04 9.98984036e-01 1.24680088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.95, Y:78.23, Z:124.68 [[ 8.18290652e-01 5.73645726e-01 -3.64827322e-02 5.27954601e+02] [-5.73035832e-01 8.19103186e-01 2.64557297e-02 7.82331262e+01] [ 4.50593384e-02 -7.42563567e-04 9.98984036e-01 1.24681185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.00, Y:78.19, Z:124.69 [[ 8.16257297e-01 5.76535863e-01 -3.64749722e-02 5.28000680e+02] [-5.75928368e-01 8.17071627e-01 2.64664242e-02 7.81908113e+01] [ 4.50615076e-02 -5.96440657e-04 9.98984036e-01 1.24685641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.05, Y:78.15, Z:124.69 [[ 8.15463200e-01 5.77658958e-01 -3.64677684e-02 5.28048312e+02] [-5.77052141e-01 8.16278035e-01 2.64763466e-02 7.81506759e+01] [ 4.50621371e-02 -5.46682467e-04 9.98984036e-01 1.24686552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.10, Y:78.11, Z:124.69 [[ 8.15532185e-01 5.77561707e-01 -3.64654665e-02 5.28095544e+02] [-5.76954651e-01 8.16346841e-01 2.64795166e-02 7.81103350e+01] [ 4.50620232e-02 -5.55977494e-04 9.98984036e-01 1.24691827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.14, Y:78.07, Z:124.69 [[ 8.14109771e-01 5.79565372e-01 -3.64590219e-02 5.28143653e+02] [-5.78959924e-01 8.14925624e-01 2.64883870e-02 7.80688819e+01] [ 4.50631430e-02 -4.56142170e-04 9.98984036e-01 1.24694789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.19, Y:78.03, Z:124.70 [[ 8.13617013e-01 5.80257383e-01 -3.64516836e-02 5.28190408e+02] [-5.79652177e-01 8.14433045e-01 2.64984817e-02 7.80260564e+01] [ 4.50633953e-02 -4.30317794e-04 9.98984037e-01 1.24697818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.24, Y:77.98, Z:124.70 [[ 8.14538316e-01 5.78963873e-01 -3.64440058e-02 5.28235664e+02] [-5.78356899e-01 8.15353033e-01 2.65090369e-02 7.79837767e+01] [ 4.50625053e-02 -5.14984071e-04 9.98984037e-01 1.24701317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.28, Y:77.94, Z:124.70 [[ 8.14096182e-01 5.79585850e-01 -3.64369180e-02 5.28281743e+02] [-5.78979063e-01 8.14911038e-01 2.65187756e-02 7.79414291e+01] [ 4.50627538e-02 -4.92621315e-04 9.98984037e-01 1.24703518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.290385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:528.33, Y:77.90, Z:124.70 [[ 8.13721408e-01 5.80112328e-01 -3.64301643e-02 5.28329258e+02] [-5.79505652e-01 8.14536347e-01 2.65280502e-02 7.79000131e+01] [ 4.50629420e-02 -4.74956240e-04 9.98984037e-01 1.24703915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3503857229999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:528.37, Y:77.86, Z:124.71 [[ 8.10118444e-01 5.85133757e-01 -3.64224333e-02 5.28372809e+02] [-5.84531656e-01 8.10936769e-01 2.65386605e-02 7.78556519e+01] [ 4.50649565e-02 -2.09393101e-04 9.98984037e-01 1.24708418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.410385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:528.42, Y:77.81, Z:124.71 [[ 8.07899297e-01 5.88194341e-01 -3.64162509e-02 5.28418087e+02] [-5.87594958e-01 8.08719614e-01 2.65471413e-02 7.78105637e+01] [ 4.50654146e-02 -4.94113831e-05 9.98984037e-01 1.24711157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.46, Y:77.76, Z:124.71 [[ 8.06588814e-01 5.89990570e-01 -3.64089542e-02 5.28462904e+02] [-5.89392562e-01 8.07410135e-01 2.65571448e-02 7.77647082e+01] [ 4.50654236e-02 3.84708220e-05 9.98984037e-01 1.24713792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.51, Y:77.72, Z:124.72 [[ 8.05908484e-01 5.90919996e-01 -3.64015604e-02 5.28506333e+02] [-5.90322478e-01 8.06730161e-01 2.65672756e-02 7.77174676e+01] [ 4.50653710e-02 7.78665160e-05 9.98984037e-01 1.24716644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.55, Y:77.67, Z:124.72 [[ 8.05973856e-01 5.90831280e-01 -3.63942677e-02 5.28550522e+02] [-5.90233220e-01 8.06795138e-01 2.65772620e-02 7.76707136e+01] [ 4.50653960e-02 6.05274888e-05 9.98984037e-01 1.24720312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.59, Y:77.62, Z:124.72 [[ 8.06497176e-01 5.90117181e-01 -3.63870504e-02 5.28593887e+02] [-5.89517949e-01 8.07317603e-01 2.65871395e-02 7.76238121e+01] [ 4.50654342e-02 8.36635789e-06 9.98984037e-01 1.24723613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.64, Y:77.57, Z:124.73 [[ 8.07264241e-01 5.89067862e-01 -3.63799261e-02 5.28635412e+02] [-5.88467124e-01 8.08083566e-01 2.65968844e-02 7.75742672e+01] [ 4.50653902e-02 -6.23231778e-05 9.98984037e-01 1.24726801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.68, Y:77.53, Z:124.73 [[ 8.07968311e-01 5.88102250e-01 -3.63724051e-02 5.28678755e+02] [-5.87500070e-01 8.08786577e-01 2.66071658e-02 7.75293526e+01] [ 4.50652470e-02 -1.28956272e-04 9.98984037e-01 1.24728255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.73, Y:77.49, Z:124.73 [[ 8.06157721e-01 5.90582153e-01 -3.63655053e-02 5.28729436e+02] [-5.89982065e-01 8.06977522e-01 2.66165928e-02 7.74915585e+01] [ 4.50654300e-02 -2.17585409e-06 9.98984037e-01 1.24731749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.78, Y:77.46, Z:124.73 [[ 8.02984702e-01 5.94889610e-01 -3.63582182e-02 5.28781752e+02] [-5.94293469e-01 8.03807378e-01 2.66265432e-02 7.74556778e+01] [ 4.50648579e-02 2.26744695e-04 9.98984038e-01 1.24733564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.83, Y:77.42, Z:124.73 [[ 8.03615283e-01 5.94037812e-01 -3.63531991e-02 5.28831063e+02] [-5.93440489e-01 8.04437100e-01 2.66333940e-02 7.74189184e+01] [ 4.50651052e-02 1.70457833e-04 9.98984038e-01 1.24734936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.88, Y:77.39, Z:124.73 [[ 8.07181909e-01 5.89182684e-01 -3.63473717e-02 5.28883240e+02] [-5.88580059e-01 8.07999847e-01 2.66413444e-02 7.73854634e+01] [ 4.50652896e-02 -1.11073081e-04 9.98984038e-01 1.24733257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.93, Y:77.35, Z:124.74 [[ 8.06774495e-01 5.89740592e-01 -3.63448382e-02 5.28931940e+02] [-5.89138378e-01 8.07592736e-01 2.66448003e-02 7.73479871e+01] [ 4.50653476e-02 -8.42062855e-05 9.98984038e-01 1.24738232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.98, Y:77.31, Z:124.74 [[ 8.09793059e-01 5.85589249e-01 -3.63377585e-02 5.28981989e+02] [-5.84982407e-01 8.10607873e-01 2.66544520e-02 7.73109574e+01] [ 4.50642336e-02 -3.27640807e-04 9.98984038e-01 1.24740245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:529.03, Y:77.27, Z:124.74 [[ 8.12452826e-01 5.81893848e-01 -3.63311876e-02 5.29032234e+02] [-5.81282899e-01 8.13264566e-01 2.66634054e-02 7.72733231e+01] [ 4.50621391e-02 -5.44060994e-04 9.98984038e-01 1.24743013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.08, Y:77.24, Z:124.75 [[ 8.12565178e-01 5.81737406e-01 -3.63238458e-02 5.29080966e+02] [-5.81125855e-01 8.13376463e-01 2.66734034e-02 7.72370221e+01] [ 4.50618778e-02 -5.65152863e-04 9.98984038e-01 1.24747469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.13, Y:77.20, Z:124.75 [[ 8.12097852e-01 5.82389834e-01 -3.63202510e-02 5.29130952e+02] [-5.81778715e-01 8.12909463e-01 2.66782974e-02 7.72013602e+01] [ 4.50622450e-02 -5.35039079e-04 9.98984038e-01 1.24747972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.18, Y:77.16, Z:124.75 [[ 8.10684795e-01 5.84355590e-01 -3.63140079e-02 5.29181353e+02] [-5.83746059e-01 8.11497599e-01 2.66867927e-02 7.71645239e+01] [ 4.50633068e-02 -4.36418064e-04 9.98984038e-01 1.24753427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.23, Y:77.13, Z:124.76 [[ 8.09209560e-01 5.86396931e-01 -3.63115253e-02 5.29230904e+02] [-5.85789299e-01 8.10023785e-01 2.66901703e-02 7.71281209e+01] [ 4.50642331e-02 -3.27038080e-04 9.98984038e-01 1.24755512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.28, Y:77.09, Z:124.76 [[ 8.09536065e-01 5.85946485e-01 -3.63053187e-02 5.29282695e+02] [-5.85338022e-01 8.10349668e-01 2.66986102e-02 7.70917003e+01] [ 4.50639597e-02 -3.62604397e-04 9.98984038e-01 1.24756713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.33, Y:77.05, Z:124.76 [[ 8.12077539e-01 5.82419540e-01 -3.62980753e-02 5.29330423e+02] [-5.81807103e-01 8.12888156e-01 2.67084542e-02 7.70521315e+01] [ 4.50618011e-02 -5.70857728e-04 9.98984038e-01 1.24760390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.38, Y:77.02, Z:124.76 [[ 8.13715305e-01 5.80129574e-01 -3.62915980e-02 5.29379907e+02] [-5.79514464e-01 8.14523895e-01 2.67172528e-02 7.70156015e+01] [ 4.50598422e-02 -7.08731570e-04 9.98984038e-01 1.24762959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.670385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:529.43, Y:76.98, Z:124.76 [[ 8.13236617e-01 5.80800844e-01 -3.62847688e-02 5.29430619e+02] [-5.80185987e-01 8.14045400e-01 2.67265243e-02 7.69801727e+01] [ 4.50602370e-02 -6.83073855e-04 9.98984038e-01 1.24764551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.48, Y:76.94, Z:124.77 [[ 8.13024664e-01 5.81097892e-01 -3.62785737e-02 5.29481472e+02] [-5.80482956e-01 8.13833387e-01 2.67349309e-02 7.69427665e+01] [ 4.50603265e-02 -6.77064506e-04 9.98984038e-01 1.24767849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.53, Y:76.91, Z:124.77 [[ 8.14890379e-01 5.78479077e-01 -3.62715765e-02 5.29534418e+02] [-5.77861120e-01 8.15696796e-01 2.67444207e-02 7.69100532e+01] [ 4.50576965e-02 -8.33837352e-04 9.98984038e-01 1.24769477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.59, Y:76.87, Z:124.77 [[ 8.15498042e-01 5.77622353e-01 -3.62679109e-02 5.29585410e+02] [-5.77003327e-01 8.16303639e-01 2.67493907e-02 7.68737689e+01] [ 4.50566736e-02 -8.87370434e-04 9.98984038e-01 1.24772156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.63, Y:76.83, Z:124.78 [[ 8.16502655e-01 5.76201889e-01 -3.62601458e-02 5.29631875e+02] [-5.75580995e-01 8.17306812e-01 2.67599125e-02 7.68348960e+01] [ 4.50547763e-02 -9.78888789e-04 9.98984038e-01 1.24776838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.68, Y:76.80, Z:124.78 [[ 8.20259749e-01 5.70841122e-01 -3.62540847e-02 5.29684140e+02] [-5.70214611e-01 8.21059538e-01 2.67681216e-02 7.68012659e+01] [ 4.50471066e-02 -1.28420384e-03 9.98984038e-01 1.24775702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.73, Y:76.76, Z:124.78 [[ 8.20078627e-01 5.71101721e-01 -3.62473387e-02 5.29730812e+02] [-5.70475062e-01 8.20878300e-01 2.67772534e-02 7.67626433e+01] [ 4.50471892e-02 -1.28125047e-03 9.98984038e-01 1.24782097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:529.78, Y:76.73, Z:124.79 [[ 8.20813888e-01 5.70044706e-01 -3.62435445e-02 5.29782079e+02] [-5.69416790e-01 8.21612575e-01 2.67823879e-02 7.67264914e+01] [ 4.50453103e-02 -1.34567318e-03 9.98984039e-01 1.24785564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.83, Y:76.69, Z:124.79 [[ 8.20919595e-01 5.69892921e-01 -3.62364118e-02 5.29833794e+02] [-5.69264432e-01 8.21717830e-01 2.67920349e-02 7.66912668e+01] [ 4.50446967e-02 -1.36600603e-03 9.98984039e-01 1.24789069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.89, Y:76.66, Z:124.79 [[ 8.19761867e-01 5.71557475e-01 -3.62289183e-02 5.29885658e+02] [-5.70930161e-01 8.20561025e-01 2.68021640e-02 7.66568522e+01] [ 4.50470155e-02 -1.28720982e-03 9.98984039e-01 1.24790858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.94, Y:76.62, Z:124.79 [[ 8.19027762e-01 5.72609443e-01 -3.62208705e-02 5.29938126e+02] [-5.71982675e-01 8.19827348e-01 2.68130356e-02 7.66214707e+01] [ 4.50482576e-02 -1.24291013e-03 9.98984039e-01 1.24794209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:529.99, Y:76.59, Z:124.80 [[ 8.18157125e-01 5.73853262e-01 -3.62126008e-02 5.29989975e+02] [-5.73227216e-01 8.18957277e-01 2.68241996e-02 7.65862595e+01] [ 4.50497274e-02 -1.18836168e-03 9.98984039e-01 1.24797534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.04, Y:76.55, Z:124.80 [[ 8.17378200e-01 5.74962661e-01 -3.62051989e-02 5.30042562e+02] [-5.74337258e-01 8.18178856e-01 2.68341864e-02 7.65510504e+01] [ 4.50509834e-02 -1.13968433e-03 9.98984039e-01 1.24800202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.09, Y:76.51, Z:124.80 [[ 8.17197196e-01 5.75220363e-01 -3.61977478e-02 5.30093782e+02] [-5.74594768e-01 8.17997701e-01 2.68442338e-02 7.65145804e+01] [ 4.50510244e-02 -1.13799604e-03 9.98984039e-01 1.24802983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.15, Y:76.48, Z:124.81 [[ 8.18774154e-01 5.72973707e-01 -3.61941497e-02 5.30146293e+02] [-5.72345702e-01 8.19572769e-01 2.68490843e-02 7.64812185e+01] [ 4.50475588e-02 -1.26777027e-03 9.98984039e-01 1.24805667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.570385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:530.20, Y:76.44, Z:124.81 [[ 8.18526262e-01 5.73328264e-01 -3.61864583e-02 5.30197229e+02] [-5.72700148e-01 8.19324790e-01 2.68594465e-02 7.64447105e+01] [ 4.50477422e-02 -1.26117238e-03 9.98984039e-01 1.24809891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.25, Y:76.41, Z:124.81 [[ 8.18403930e-01 5.73503383e-01 -3.61784111e-02 5.30250402e+02] [-5.72874959e-01 8.19202215e-01 2.68702813e-02 7.64122220e+01] [ 4.50476318e-02 -1.26503810e-03 9.98984039e-01 1.24810235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.30, Y:76.38, Z:124.81 [[ 8.16051647e-01 5.76846054e-01 -3.61709720e-02 5.30303943e+02] [-5.76220458e-01 8.16852150e-01 2.68802917e-02 7.63788449e+01] [ 4.50521264e-02 -1.09325227e-03 9.98984039e-01 1.24811634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.36, Y:76.34, Z:124.81 [[ 8.16152020e-01 5.76704240e-01 -3.61676700e-02 5.30355947e+02] [-5.76078307e-01 8.16952260e-01 2.68847337e-02 7.63449150e+01] [ 4.50517997e-02 -1.10661962e-03 9.98984039e-01 1.24814563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.810385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:530.41, Y:76.31, Z:124.82 [[ 8.16541671e-01 5.76152852e-01 -3.61606129e-02 5.30407774e+02] [-5.75525959e-01 8.17341159e-01 2.68942224e-02 7.63095030e+01] [ 4.50507402e-02 -1.14888191e-03 9.98984039e-01 1.24816708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.46, Y:76.28, Z:124.82 [[ 8.17994421e-01 5.74088675e-01 -3.61568961e-02 5.30460464e+02] [-5.73459544e-01 8.18792149e-01 2.68992184e-02 7.62756777e+01] [ 4.50475193e-02 -1.26889344e-03 9.98984039e-01 1.24821811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.930385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:530.51, Y:76.24, Z:124.82 [[ 8.19311374e-01 5.72207782e-01 -3.61542011e-02 5.30512115e+02] [-5.71576660e-01 8.20107529e-01 2.69028401e-02 7.62406339e+01] [ 4.50443470e-02 -1.37690535e-03 9.98984039e-01 1.24822571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.56, Y:76.21, Z:124.83 [[ 8.20065147e-01 5.71127426e-01 -3.61471700e-02 5.30563972e+02] [-5.70494841e-01 8.20860138e-01 2.69122839e-02 7.62067306e+01] [ 4.50421144e-02 -1.44805211e-03 9.98984039e-01 1.24827958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.62, Y:76.18, Z:124.83 [[ 8.21614576e-01 5.68896633e-01 -3.61401297e-02 5.30618333e+02] [-5.68261474e-01 8.22407513e-01 2.69217349e-02 7.61771152e+01] [ 4.50375985e-02 -1.58224642e-03 9.98984040e-01 1.24826317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.67, Y:76.14, Z:124.83 [[ 8.20480313e-01 5.70531693e-01 -3.61336817e-02 5.30671862e+02] [-5.69897734e-01 8.21274210e-01 2.69303864e-02 7.61446864e+01] [ 4.50402999e-02 -1.50334857e-03 9.98984040e-01 1.24829816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.73, Y:76.11, Z:124.83 [[ 8.17967146e-01 5.74129455e-01 -3.61263938e-02 5.30725326e+02] [-5.73498557e-01 8.18763478e-01 2.69401594e-02 7.61144076e+01] [ 4.50461109e-02 -1.31773060e-03 9.98984040e-01 1.24829947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.78, Y:76.08, Z:124.83 [[ 8.16194135e-01 5.76647446e-01 -3.61227957e-02 5.30778853e+02] [-5.76018792e-01 8.16992239e-01 2.69449831e-02 7.60806449e+01] [ 4.50497995e-02 -1.18492807e-03 9.98984040e-01 1.24834089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.290385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:530.83, Y:76.05, Z:124.84 [[ 8.14383722e-01 5.79201888e-01 -3.61154596e-02 5.30830497e+02] [-5.78575302e-01 8.15183451e-01 2.69548124e-02 7.60473470e+01] [ 4.50530032e-02 -1.05604753e-03 9.98984040e-01 1.24839162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.88, Y:76.01, Z:124.84 [[ 8.12825144e-01 5.81387521e-01 -3.61086771e-02 5.30882333e+02] [-5.80762682e-01 8.13626238e-01 2.69638952e-02 7.60127009e+01] [ 4.50554393e-02 -9.46359818e-04 9.98984040e-01 1.24841330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.410385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:530.93, Y:75.97, Z:124.85 [[ 8.12983130e-01 5.81166995e-01 -3.61020103e-02 5.30932358e+02] [-5.80541543e-01 8.13783745e-01 2.69728184e-02 7.59747179e+01] [ 4.50549410e-02 -9.69729560e-04 9.98984040e-01 1.24845991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.98, Y:75.94, Z:124.85 [[ 8.14101401e-01 5.79599946e-01 -3.60944645e-02 5.30982824e+02] [-5.78972507e-01 8.14900460e-01 2.69829124e-02 7.59372197e+01] [ 4.50526902e-02 -1.06912423e-03 9.98984040e-01 1.24849148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.03, Y:75.90, Z:124.85 [[ 8.14390798e-01 5.79193719e-01 -3.60868956e-02 5.31032100e+02] [-5.78565433e-01 8.15189191e-01 2.69930312e-02 7.59004185e+01] [ 4.50518413e-02 -1.10424590e-03 9.98984040e-01 1.24851139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.08, Y:75.86, Z:124.85 [[ 8.14536640e-01 5.78989035e-01 -3.60799066e-02 5.31082333e+02] [-5.78360134e-01 8.15334549e-01 2.70023697e-02 7.58621553e+01] [ 4.50512704e-02 -1.12723987e-03 9.98984040e-01 1.24853783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.13, Y:75.82, Z:124.86 [[ 8.14001998e-01 5.79740906e-01 -3.60725428e-02 5.31132033e+02] [-5.79112308e-01 8.14800145e-01 2.70122035e-02 7.58240374e+01] [ 4.50519924e-02 -1.09793413e-03 9.98984040e-01 1.24856145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.18, Y:75.79, Z:124.86 [[ 8.13052414e-01 5.81072354e-01 -3.60651130e-02 5.31180780e+02] [-5.80444623e-01 8.13851243e-01 2.70221197e-02 7.57851009e+01] [ 4.50534437e-02 -1.03659875e-03 9.98984040e-01 1.24859673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.23, Y:75.75, Z:124.86 [[ 8.11943588e-01 5.82621194e-01 -3.60576412e-02 5.31230331e+02] [-5.81994545e-01 8.12743266e-01 2.70320861e-02 7.57459759e+01] [ 4.50550714e-02 -9.63178534e-04 9.98984040e-01 1.24862291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.28, Y:75.71, Z:124.87 [[ 8.11433968e-01 5.83331218e-01 -3.60500465e-02 5.31279400e+02] [-5.82704819e-01 8.12233841e-01 2.70422107e-02 7.57066908e+01] [ 4.50556335e-02 -9.36432473e-04 9.98984040e-01 1.24865741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.33, Y:75.67, Z:124.87 [[ 8.11227316e-01 5.83619039e-01 -3.60424748e-02 5.31327334e+02] [-5.82992475e-01 8.12027061e-01 2.70522986e-02 7.56678459e+01] [ 4.50557014e-02 -9.33071970e-04 9.98984040e-01 1.24869632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.38, Y:75.63, Z:124.87 [[ 8.11704948e-01 5.82954991e-01 -3.60354873e-02 5.31376287e+02] [-5.82327360e-01 8.12503856e-01 2.70616032e-02 7.56281372e+01] [ 4.50546691e-02 -9.81587034e-04 9.98984041e-01 1.24872523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.42, Y:75.59, Z:124.87 [[ 8.13686630e-01 5.80186212e-01 -3.60281421e-02 5.31423549e+02] [-5.79555431e-01 8.14483052e-01 2.70713787e-02 7.55884042e+01] [ 4.50507518e-02 -1.14731349e-03 9.98984041e-01 1.24874545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.070385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:531.47, Y:75.55, Z:124.88 [[ 8.14106216e-01 5.79597456e-01 -3.60257894e-02 5.31472545e+02] [-5.78965961e-01 8.14902072e-01 2.70745092e-02 7.55483380e+01] [ 4.50498071e-02 -1.18382049e-03 9.98984041e-01 1.24878518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.130385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:531.52, Y:75.51, Z:124.88 [[ 8.13258873e-01 5.80786283e-01 -3.60180432e-02 5.31521673e+02] [-5.80155495e-01 8.14055290e-01 2.70848104e-02 7.55093317e+01] [ 4.50511649e-02 -1.13089671e-03 9.98984041e-01 1.24878859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.190385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:531.57, Y:75.47, Z:124.88 [[ 8.12394031e-01 5.81995849e-01 -3.60106803e-02 5.31570042e+02] [-5.81365814e-01 8.13191044e-01 2.70945961e-02 7.54706048e+01] [ 4.50525052e-02 -1.07610968e-03 9.98984041e-01 1.24879600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.62, Y:75.43, Z:124.88 [[ 8.13796352e-01 5.80033789e-01 -3.60041937e-02 5.31617661e+02] [-5.79401451e-01 8.14591538e-01 2.71032130e-02 7.54306038e+01] [ 4.50494909e-02 -1.19561379e-03 9.98984041e-01 1.24882939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:531.67, Y:75.39, Z:124.89 [[ 8.15109253e-01 5.78187771e-01 -3.59973315e-02 5.31666038e+02] [-5.77553231e-01 8.15902683e-01 2.71123241e-02 7.53899366e+01] [ 4.50463336e-02 -1.30913109e-03 9.98984041e-01 1.24887403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.71, Y:75.35, Z:124.89 [[ 8.15388765e-01 5.77793987e-01 -3.59898501e-02 5.31714999e+02] [-5.77158626e-01 8.16181538e-01 2.71222515e-02 7.53499480e+01] [ 4.50453251e-02 -1.34332669e-03 9.98984041e-01 1.24889872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.76, Y:75.31, Z:124.89 [[ 8.14712649e-01 5.78747410e-01 -3.59824211e-02 5.31763277e+02] [-5.78112542e-01 8.15505817e-01 2.71321038e-02 7.53112148e+01] [ 4.50465085e-02 -1.30297925e-03 9.98984041e-01 1.24891616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:531.81, Y:75.27, Z:124.89 [[ 8.12700393e-01 5.81570142e-01 -3.59755604e-02 5.31812317e+02] [-5.80937627e-01 8.13495439e-01 2.71411976e-02 7.52715338e+01] [ 4.50504645e-02 -1.15810528e-03 9.98984041e-01 1.24892891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.550385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:531.86, Y:75.23, Z:124.90 [[ 8.11072873e-01 5.83838240e-01 -3.59681147e-02 5.31861628e+02] [-5.83207511e-01 8.11869336e-01 2.71510613e-02 7.52319979e+01] [ 4.50532372e-02 -1.04461464e-03 9.98984041e-01 1.24895448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.91, Y:75.19, Z:124.90 [[ 8.08421709e-01 5.87504190e-01 -3.59606405e-02 5.31909196e+02] [-5.86876634e-01 8.09220674e-01 2.71609570e-02 7.51912148e+01] [ 4.50572698e-02 -8.53047651e-04 9.98984041e-01 1.24898229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.670385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:531.96, Y:75.15, Z:124.89 [[ 8.09055645e-01 5.86631340e-01 -3.59532123e-02 5.31960728e+02] [-5.86002486e-01 8.09853589e-01 2.71707862e-02 7.51546360e+01] [ 4.50560727e-02 -9.14006122e-04 9.98984041e-01 1.24892522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.01, Y:75.11, Z:124.90 [[ 8.08615654e-01 5.87238151e-01 -3.59454918e-02 5.32005676e+02] [-5.86609442e-01 8.09413711e-01 2.71809963e-02 7.51103349e+01] [ 4.50564919e-02 -8.93014196e-04 9.98984041e-01 1.24900024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:532.05, Y:75.07, Z:124.90 [[ 8.08691750e-01 5.87133835e-01 -3.59376184e-02 5.32052632e+02] [-5.86504561e-01 8.09489362e-01 2.71914022e-02 7.50691461e+01] [ 4.50561120e-02 -9.11885558e-04 9.98984042e-01 1.24901768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.10, Y:75.03, Z:124.91 [[ 8.08571894e-01 5.87299329e-01 -3.59303546e-02 5.32099904e+02] [-5.86669791e-01 8.09369299e-01 2.72009970e-02 7.50274915e+01] [ 4.50560532e-02 -9.14708031e-04 9.98984042e-01 1.24906131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.15, Y:74.98, Z:124.91 [[ 8.06671694e-01 5.89907074e-01 -3.59224496e-02 5.32145934e+02] [-5.89279650e-01 8.07470762e-01 2.72114326e-02 7.49835765e+01] [ 4.50585443e-02 -7.82323949e-04 9.98984042e-01 1.24909320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.19, Y:74.94, Z:124.91 [[ 8.05199893e-01 5.91914923e-01 -3.59145654e-02 5.32191845e+02] [-5.91289028e-01 8.06000160e-01 2.72218345e-02 7.49423214e+01] [ 4.50601555e-02 -6.83129818e-04 9.98984042e-01 1.24910083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.24, Y:74.90, Z:124.91 [[ 8.06050706e-01 5.90756086e-01 -3.59097030e-02 5.32237350e+02] [-5.90128755e-01 8.06849847e-01 2.72282472e-02 7.48986356e+01] [ 4.50589911e-02 -7.55999585e-04 9.98984042e-01 1.24910978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.28, Y:74.85, Z:124.92 [[ 8.07076649e-01 5.89354146e-01 -3.59022758e-02 5.32278812e+02] [-5.88724991e-01 8.07874355e-01 2.72380369e-02 7.48529331e+01] [ 4.50573779e-02 -8.46616552e-04 9.98984042e-01 1.24919745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.33, Y:74.81, Z:124.92 [[ 8.06540200e-01 5.90088435e-01 -3.58963150e-02 5.32328232e+02] [-5.89459657e-01 8.07338203e-01 2.72458903e-02 7.48138258e+01] [ 4.50579512e-02 -8.15476281e-04 9.98984042e-01 1.24921784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.38, Y:74.78, Z:124.92 [[ 8.06757181e-01 5.89792188e-01 -3.58890698e-02 5.32381778e+02] [-5.89162693e-01 8.07554619e-01 2.72554305e-02 7.47808546e+01] [ 4.50574241e-02 -8.44013223e-04 9.98984042e-01 1.24917672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.43, Y:74.74, Z:124.93 [[ 8.03610809e-01 5.94072502e-01 -3.58821695e-02 5.32428000e+02] [-5.93446849e-01 8.04411265e-01 2.72645119e-02 7.47418097e+01] [ 4.50611181e-02 -6.15896067e-04 9.98984042e-01 1.24930014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.48, Y:74.71, Z:124.93 [[ 8.04701520e-01 5.92594623e-01 -3.58758598e-02 5.32477568e+02] [-5.91967131e-01 8.05500534e-01 2.72728119e-02 7.47050442e+01] [ 4.50597459e-02 -7.09143345e-04 9.98984042e-01 1.24932779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:532.53, Y:74.67, Z:124.93 [[ 8.08217638e-01 5.87790502e-01 -3.58688689e-02 5.32529410e+02] [-5.87157853e-01 8.09012576e-01 2.72820031e-02 7.46706560e+01] [ 4.50544683e-02 -9.89108043e-04 9.98984042e-01 1.24930116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.58, Y:74.63, Z:124.94 [[ 8.08563091e-01 5.87315631e-01 -3.58619106e-02 5.32576731e+02] [-5.86682111e-01 8.09357334e-01 2.72911467e-02 7.46323638e+01] [ 4.50536174e-02 -1.02707249e-03 9.98984042e-01 1.24938450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:532.63, Y:74.60, Z:124.94 [[ 8.11652096e-01 5.83039666e-01 -3.58555816e-02 5.32627384e+02] [-5.82401595e-01 8.12442688e-01 2.72994593e-02 7.45963494e+01] [ 4.50472728e-02 -1.27531540e-03 9.98984042e-01 1.24942283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.68, Y:74.56, Z:124.95 [[ 8.12105267e-01 5.82408714e-01 -3.58486430e-02 5.32677231e+02] [-5.81769627e-01 8.12895038e-01 2.73085679e-02 7.45596852e+01] [ 4.50459319e-02 -1.32178016e-03 9.98984042e-01 1.24945168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.73, Y:74.52, Z:124.95 [[ 8.09998763e-01 5.85335261e-01 -3.58418295e-02 5.32726482e+02] [-5.84698633e-01 8.10790517e-01 2.73175074e-02 7.45226665e+01] [ 4.50501158e-02 -1.17047849e-03 9.98984042e-01 1.24947361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.78, Y:74.49, Z:124.95 [[ 8.07333616e-01 5.89006174e-01 -3.58351772e-02 5.32777218e+02] [-5.88372760e-01 8.08127943e-01 2.73262311e-02 7.44850785e+01] [ 4.50547269e-02 -9.76942858e-04 9.98984043e-01 1.24949377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.750385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:532.83, Y:74.45, Z:124.95 [[ 8.03549216e-01 5.94159125e-01 -3.58272488e-02 5.32826251e+02] [-5.93530343e-01 8.04347214e-01 2.73366221e-02 7.44478486e+01] [ 4.50598512e-02 -7.01761948e-04 9.98984043e-01 1.24952715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.88, Y:74.41, Z:124.96 [[ 8.01138682e-01 5.97405845e-01 -3.58199562e-02 5.32875295e+02] [-5.96779870e-01 8.01938884e-01 2.73461744e-02 7.44084042e+01] [ 4.50621802e-02 -5.31449324e-04 9.98984043e-01 1.24956297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.92, Y:74.37, Z:124.96 [[ 8.00270412e-01 5.98568906e-01 -3.58124739e-02 5.32924275e+02] [-5.97943655e-01 8.01071181e-01 2.73559698e-02 7.43701583e+01] [ 4.50627736e-02 -4.78331688e-04 9.98984043e-01 1.24959098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.97, Y:74.33, Z:124.96 [[ 8.00025603e-01 5.98896479e-01 -3.58056081e-02 5.32970404e+02] [-5.98271154e-01 8.00826314e-01 2.73649534e-02 7.43306140e+01] [ 4.50628473e-02 -4.71200862e-04 9.98984043e-01 1.24963905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.02, Y:74.29, Z:124.96 [[ 8.00445903e-01 5.98334993e-01 -3.57993530e-02 5.33018880e+02] [-5.97708740e-01 8.01245888e-01 2.73731339e-02 7.42923822e+01] [ 4.50623883e-02 -5.13126656e-04 9.98984043e-01 1.24964244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.07, Y:74.25, Z:124.97 [[ 8.01519685e-01 5.96896191e-01 -3.57929063e-02 5.33067017e+02] [-5.96268126e-01 8.02318249e-01 2.73815610e-02 7.42530277e+01] [ 4.50612513e-02 -6.04690973e-04 9.98984043e-01 1.24971004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.12, Y:74.22, Z:124.97 [[ 8.03490878e-01 5.94240502e-01 -3.57859772e-02 5.33115300e+02] [-5.93609395e-01 8.04287039e-01 2.73906139e-02 7.42159808e+01] [ 4.50588098e-02 -7.65216162e-04 9.98984043e-01 1.24969152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.17, Y:74.18, Z:124.97 [[ 8.04378751e-01 5.93038306e-01 -3.57825674e-02 5.33165896e+02] [-5.92405811e-01 8.05173810e-01 2.73950677e-02 7.41780337e+01] [ 4.50575107e-02 -8.38209451e-04 9.98984043e-01 1.24972398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.22, Y:74.14, Z:124.98 [[ 8.05570054e-01 5.91419498e-01 -3.57752114e-02 5.33216671e+02] [-5.90784979e-01 8.06363499e-01 2.74046705e-02 7.41416388e+01] [ 4.50554811e-02 -9.40924445e-04 9.98984043e-01 1.24975527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.290385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:533.27, Y:74.11, Z:124.98 [[ 8.06865233e-01 5.89651741e-01 -3.57675853e-02 5.33267246e+02] [-5.89015043e-01 8.07656931e-01 2.74146201e-02 7.41060401e+01] [ 4.50530167e-02 -1.05225806e-03 9.98984043e-01 1.24978358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.32, Y:74.07, Z:124.98 [[ 8.07570420e-01 5.88685994e-01 -3.57605446e-02 5.33319468e+02] [-5.88047944e-01 8.08361027e-01 2.74238013e-02 7.40707195e+01] [ 4.50514383e-02 -1.11773604e-03 9.98984043e-01 1.24982115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.410385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:533.37, Y:74.04, Z:124.99 [[ 8.07786859e-01 5.88389424e-01 -3.57529899e-02 5.33370633e+02] [-5.87750648e-01 8.08576880e-01 2.74336470e-02 7.40354237e+01] [ 4.50507087e-02 -1.14669656e-03 9.98984043e-01 1.24985130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.42, Y:74.00, Z:124.99 [[ 8.05915423e-01 5.90950552e-01 -3.57460124e-02 5.33419544e+02] [-5.90313884e-01 8.06707143e-01 2.74427357e-02 7.39974817e+01] [ 4.50538633e-02 -1.01515652e-03 9.98984043e-01 1.24993302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.47, Y:73.96, Z:125.00 [[ 8.01456625e-01 5.96984080e-01 -3.57391467e-02 5.33471275e+02] [-5.96352975e-01 8.02252787e-01 2.74516740e-02 7.39617690e+01] [ 4.50600424e-02 -6.88179489e-04 9.98984043e-01 1.24998426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.52, Y:73.93, Z:125.00 [[ 7.99035882e-01 6.00220761e-01 -3.57309083e-02 5.33523695e+02] [-5.99592402e-01 7.99834213e-01 2.74623929e-02 7.39279647e+01] [ 4.50623013e-02 -5.19456163e-04 9.98984044e-01 1.24996155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.57, Y:73.89, Z:125.00 [[ 7.96564128e-01 6.03497643e-01 -3.57237259e-02 5.33573536e+02] [-6.02872150e-01 7.97364706e-01 2.74717327e-02 7.38911402e+01] [ 4.50639642e-02 -3.46157370e-04 9.98984044e-01 1.24999759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.710385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:533.62, Y:73.85, Z:125.00 [[ 7.96272386e-01 6.03882824e-01 -3.57186529e-02 5.33622955e+02] [-6.03257422e-01 7.97073036e-01 2.74783270e-02 7.38531855e+01] [ 4.50640649e-02 -3.32690532e-04 9.98984044e-01 1.25002672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.67, Y:73.81, Z:125.01 [[ 7.96821085e-01 6.03159050e-01 -3.57116201e-02 5.33672762e+02] [-6.02532511e-01 7.97620845e-01 2.74874640e-02 7.38149966e+01] [ 4.50636453e-02 -3.85178762e-04 9.98984044e-01 1.25005670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.72, Y:73.78, Z:125.01 [[ 7.99485846e-01 5.99622912e-01 -3.57035873e-02 5.33720502e+02] [-5.98992370e-01 8.00282454e-01 2.74978939e-02 7.37753024e+01] [ 4.50613217e-02 -5.98000573e-04 9.98984044e-01 1.25010443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:533.77, Y:73.74, Z:125.01 [[ 8.00798429e-01 5.97869244e-01 -3.56965380e-02 5.33767900e+02] [-5.97236551e-01 8.01593329e-01 2.75070419e-02 7.37373582e+01] [ 4.50597211e-02 -7.08318724e-04 9.98984044e-01 1.25012470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.82, Y:73.70, Z:125.02 [[ 8.01885315e-01 5.96410915e-01 -3.56926047e-02 5.33816437e+02] [-5.95776549e-01 8.02678881e-01 2.75121449e-02 7.36984314e+01] [ 4.50582435e-02 -7.96768142e-04 9.98984044e-01 1.25017066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.86, Y:73.66, Z:125.02 [[ 8.01046529e-01 5.97537443e-01 -3.56856071e-02 5.33864506e+02] [-5.96903789e-01 8.01840663e-01 2.75212183e-02 7.36591432e+01] [ 4.50591293e-02 -7.44902276e-04 9.98984044e-01 1.25020022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.91, Y:73.62, Z:125.02 [[ 7.99722312e-01 5.99308984e-01 -3.56786299e-02 5.33913999e+02] [-5.98676686e-01 8.00517527e-01 2.75302607e-02 7.36219478e+01] [ 4.50605011e-02 -6.56599813e-04 9.98984044e-01 1.25021426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.130385723 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:533.96, Y:73.58, Z:125.03 [[ 7.98426112e-01 6.01035170e-01 -3.56716680e-02 5.33962337e+02] [-6.00404188e-01 7.99222372e-01 2.75392784e-02 7.35835597e+01] [ 4.50616700e-02 -5.70660157e-04 9.98984044e-01 1.25026833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.190385723 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [True, True] Translation: X:534.01, Y:73.54, Z:125.03 [[ 7.99625019e-01 5.99439626e-01 -3.56646081e-02 5.34010592e+02] [-5.98806648e-01 8.00419692e-01 2.75484183e-02 7.35443192e+01] [ 4.50602682e-02 -6.72200078e-04 9.98984044e-01 1.25030444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.250385723 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:534.06, Y:73.51, Z:125.03 [[ 8.01116603e-01 5.97445165e-01 -3.56575949e-02 5.34059851e+02] [-5.96809805e-01 8.01909372e-01 2.75574929e-02 7.35061195e+01] [ 4.50582504e-02 -7.95962883e-04 9.98984044e-01 1.25034390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.310385723 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:534.11, Y:73.47, Z:125.04 [[ 8.02712058e-01 5.95300250e-01 -3.56505923e-02 5.34110943e+02] [-5.94662370e-01 8.03502801e-01 2.75665491e-02 7.34693798e+01] [ 4.50557243e-02 -9.27935668e-04 9.98984044e-01 1.25038824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.370385723 meters Centerline goodness : 0.997597 with order 1 Centerline is valid? [True, True] Translation: X:534.16, Y:73.43, Z:125.04 [[ 8.04820255e-01 5.92447441e-01 -3.56424840e-02 5.34162143e+02] [-5.91806295e-01 8.05608352e-01 2.75770288e-02 7.34346322e+01] [ 4.50518229e-02 -1.10110495e-03 9.98984044e-01 1.25038283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.430385723 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:534.22, Y:73.40, Z:125.04 [[ 8.06374397e-01 5.90330791e-01 -3.56355007e-02 5.34215054e+02] [-5.89687178e-01 8.07160481e-01 2.75860498e-02 7.34019434e+01] [ 4.50484625e-02 -1.23088651e-03 9.98984044e-01 1.25038128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.490385723 meters Centerline goodness : 0.997736 with order 1 Centerline is valid? [True, True] Translation: X:534.27, Y:73.37, Z:125.04 [[ 8.06093261e-01 5.90715043e-01 -3.56285374e-02 5.34268941e+02] [-5.90071407e-01 8.06879327e-01 2.75950402e-02 7.33683556e+01] [ 4.50487357e-02 -1.22079472e-03 9.98984044e-01 1.25040868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.550385723 meters Centerline goodness : 0.997398 with order 1 Centerline is valid? [True, True] Translation: X:534.32, Y:73.34, Z:125.04 [[ 8.07509295e-01 5.88778319e-01 -3.56206296e-02 5.34322559e+02] [-5.88132349e-01 8.08293443e-01 2.76052442e-02 7.33357798e+01] [ 4.50452906e-02 -1.34184670e-03 9.98984045e-01 1.25041768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.610385723 meters Centerline goodness : 0.997714 with order 1 Centerline is valid? [True, True] Translation: X:534.37, Y:73.30, Z:125.05 [[ 8.05144302e-01 5.92008454e-01 -3.56180357e-02 5.34374568e+02] [-5.91365482e-01 8.05930910e-01 2.76085905e-02 7.33000826e+01] [ 4.50501949e-02 -1.16562247e-03 9.98984045e-01 1.25047798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.670385723 meters Centerline goodness : 0.997095 with order 1 Centerline is valid? [True, True] Translation: X:534.43, Y:73.27, Z:125.05 [[ 8.06730441e-01 5.89845562e-01 -3.56119317e-02 5.34433528e+02] [-5.89200135e-01 8.07515035e-01 2.76164617e-02 7.32735444e+01] [ 4.50466177e-02 -1.29648538e-03 9.98984045e-01 1.25045270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.730385723 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:534.49, Y:73.24, Z:125.05 [[ 8.02938360e-01 5.94997462e-01 -3.56091303e-02 5.34486365e+02] [-5.94356910e-01 8.03726941e-01 2.76200734e-02 7.32427719e+01] [ 4.50538910e-02 -1.01268380e-03 9.98984045e-01 1.25052266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.790385723 meters Centerline goodness : 0.997976 with order 1 Centerline is valid? [True, True] Translation: X:534.54, Y:73.21, Z:125.06 [[ 8.00616711e-01 5.98118156e-01 -3.56027251e-02 5.34538709e+02] [-5.97480312e-01 8.01407482e-01 2.76283274e-02 7.32080576e+01] [ 4.50572945e-02 -8.47773319e-04 9.98984045e-01 1.25058913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8503857229999 meters Centerline goodness : 0.997676 with order 1 Centerline is valid? [True, True] Translation: X:534.59, Y:73.18, Z:125.06 [[ 8.02132397e-01 5.96084398e-01 -3.55950555e-02 5.34594216e+02] [-5.95444111e-01 8.02921192e-01 2.76382051e-02 7.31762105e+01] [ 4.50547272e-02 -9.74633489e-04 9.98984045e-01 1.25057784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.910385723 meters Centerline goodness : 0.998102 with order 1 Centerline is valid? [True, True] Translation: X:534.65, Y:73.14, Z:125.06 [[ 8.02960279e-01 5.94969205e-01 -3.55870123e-02 5.34646219e+02] [-5.94327364e-01 8.03747810e-01 2.76485576e-02 7.31426859e+01] [ 4.50530235e-02 -1.05035832e-03 9.98984045e-01 1.25063958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9703857229999 meters Centerline goodness : 0.998019 with order 1 Centerline is valid? [True, True] Translation: X:534.70, Y:73.11, Z:125.06 [[ 8.05570019e-01 5.91431322e-01 -3.55799818e-02 5.34700904e+02] [-5.90785624e-01 8.06354391e-01 2.76576020e-02 7.31113130e+01] [ 4.50476467e-02 -1.25999329e-03 9.98984045e-01 1.25062236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.030385723 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:534.75, Y:73.08, Z:125.07 [[ 8.08865977e-01 5.86916028e-01 -3.55725633e-02 5.34754479e+02] [-5.86265534e-01 8.09646375e-01 2.76671402e-02 7.30814452e+01] [ 4.50394850e-02 -1.52404055e-03 9.98984045e-01 1.25065264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0903857229999 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:534.81, Y:73.05, Z:125.07 [[ 8.10501903e-01 5.84655197e-01 -3.55663571e-02 5.34807690e+02] [-5.84002176e-01 8.11280190e-01 2.76751160e-02 7.30488839e+01] [ 4.50346813e-02 -1.65990426e-03 9.98984045e-01 1.25067537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.150385723 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:534.86, Y:73.02, Z:125.07 [[ 8.09510120e-01 5.86027793e-01 -3.55639034e-02 5.34863119e+02] [-5.85375955e-01 8.10289396e-01 2.76782688e-02 7.30182341e+01] [ 4.50372886e-02 -1.58758479e-03 9.98984045e-01 1.25069601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.210385723 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:534.92, Y:72.99, Z:125.07 [[ 8.05533063e-01 5.91483095e-01 -3.55560488e-02 5.34916597e+02] [-5.90836091e-01 8.06316358e-01 2.76883553e-02 7.29861163e+01] [ 4.50466178e-02 -1.29608873e-03 9.98984045e-01 1.25067915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.270385723 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:534.97, Y:72.95, Z:125.07 [[ 8.01332183e-01 5.97162430e-01 -3.55494602e-02 5.34967704e+02] [-5.96520604e-01 8.02119726e-01 2.76968119e-02 7.29527314e+01] [ 4.50544188e-02 -9.88361234e-04 9.98984045e-01 1.25072402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.330385723 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:535.02, Y:72.92, Z:125.08 [[ 7.99051979e-01 6.00210464e-01 -3.55434235e-02 5.35019178e+02] [-5.99571298e-01 7.99841682e-01 2.77045567e-02 7.29170285e+01] [ 4.50576764e-02 -8.26564257e-04 9.98984045e-01 1.25076147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.390385723 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:535.07, Y:72.88, Z:125.08 [[ 7.99089311e-01 6.00161221e-01 -3.55356276e-02 5.35068684e+02] [-5.99521563e-01 7.99878615e-01 2.77145526e-02 7.28777322e+01] [ 4.50573883e-02 -8.42027732e-04 9.98984045e-01 1.25078477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.450385723 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:535.12, Y:72.84, Z:125.08 [[ 7.99125639e-01 6.00113311e-01 -3.55278366e-02 5.35117137e+02] [-5.99473162e-01 7.99914545e-01 2.77245365e-02 7.28382629e+01] [ 4.50570966e-02 -8.57403389e-04 9.98984045e-01 1.25082342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.510385723 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:535.17, Y:72.80, Z:125.09 [[ 8.00647194e-01 5.98082260e-01 -3.55201643e-02 5.35165333e+02] [-5.97439673e-01 8.01434116e-01 2.77343626e-02 7.27971601e+01] [ 4.50545017e-02 -9.84284179e-04 9.98984045e-01 1.25085677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.570385723 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:535.21, Y:72.76, Z:125.09 [[ 8.02156508e-01 5.96056880e-01 -3.55124448e-02 5.35213700e+02] [-5.95411869e-01 8.02941444e-01 2.77442434e-02 7.27564887e+01] [ 4.50515609e-02 -1.11069425e-03 9.98984046e-01 1.25088189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.630385723 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:535.26, Y:72.71, Z:125.09 [[ 8.03684241e-01 5.93995839e-01 -3.55047161e-02 5.35261113e+02] [-5.93348379e-01 8.04467158e-01 2.77541305e-02 7.27143500e+01] [ 4.50482161e-02 -1.23889153e-03 9.98984046e-01 1.25090010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.690385723 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:535.31, Y:72.67, Z:125.09 [[ 8.04047038e-01 5.93505112e-01 -3.54970823e-02 5.35309887e+02] [-5.92856744e-01 8.04829204e-01 2.77638905e-02 7.26741895e+01] [ 4.50470995e-02 -1.27878927e-03 9.98984046e-01 1.25093341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.750385723 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:535.36, Y:72.63, Z:125.10 [[ 8.06596508e-01 5.90036083e-01 -3.54893528e-02 5.35355516e+02] [-5.89383918e-01 8.07375510e-01 2.77737674e-02 7.26307898e+01] [ 4.50407592e-02 -1.48536999e-03 9.98984046e-01 1.25096486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.810385723 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:535.40, Y:72.59, Z:125.10 [[ 8.08878287e-01 5.86904570e-01 -3.54815764e-02 5.35402112e+02] [-5.86248956e-01 8.09654388e-01 2.77836983e-02 7.25895785e+01] [ 4.50341935e-02 -1.67259322e-03 9.98984046e-01 1.25098503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.870385723 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:535.45, Y:72.55, Z:125.10 [[ 8.11763563e-01 5.82907784e-01 -3.54744078e-02 5.35448692e+02] [-5.82247951e-01 8.12536080e-01 2.77928482e-02 7.25479524e+01] [ 4.50249038e-02 -1.90632018e-03 9.98984046e-01 1.25103123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.930385723 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:535.50, Y:72.51, Z:125.11 [[ 8.13400761e-01 5.80621493e-01 -3.54666675e-02 5.35496182e+02] [-5.79959060e-01 8.14171049e-01 2.78027222e-02 7.25074352e+01] [ 4.50187920e-02 -2.04554029e-03 9.98984046e-01 1.25105995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.990385723 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:535.55, Y:72.47, Z:125.11 [[ 8.14313763e-01 5.79340790e-01 -3.54590621e-02 5.35545535e+02] [-5.78676725e-01 8.15082645e-01 2.78124186e-02 7.24679678e+01] [ 4.50149347e-02 -2.12870133e-03 9.98984046e-01 1.25111856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.050385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:535.60, Y:72.43, Z:125.11 [[ 8.14418814e-01 5.79193561e-01 -3.54515810e-02 5.35596785e+02] [-5.78528943e-01 8.15187218e-01 2.78219513e-02 7.24317977e+01] [ 4.50139707e-02 -2.14895487e-03 9.98984046e-01 1.25113743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.65, Y:72.40, Z:125.12 [[ 8.14193307e-01 5.79510996e-01 -3.54438306e-02 5.35648250e+02] [-5.78846249e-01 8.14961600e-01 2.78318214e-02 7.23950703e+01] [ 4.50142074e-02 -2.14395428e-03 9.98984046e-01 1.25116881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.170385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:535.70, Y:72.36, Z:125.12 [[ 8.12337585e-01 5.82109893e-01 -3.54361553e-02 5.35700101e+02] [-5.81447180e-01 8.13107633e-01 2.78415903e-02 7.23603900e+01] [ 4.50202735e-02 -2.01251759e-03 9.98984046e-01 1.25118486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.230385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:535.75, Y:72.33, Z:125.12 [[ 8.09743584e-01 5.85713334e-01 -3.54290698e-02 5.35753707e+02] [-5.85053656e-01 8.10516233e-01 2.78506039e-02 7.23263357e+01] [ 4.50283062e-02 -1.82394101e-03 9.98984046e-01 1.25120905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.290385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:535.80, Y:72.29, Z:125.13 [[ 8.08777732e-01 5.87046782e-01 -3.54211065e-02 5.35803763e+02] [-5.86387936e-01 8.09551091e-01 2.78607281e-02 7.22908304e+01] [ 4.50307462e-02 -1.76262698e-03 9.98984046e-01 1.25125858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3503857229999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:535.86, Y:72.25, Z:125.13 [[ 8.10100705e-01 5.85220227e-01 -3.54137459e-02 5.35855273e+02] [-5.84559230e-01 8.10872225e-01 2.78700811e-02 7.22542600e+01] [ 4.50261581e-02 -1.87614034e-03 9.98984047e-01 1.25129298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.410385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:535.91, Y:72.22, Z:125.13 [[ 8.14745096e-01 5.78737317e-01 -3.54054553e-02 5.35907241e+02] [-5.78069729e-01 8.15510920e-01 2.78806092e-02 7.22197217e+01] [ 4.50090844e-02 -2.24876769e-03 9.98984047e-01 1.25134152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4703857229999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:535.96, Y:72.19, Z:125.14 [[ 8.20385739e-01 5.70713795e-01 -3.53978032e-02 5.35959953e+02] [-5.70038306e-01 8.21144603e-01 2.78903211e-02 7.21870684e+01] [ 4.49841061e-02 -2.70271792e-03 9.98984047e-01 1.25137394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.01, Y:72.15, Z:125.14 [[ 8.23847271e-01 5.65705915e-01 -3.53905630e-02 5.36014790e+02] [-5.65025425e-01 8.24601654e-01 2.78995054e-02 7.21546174e+01] [ 4.49660320e-02 -2.98836350e-03 9.98984047e-01 1.25139989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.07, Y:72.12, Z:125.14 [[ 8.24479609e-01 5.64784409e-01 -3.53828506e-02 5.36069076e+02] [-5.64102659e-01 8.25232854e-01 2.79092830e-02 7.21220475e+01] [ 4.49618187e-02 -3.05107459e-03 9.98984047e-01 1.25142437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.13, Y:72.09, Z:125.14 [[ 8.22602009e-01 5.67516102e-01 -3.53752594e-02 5.36126224e+02] [-5.66836443e-01 8.23357141e-01 2.79189016e-02 7.20926012e+01] [ 4.49708986e-02 -2.91415837e-03 9.98984047e-01 1.25142125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.18, Y:72.06, Z:125.14 [[ 8.17055373e-01 5.75473409e-01 -3.53676735e-02 5.36181896e+02] [-5.74800698e-01 8.17816701e-01 2.79285081e-02 7.20623497e+01] [ 4.49963878e-02 -2.48977414e-03 9.98984047e-01 1.25143249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.23, Y:72.03, Z:125.14 [[ 8.09190982e-01 5.86480643e-01 -3.53611367e-02 5.36232414e+02] [-5.85817938e-01 8.09961036e-01 2.79367822e-02 7.20318835e+01] [ 4.50255248e-02 -1.89100403e-03 9.98984047e-01 1.25144646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.29, Y:72.00, Z:125.15 [[ 8.04360563e-01 5.93087986e-01 -3.53656053e-02 5.36286295e+02] [-5.92431858e-01 8.05136228e-01 2.79311241e-02 7.20049623e+01] [ 4.50397442e-02 -1.51498344e-03 9.98984047e-01 1.25149895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.34, Y:71.98, Z:125.15 [[ 8.00806713e-01 5.97877404e-01 -3.53725766e-02 5.36335770e+02] [-5.97226306e-01 8.01586605e-01 2.79222927e-02 7.19750874e+01] [ 4.50482914e-02 -1.23492612e-03 9.98984047e-01 1.25151716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.950385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:536.38, Y:71.94, Z:125.15 [[ 7.99470073e-01 5.99663370e-01 -3.53757561e-02 5.36384605e+02] [-5.99014193e-01 8.00251565e-01 2.79182639e-02 7.19397078e+01] [ 4.50510644e-02 -1.12923654e-03 9.98984047e-01 1.25154067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.010385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:536.43, Y:71.91, Z:125.16 [[ 7.96969098e-01 6.02983261e-01 -3.53757561e-02 5.36433255e+02] [-6.02337340e-01 7.97753283e-01 2.79182639e-02 7.19065940e+01] [ 4.50553714e-02 -9.41854825e-04 9.98984047e-01 1.25156692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.48, Y:71.87, Z:125.16 [[ 7.94938825e-01 6.05657233e-01 -3.53776963e-02 5.36481034e+02] [-6.05014059e-01 7.95725264e-01 2.79158051e-02 7.18717785e+01] [ 4.50583360e-02 -7.87353623e-04 9.98984047e-01 1.25158288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.53, Y:71.84, Z:125.16 [[ 7.93900517e-01 6.07017504e-01 -3.53796380e-02 5.36525888e+02] [-6.06375787e-01 7.94688146e-01 2.79133440e-02 7.18367093e+01] [ 4.50596674e-02 -7.07062435e-04 9.98984047e-01 1.25160737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.57, Y:71.80, Z:125.16 [[ 7.92728531e-01 6.08547057e-01 -3.53829825e-02 5.36571068e+02] [-6.07907049e-01 7.93517550e-01 2.79091039e-02 7.17998302e+01] [ 4.50610206e-02 -6.14778482e-04 9.98984047e-01 1.25161113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.61, Y:71.76, Z:125.16 [[ 7.94593664e-01 6.06109523e-01 -3.53858058e-02 5.36614453e+02] [-6.05467254e-01 7.95380843e-01 2.79055238e-02 7.17605468e+01] [ 4.50589958e-02 -7.48605743e-04 9.98984047e-01 1.25163617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.66, Y:71.72, Z:125.17 [[ 7.97362909e-01 6.02461700e-01 -3.53877223e-02 5.36660045e+02] [-6.01815939e-01 7.98147225e-01 2.79030932e-02 7.17216796e+01] [ 4.50551573e-02 -9.51996299e-04 9.98984047e-01 1.25166506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.71, Y:71.68, Z:125.17 [[ 8.00494744e-01 5.98294079e-01 -3.53886995e-02 5.36707391e+02] [-5.97644290e-01 8.01275726e-01 2.79018537e-02 7.16822172e+01] [ 4.50496198e-02 -1.18543305e-03 9.98984047e-01 1.25170001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.430385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:536.75, Y:71.64, Z:125.17 [[ 8.01197085e-01 5.97353279e-01 -3.53877234e-02 5.36752820e+02] [-5.96702518e-01 8.01977258e-01 2.79030918e-02 7.16448024e+01] [ 4.50481527e-02 -1.23993215e-03 9.98984047e-01 1.25170789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.490385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:536.80, Y:71.61, Z:125.17 [[ 8.00869579e-01 5.97792208e-01 -3.53891643e-02 5.36799132e+02] [-5.97141955e-01 8.01650176e-01 2.79012641e-02 7.16091172e+01] [ 4.50488881e-02 -1.21291883e-03 9.98984047e-01 1.25172496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.550385723 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:536.85, Y:71.57, Z:125.17 [[ 8.00411432e-01 5.98405389e-01 -3.53910838e-02 5.36847793e+02] [-5.97755842e-01 8.01192616e-01 2.78988291e-02 7.15716105e+01] [ 4.50498847e-02 -1.17531466e-03 9.98984047e-01 1.25174710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.89, Y:71.54, Z:125.18 [[ 7.98060505e-01 6.01537174e-01 -3.53901069e-02 5.36894531e+02] [-6.00890637e-01 7.98844183e-01 2.79000684e-02 7.15352899e+01] [ 4.50541092e-02 -1.00035876e-03 9.98984047e-01 1.25179442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.94, Y:71.50, Z:125.18 [[ 7.96926567e-01 6.03038571e-01 -3.53910784e-02 5.36943398e+02] [-6.02393566e-01 7.97711506e-01 2.78988359e-02 7.14955575e+01] [ 4.50559446e-02 -9.13965550e-04 9.98984047e-01 1.25184071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.99, Y:71.46, Z:125.19 [[ 7.96467021e-01 6.03645864e-01 -3.53829819e-02 5.36991083e+02] [-6.03001002e-01 7.97252077e-01 2.79091006e-02 7.14568726e+01] [ 4.50563689e-02 -8.92704632e-04 9.98984047e-01 1.25186544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.790385723 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:537.04, Y:71.42, Z:125.19 [[ 7.96662587e-01 6.03388117e-01 -3.53765781e-02 5.37036799e+02] [-6.02742640e-01 7.97447138e-01 2.79172155e-02 7.14187827e+01] [ 4.50558670e-02 -9.17628999e-04 9.98984047e-01 1.25186962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.08, Y:71.38, Z:125.19 [[ 7.96157460e-01 6.04054409e-01 -3.53775504e-02 5.37082965e+02] [-6.03409644e-01 7.96942595e-01 2.79159833e-02 7.13795809e+01] [ 4.50566496e-02 -8.78363285e-04 9.98984047e-01 1.25192517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.13, Y:71.34, Z:125.20 [[ 7.95372374e-01 6.05087775e-01 -3.53775504e-02 5.37132427e+02] [-6.04444030e-01 7.96158346e-01 2.79159833e-02 7.13404059e+01] [ 4.50577522e-02 -8.19852783e-04 9.98984047e-01 1.25195149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9703857229999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:537.18, Y:71.30, Z:125.20 [[ 7.96250494e-01 6.03932235e-01 -3.53695664e-02 5.37180761e+02] [-6.03286901e-01 7.97035161e-01 2.79260953e-02 7.13006120e+01] [ 4.50562573e-02 -8.98171073e-04 9.98984047e-01 1.25196725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.030385723 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:537.23, Y:71.26, Z:125.20 [[ 7.98795619e-01 6.00562330e-01 -3.53616591e-02 5.37226730e+02] [-5.99913243e-01 7.99577185e-01 2.79361045e-02 7.12609713e+01] [ 4.50517478e-02 -1.10131035e-03 9.98984047e-01 1.25198708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.27, Y:71.22, Z:125.20 [[ 8.03024060e-01 5.94896788e-01 -3.53577613e-02 5.37274344e+02] [-5.94241972e-01 8.03800832e-01 2.79410368e-02 7.12219784e+01] [ 4.50426311e-02 -1.42625902e-03 9.98984048e-01 1.25201340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.32, Y:71.18, Z:125.20 [[ 8.05250354e-01 5.91879856e-01 -3.53568034e-02 5.37320147e+02] [-5.91222077e-01 8.06024619e-01 2.79422490e-02 7.11837214e+01] [ 4.50369083e-02 -1.59678316e-03 9.98984048e-01 1.25203686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.210385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:537.37, Y:71.15, Z:125.21 [[ 8.05045317e-01 5.92158650e-01 -3.53577513e-02 5.37367318e+02] [-5.91501192e-01 8.05819854e-01 2.79410494e-02 7.11467695e+01] [ 4.50375121e-02 -1.57965895e-03 9.98984048e-01 1.25205787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.42, Y:71.11, Z:125.21 [[ 8.01453308e-01 5.97011188e-01 -3.53586979e-02 5.37417672e+02] [-5.96358473e-01 8.02231847e-01 2.79398515e-02 7.11084077e+01] [ 4.50462775e-02 -1.30602730e-03 9.98984048e-01 1.25209070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.47, Y:71.07, Z:125.21 [[ 7.97628652e-01 6.02111987e-01 -3.53509335e-02 5.37465785e+02] [-6.01463817e-01 7.98410980e-01 2.79496720e-02 7.10733364e+01] [ 4.50534060e-02 -1.03115185e-03 9.98984048e-01 1.25210904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.51, Y:71.04, Z:125.21 [[ 7.95670418e-01 6.04697304e-01 -3.53518961e-02 5.37511533e+02] [-6.04051732e-01 7.96454889e-01 2.79484543e-02 7.10368298e+01] [ 4.50565455e-02 -8.83384263e-04 9.98984048e-01 1.25212748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.450385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:537.56, Y:71.00, Z:125.21 [[ 7.95523723e-01 6.04890168e-01 -3.53538073e-02 5.37557749e+02] [-6.04244892e-01 7.96308439e-01 2.79460366e-02 7.10000922e+01] [ 4.50568179e-02 -8.69377602e-04 9.98984048e-01 1.25213208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.61, Y:70.96, Z:125.22 [[ 7.94000728e-01 6.06887812e-01 -3.53557233e-02 5.37605607e+02] [-6.06244619e-01 7.94787152e-01 2.79436124e-02 7.09599982e+01] [ 4.50589124e-02 -7.53031606e-04 9.98984048e-01 1.25218654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.65, Y:70.92, Z:125.22 [[ 7.93294233e-01 6.07811416e-01 -3.53488741e-02 5.37650602e+02] [-6.07168752e-01 7.94081090e-01 2.79522740e-02 7.09215259e+01] [ 4.50595837e-02 -7.11646009e-04 9.98984048e-01 1.25221736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.70, Y:70.88, Z:125.23 [[ 7.91589343e-01 6.10030110e-01 -3.53493557e-02 5.37696517e+02] [-6.09389680e-01 7.92378018e-01 2.79516649e-02 7.08787974e+01] [ 4.50614096e-02 -5.84707507e-04 9.98984048e-01 1.25226683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.74, Y:70.84, Z:125.23 [[ 7.90064027e-01 6.12004753e-01 -3.53414236e-02 5.37743149e+02] [-6.11365845e-01 7.90853936e-01 2.79616905e-02 7.08361387e+01] [ 4.50625914e-02 -4.84986496e-04 9.98984048e-01 1.25228799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.79, Y:70.79, Z:125.23 [[ 7.89145555e-01 6.13188822e-01 -3.53378230e-02 5.37788234e+02] [-6.12550896e-01 7.89936256e-01 2.79662401e-02 7.07930952e+01] [ 4.50632135e-02 -4.23218910e-04 9.98984048e-01 1.25231974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.83, Y:70.75, Z:125.24 [[ 7.88073331e-01 6.14566682e-01 -3.53301259e-02 5.37832201e+02] [-6.13929703e-01 7.88864796e-01 2.79759606e-02 7.07489755e+01] [ 4.50637859e-02 -3.56894755e-04 9.98984048e-01 1.25235464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.88, Y:70.71, Z:125.23 [[ 7.89092901e-01 6.13257435e-01 -3.53229642e-02 5.37878561e+02] [-6.12618738e-01 7.89882980e-01 2.79850003e-02 7.07079642e+01] [ 4.50630177e-02 -4.43255334e-04 9.98984048e-01 1.25234970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.92, Y:70.66, Z:125.24 [[ 7.91217044e-01 6.10514878e-01 -3.53153242e-02 5.37924782e+02] [-6.09873013e-01 7.92004551e-01 2.79946381e-02 7.06643747e+01] [ 4.50610406e-02 -6.11971635e-04 9.98984048e-01 1.25237569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.97, Y:70.62, Z:125.24 [[ 7.93462436e-01 6.07594237e-01 -3.53073218e-02 5.37971425e+02] [-6.06949024e-01 7.94247202e-01 2.80047273e-02 7.06224248e+01] [ 4.50582524e-02 -7.90954614e-04 9.98984048e-01 1.25239948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.02, Y:70.58, Z:125.24 [[ 7.99343050e-01 5.99837178e-01 -3.52994068e-02 5.38015509e+02] [-5.99183912e-01 8.00121126e-01 2.80147004e-02 7.05785150e+01] [ 4.50480599e-02 -1.24251944e-03 9.98984048e-01 1.25240496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.06, Y:70.54, Z:125.25 [[ 8.04016176e-01 5.93559117e-01 -3.52925402e-02 5.38062176e+02] [-5.92899399e-01 8.04788789e-01 2.80233482e-02 7.05381777e+01] [ 4.50365545e-02 -1.60629943e-03 9.98984048e-01 1.25245421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.11, Y:70.50, Z:125.25 [[ 8.05560352e-01 5.91462125e-01 -3.52856144e-02 5.38108944e+02] [-5.90800015e-01 8.06330916e-01 2.80320662e-02 7.04976839e+01] [ 4.50317871e-02 -1.73477958e-03 9.98984048e-01 1.25250805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.230385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:538.16, Y:70.46, Z:125.25 [[ 8.03535465e-01 5.94210561e-01 -3.52784101e-02 5.38157599e+02] [-5.93550690e-01 8.04307947e-01 2.80411298e-02 7.04571865e+01] [ 4.50370411e-02 -1.59251753e-03 9.98984048e-01 1.25251123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.290385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:538.21, Y:70.42, Z:125.26 [[ 7.99443242e-01 5.99705343e-01 -3.52704399e-02 5.38207664e+02] [-5.99050342e-01 8.00219858e-01 2.80511512e-02 7.04193329e+01] [ 4.50465317e-02 -1.29653421e-03 9.98984048e-01 1.25256194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.26, Y:70.38, Z:125.26 [[ 7.92991506e-01 6.08211331e-01 -3.52625629e-02 5.38258154e+02] [-6.07564224e-01 7.93774711e-01 2.80610497e-02 7.03813196e+01] [ 4.50575791e-02 -8.27902420e-04 9.98984049e-01 1.25261231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.31, Y:70.34, Z:125.26 [[ 7.84238727e-01 6.19456801e-01 -3.52546639e-02 5.38306650e+02] [-6.18820481e-01 7.85030721e-01 2.80709702e-02 7.03427833e+01] [ 4.50647476e-02 -1.98033791e-04 9.98984049e-01 1.25264541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.36, Y:70.30, Z:125.27 [[ 7.82111053e-01 6.22141265e-01 -3.52497830e-02 5.38355286e+02] [-6.21507388e-01 7.82905003e-01 2.80770980e-02 7.03033300e+01] [ 4.50651528e-02 -5.14081133e-05 9.98984049e-01 1.25267406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.40, Y:70.26, Z:125.27 [[ 7.76583074e-01 6.29028408e-01 -3.52418862e-02 5.38401904e+02] [-6.28401122e-01 7.77382242e-01 2.80870064e-02 7.02628195e+01] [ 4.50639415e-02 3.34147078e-04 9.98984049e-01 1.25269541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.45, Y:70.22, Z:125.27 [[ 7.71450531e-01 6.35312861e-01 -3.52370155e-02 5.38448857e+02] [-6.34691805e-01 7.72254550e-01 2.80931158e-02 7.02205720e+01] [ 4.50598633e-02 6.92195829e-04 9.98984049e-01 1.25272472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.49, Y:70.18, Z:125.28 [[ 7.68387060e-01 6.39015056e-01 -3.52290216e-02 5.38492036e+02] [-6.38397415e-01 7.69193704e-01 2.81031366e-02 7.01752635e+01] [ 4.50562691e-02 8.96029790e-04 9.98984049e-01 1.25275354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.53, Y:70.13, Z:125.28 [[ 7.68259058e-01 6.39169349e-01 -3.52216349e-02 5.38534921e+02] [-6.38551445e-01 7.69065501e-01 2.81123913e-02 7.01283137e+01] [ 4.50563232e-02 8.93226634e-04 9.98984049e-01 1.25278798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.58, Y:70.08, Z:125.28 [[ 7.68168823e-01 6.39278224e-01 -3.52138018e-02 5.38577330e+02] [-6.38659985e-01 7.68975010e-01 2.81221997e-02 7.00812585e+01] [ 4.50564435e-02 8.87049066e-04 9.98984049e-01 1.25280593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.62, Y:70.03, Z:125.28 [[ 7.65861145e-01 6.42041461e-01 -3.52060807e-02 5.38618990e+02] [-6.41425687e-01 7.66669216e-01 2.81318624e-02 7.00343891e+01] [ 4.50532403e-02 1.03698412e-03 9.98984049e-01 1.25280438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.66, Y:69.99, Z:125.28 [[ 7.62332192e-01 6.46228001e-01 -3.51994241e-02 5.38661368e+02] [-6.45616279e-01 7.63143335e-01 2.81401889e-02 6.99877836e+01] [ 4.50471839e-02 1.27314928e-03 9.98984049e-01 1.25281746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.950385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:538.70, Y:69.94, Z:125.28 [[ 7.59899169e-01 6.49087604e-01 -3.51928292e-02 5.38701906e+02] [-6.48478553e-01 7.60712319e-01 2.81484342e-02 6.99389840e+01] [ 4.50424184e-02 1.43182324e-03 9.98984049e-01 1.25283304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.74, Y:69.88, Z:125.29 [[ 7.59960858e-01 6.49015730e-01 -3.51863075e-02 5.38737433e+02] [-6.48406225e-01 7.60773668e-01 2.81565842e-02 6.98844536e+01] [ 4.50428822e-02 1.41711890e-03 9.98984049e-01 1.25287702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.78, Y:69.84, Z:125.29 [[ 7.60581630e-01 6.48288495e-01 -3.51797074e-02 5.38780586e+02] [-6.47677832e-01 7.61393570e-01 2.81648281e-02 6.98397791e+01] [ 4.50445370e-02 1.36346575e-03 9.98984049e-01 1.25291427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.82, Y:69.79, Z:125.30 [[ 7.64349872e-01 6.43841700e-01 -3.51729749e-02 5.38819621e+02] [-6.43225926e-01 7.65157942e-01 2.81732333e-02 6.97888574e+01] [ 4.50519836e-02 1.08996211e-03 9.98984049e-01 1.25295780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.86, Y:69.74, Z:125.30 [[ 7.70029864e-01 6.37038013e-01 -3.51650103e-02 5.38857992e+02] [-6.36414643e-01 7.70832090e-01 2.81831710e-02 6.97381913e+01] [ 4.50600696e-02 6.77644200e-04 9.98984049e-01 1.25298277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.90, Y:69.69, Z:125.30 [[ 7.74646219e-01 6.31416789e-01 -3.51578588e-02 5.38896588e+02] [-6.30787192e-01 7.75443566e-01 2.81920896e-02 6.96864828e+01] [ 4.50638941e-02 3.38231403e-04 9.98984049e-01 1.25301887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.94, Y:69.64, Z:125.31 [[ 7.75764995e-01 6.30042147e-01 -3.51506029e-02 5.38939551e+02] [-6.29410728e-01 7.76560900e-01 2.82011335e-02 6.96410048e+01] [ 4.50644865e-02 2.46714315e-04 9.98984050e-01 1.25306132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.98, Y:69.59, Z:125.32 [[ 7.75620310e-01 6.30220655e-01 -3.51434368e-02 5.38978722e+02] [-6.29589014e-01 7.76416039e-01 2.82100609e-02 6.95908604e+01] [ 4.50644910e-02 2.45625569e-04 9.98984050e-01 1.25315659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.02, Y:69.55, Z:125.32 [[ 7.75576784e-01 6.30274614e-01 -3.51363567e-02 5.39022910e+02] [-6.29642629e-01 7.76372240e-01 2.82188765e-02 6.95473066e+01] [ 4.50645335e-02 2.37442537e-04 9.98984050e-01 1.25323688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.08, Y:69.51, Z:125.32 [[ 7.78098996e-01 6.27158590e-01 -3.51291361e-02 5.39075207e+02] [-6.26523014e-01 7.78891585e-01 2.82278624e-02 6.95141746e+01] [ 4.50651349e-02 4.51408584e-05 9.98984050e-01 1.25322618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.13, Y:69.48, Z:125.32 [[ 7.79756016e-01 6.25097562e-01 -3.51225410e-02 5.39125990e+02] [-6.24459521e-01 7.80546623e-01 2.82360661e-02 6.94772048e+01] [ 4.50650768e-02 -8.46372818e-05 9.98984050e-01 1.25324439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.18, Y:69.44, Z:125.33 [[ 7.79409115e-01 6.25530483e-01 -3.51147645e-02 5.39176598e+02] [-6.24892445e-01 7.80199725e-01 2.82457337e-02 6.94394250e+01] [ 4.50650970e-02 -7.20312100e-05 9.98984050e-01 1.25326949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.23, Y:69.40, Z:125.33 [[ 7.78483876e-01 6.26681776e-01 -3.51113449e-02 5.39225074e+02] [-6.26044716e-01 7.79275274e-01 2.82499838e-02 6.94006540e+01] [ 4.50651529e-02 -1.08849812e-05 9.98984050e-01 1.25326058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.27, Y:69.36, Z:125.33 [[ 7.81398043e-01 6.23044758e-01 -3.51045239e-02 5.39274825e+02] [-6.22403634e-01 7.82186152e-01 2.82584573e-02 6.93634589e+01] [ 4.50645562e-02 -2.31919994e-04 9.98984050e-01 1.25329703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.32, Y:69.33, Z:125.33 [[ 7.84330961e-01 6.19348962e-01 -3.50971035e-02 5.39323791e+02] [-6.18703712e-01 7.85115695e-01 2.82676706e-02 6.93261166e+01] [ 4.50628392e-02 -4.56501016e-04 9.98984050e-01 1.25332075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8503857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:539.37, Y:69.29, Z:125.34 [[ 7.85065848e-01 6.18417566e-01 -3.50902883e-02 5.39372639e+02] [-6.17771007e-01 7.85849504e-01 2.82761281e-02 6.92894747e+01] [ 4.50621400e-02 -5.20859699e-04 9.98984050e-01 1.25336504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.910385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:539.42, Y:69.25, Z:125.34 [[ 7.83831596e-01 6.19981589e-01 -3.50835943e-02 5.39422512e+02] [-6.19336222e-01 7.84616234e-01 2.82844312e-02 6.92502981e+01] [ 4.50629842e-02 -4.41690083e-04 9.98984050e-01 1.25335450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9703857229999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:539.47, Y:69.21, Z:125.34 [[ 7.82696967e-01 6.21413852e-01 -3.50753881e-02 5.39472782e+02] [-6.20769465e-01 7.83482410e-01 2.82946041e-02 6.92127194e+01] [ 4.50636085e-02 -3.72370902e-04 9.98984050e-01 1.25336107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.030385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:539.52, Y:69.17, Z:125.34 [[ 7.81425612e-01 6.23012286e-01 -3.50671311e-02 5.39519876e+02] [-6.22369048e-01 7.82211995e-01 2.83048338e-02 6.91747584e+01] [ 4.50641898e-02 -2.93425107e-04 9.98984050e-01 1.25343416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0903857229999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:539.57, Y:69.13, Z:125.34 [[ 7.80950847e-01 6.23607537e-01 -3.50630144e-02 5.39566761e+02] [-6.22964668e-01 7.81737532e-01 2.83099325e-02 6.91346500e+01] [ 4.50643616e-02 -2.65646623e-04 9.98984050e-01 1.25342689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:539.62, Y:69.10, Z:125.35 [[ 7.81216147e-01 6.23275599e-01 -3.50551048e-02 5.39615170e+02] [-6.22631957e-01 7.82002199e-01 2.83197232e-02 6.90974895e+01] [ 4.50641615e-02 -2.97396475e-04 9.98984050e-01 1.25348301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.66, Y:69.06, Z:125.35 [[ 7.82453154e-01 6.21722379e-01 -3.50477537e-02 5.39662939e+02] [-6.21076769e-01 7.83237592e-01 2.83288178e-02 6.90577252e+01] [ 4.50633782e-02 -3.98627260e-04 9.98984050e-01 1.25353747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.270385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:539.71, Y:69.02, Z:125.36 [[ 7.83270929e-01 6.20692168e-01 -3.50411666e-02 5.39710349e+02] [-6.20045163e-01 7.84054215e-01 2.83369634e-02 6.90186081e+01] [ 4.50627056e-02 -4.68413837e-04 9.98984051e-01 1.25358197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.330385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:539.76, Y:68.98, Z:125.36 [[ 7.82217522e-01 6.22019524e-01 -3.50351294e-02 5.39759527e+02] [-6.21373514e-01 7.83001628e-01 2.83444256e-02 6.89794660e+01] [ 4.50633495e-02 -4.01604866e-04 9.98984051e-01 1.25363087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.81, Y:68.94, Z:125.37 [[ 7.81514995e-01 6.22902400e-01 -3.50273026e-02 5.39808357e+02] [-6.22256842e-01 7.82299475e-01 2.83540945e-02 6.89399885e+01] [ 4.50636739e-02 -3.63171342e-04 9.98984051e-01 1.25365969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.86, Y:68.90, Z:125.37 [[ 7.80260003e-01 6.24474151e-01 -3.50194439e-02 5.39856944e+02] [-6.23829738e-01 7.81045423e-01 2.83637972e-02 6.89014146e+01] [ 4.50642346e-02 -2.84965985e-04 9.98984051e-01 1.25368228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:539.91, Y:68.86, Z:125.37 [[ 7.78911413e-01 6.26155857e-01 -3.50121847e-02 5.39905593e+02] [-6.25512737e-01 7.79697892e-01 2.83727553e-02 6.88622040e+01] [ 4.50646935e-02 -1.99295429e-04 9.98984051e-01 1.25369465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.570385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:539.96, Y:68.82, Z:125.37 [[ 7.77819616e-01 6.27511964e-01 -3.50054275e-02 5.39955212e+02] [-6.26869840e-01 7.78606908e-01 2.83810896e-02 6.88229242e+01] [ 4.50649409e-02 -1.31521530e-04 9.98984051e-01 1.25372012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.00, Y:68.78, Z:125.38 [[ 7.77469178e-01 6.27946536e-01 -3.49975070e-02 5.40003649e+02] [-6.27304412e-01 7.78256471e-01 2.83908532e-02 6.87834187e+01] [ 4.50649742e-02 -1.18922674e-04 9.98984051e-01 1.25375406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.05, Y:68.74, Z:125.38 [[ 7.78165527e-01 6.27083833e-01 -3.49896983e-02 5.40052202e+02] [-6.26440404e-01 7.78951753e-01 2.84004737e-02 6.87431916e+01] [ 4.50647647e-02 -1.81308873e-04 9.98984051e-01 1.25378841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.750385723 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:540.10, Y:68.70, Z:125.38 [[ 7.78281902e-01 6.26939825e-01 -3.49819616e-02 5.40099932e+02] [-6.26295822e-01 7.79067658e-01 2.84100000e-02 6.87025204e+01] [ 4.50646753e-02 -2.01932448e-04 9.98984051e-01 1.25377967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.810385723 meters Centerline goodness : 0.997703 with order 1 Centerline is valid? [True, True] Translation: X:540.15, Y:68.66, Z:125.38 [[ 7.78419782e-01 6.26768795e-01 -3.49788488e-02 5.40148763e+02] [-6.26124448e-01 7.79205256e-01 2.84138321e-02 6.86626876e+01] [ 4.50646061e-02 -2.16776641e-04 9.98984051e-01 1.25380129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.20, Y:68.63, Z:125.39 [[ 7.79154616e-01 6.25855627e-01 -3.49688302e-02 5.40197938e+02] [-6.25209805e-01 7.79938878e-01 2.84261565e-02 6.86265641e+01] [ 4.50642202e-02 -2.85515534e-04 9.98984051e-01 1.25385676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.25, Y:68.59, Z:125.39 [[ 7.78940568e-01 6.26122459e-01 -3.49608143e-02 5.40246762e+02] [-6.25476464e-01 7.79724686e-01 2.84360117e-02 6.85882087e+01] [ 4.50642356e-02 -2.82796557e-04 9.98984051e-01 1.25387294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.990385723 meters Centerline goodness : 0.997623 with order 1 Centerline is valid? [True, True] Translation: X:540.29, Y:68.55, Z:125.38 [[ 7.78588230e-01 6.26560814e-01 -3.49559026e-02 5.40294586e+02] [-6.25914989e-01 7.79372489e-01 2.84420484e-02 6.85486688e+01] [ 4.50643418e-02 -2.65220730e-04 9.98984051e-01 1.25383610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.80, Y:69.19, Z:126.36 [[ 8.18617412e-01 5.73275000e-01 -3.49472031e-02 5.40797487e+02] [-5.72577889e-01 8.19356457e-01 2.84527336e-02 6.91897164e+01] [ 4.49454573e-02 -3.28190738e-03 9.98984051e-01 1.26357825e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 752.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:540.85, Y:69.15, Z:126.36 [[ 8.18819131e-01 5.72876863e-01 -3.67059952e-02 5.40849575e+02] [-5.72288113e-01 8.19641406e-01 2.59669235e-02 6.91545141e+01] [ 4.49616031e-02 -2.55808969e-04 9.98988683e-01 1.26360005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:540.90, Y:69.12, Z:126.36 [[ 8.19678694e-01 5.71646768e-01 -3.66989286e-02 5.40901349e+02] [-5.71056338e-01 8.20499762e-01 2.59769067e-02 6.91187081e+01] [ 4.49610770e-02 -3.35561199e-04 9.98988683e-01 1.26364271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.95, Y:69.08, Z:126.37 [[ 8.20220181e-01 5.70870011e-01 -3.66917570e-02 5.40952900e+02] [-5.70278350e-01 8.21040363e-01 2.59870326e-02 6.90830560e+01] [ 4.49606311e-02 -3.90573978e-04 9.98988683e-01 1.26367101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.01, Y:69.05, Z:126.36 [[ 8.22516207e-01 5.67557339e-01 -3.66845463e-02 5.41006261e+02] [-5.66961920e-01 8.23333666e-01 2.59972076e-02 6.90502850e+01] [ 4.49585279e-02 -5.84383813e-04 9.98988683e-01 1.26361838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.06, Y:69.01, Z:126.36 [[ 8.22682845e-01 5.67315929e-01 -3.66820534e-02 5.41057959e+02] [-5.66720114e-01 8.23500015e-01 2.60007245e-02 6.90138723e+01] [ 4.49582967e-02 -6.01892527e-04 9.98988683e-01 1.26364471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.410385723 meters Centerline goodness : 0.996232 with order 1 Centerline is valid? [True, True] Translation: X:541.11, Y:68.98, Z:126.37 [[ 8.22156446e-01 5.68079037e-01 -3.66740608e-02 5.41108265e+02] [-5.67483478e-01 8.22973802e-01 2.60119932e-02 6.89789559e+01] [ 4.49586593e-02 -5.74004271e-04 9.98988683e-01 1.26370907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.56, Y:69.64, Z:127.34 [[ 8.49972888e-01 5.25548975e-01 -3.66655695e-02 5.41563608e+02] [-5.24912122e-01 8.50758496e-01 2.60239568e-02 6.96438676e+01] [ 4.48704086e-02 -2.87345585e-03 9.98988683e-01 1.27344591e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 752.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.62, Y:69.61, Z:127.35 [[ 8.51066833e-01 5.23690146e-01 -3.78665737e-02 5.41618600e+02] [-5.23133977e-01 8.51908499e-01 2.41402622e-02 6.96135619e+01] [ 4.49008734e-02 -7.35685203e-04 9.98991176e-01 1.27347229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.67, Y:69.58, Z:127.35 [[ 8.50379065e-01 5.24806691e-01 -3.78600448e-02 5.41671730e+02] [-5.24251172e-01 8.51221159e-01 2.41504973e-02 6.95800175e+01] [ 4.49016138e-02 -6.88904471e-04 9.98991176e-01 1.27349729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.73, Y:69.55, Z:127.35 [[ 8.50834085e-01 5.24068920e-01 -3.78566608e-02 5.41727641e+02] [-5.23512434e-01 8.51675542e-01 2.41558007e-02 6.95525992e+01] [ 4.49008965e-02 -7.34145964e-04 9.98991176e-01 1.27353748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.78, Y:69.52, Z:127.35 [[ 8.51498547e-01 5.22989145e-01 -3.78494260e-02 5.41783394e+02] [-5.22431089e-01 8.52338962e-01 2.41671315e-02 6.95231465e+01] [ 4.48996879e-02 -8.04560468e-04 9.98991177e-01 1.27354943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:541.84, Y:69.49, Z:127.36 [[ 8.51398777e-01 5.23152060e-01 -3.78423693e-02 5.41837999e+02] [-5.22593674e-01 8.52238973e-01 2.41781763e-02 6.94933527e+01] [ 4.48996047e-02 -8.09086944e-04 9.98991177e-01 1.27358984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.89, Y:69.46, Z:127.36 [[ 8.51208418e-01 5.23462201e-01 -3.78358764e-02 5.41894765e+02] [-5.22903670e-01 8.52048518e-01 2.41883327e-02 6.94646446e+01] [ 4.48996802e-02 -8.04793819e-04 9.98991177e-01 1.27362212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.95, Y:69.44, Z:127.36 [[ 8.50265485e-01 5.24992904e-01 -3.78292904e-02 5.41950165e+02] [-5.24435428e-01 8.51106285e-01 2.41986283e-02 6.94362776e+01] [ 4.49008550e-02 -7.36238372e-04 9.98991177e-01 1.27362399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.01, Y:69.41, Z:127.37 [[ 8.48743599e-01 5.27450195e-01 -3.78232025e-02 5.42005670e+02] [-5.26894729e-01 8.49585729e-01 2.42081402e-02 6.94069854e+01] [ 4.49026414e-02 -6.17657987e-04 9.98991177e-01 1.27365540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.06, Y:69.38, Z:127.37 [[ 8.47010471e-01 5.30229358e-01 -3.78165365e-02 5.42061614e+02] [-5.29676190e-01 8.47854112e-01 2.42185490e-02 6.93775164e+01] [ 4.49042917e-02 -4.82845653e-04 9.98991177e-01 1.27367913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.12, Y:69.35, Z:127.37 [[ 8.45930500e-01 5.31951138e-01 -3.78097335e-02 5.42115341e+02] [-5.31399214e-01 8.46774954e-01 2.42291651e-02 6.93462444e+01] [ 4.49050673e-02 -4.04127065e-04 9.98991177e-01 1.27370958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.17, Y:69.32, Z:127.37 [[ 8.46352222e-01 5.31280356e-01 -3.78034433e-02 5.42170394e+02] [-5.30727324e-01 8.47195951e-01 2.42389755e-02 6.93161543e+01] [ 4.49046156e-02 -4.51390451e-04 9.98991177e-01 1.27370807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.190385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:542.22, Y:69.28, Z:127.38 [[ 8.45731485e-01 5.32268436e-01 -3.77963870e-02 5.42223346e+02] [-5.31715899e-01 8.46575538e-01 2.42499734e-02 6.92820836e+01] [ 4.49049921e-02 -4.12026142e-04 9.98991177e-01 1.27377480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.27, Y:69.25, Z:127.38 [[ 8.45732256e-01 5.32267706e-01 -3.77894165e-02 5.42274589e+02] [-5.31714683e-01 8.46575991e-01 2.42608310e-02 6.92470619e+01] [ 4.49048696e-02 -4.24979717e-04 9.98991177e-01 1.27381043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.310385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:542.33, Y:69.21, Z:127.38 [[ 8.45766667e-01 5.32213193e-01 -3.77870695e-02 5.42327653e+02] [-5.31659952e-01 8.46610259e-01 2.42644859e-02 6.92149872e+01] [ 4.49048002e-02 -4.32221854e-04 9.98991177e-01 1.27383481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.38, Y:69.18, Z:127.38 [[ 8.44888712e-01 5.33606348e-01 -3.77800239e-02 5.42380607e+02] [-5.33054008e-01 8.45732894e-01 2.42754510e-02 6.91819975e+01] [ 4.49053437e-02 -3.71261383e-04 9.98991177e-01 1.27383295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.430385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:542.43, Y:69.15, Z:127.38 [[ 8.43616559e-01 5.35615736e-01 -3.77741195e-02 5.42432810e+02] [-5.35064995e-01 8.44461786e-01 2.42846353e-02 6.91482196e+01] [ 4.49060332e-02 -2.75311396e-04 9.98991177e-01 1.27384253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:542.48, Y:69.11, Z:127.39 [[ 8.41971469e-01 5.38198363e-01 -3.77699135e-02 5.42484608e+02] [-5.37649922e-01 8.42818189e-01 2.42911751e-02 6.91124220e+01] [ 4.49066408e-02 -1.45485384e-04 9.98991177e-01 1.27389418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.54, Y:69.08, Z:127.39 [[ 8.40731956e-01 5.40133057e-01 -3.77631876e-02 5.42535601e+02] [-5.39586094e-01 8.41579633e-01 2.43016267e-02 6.90772172e+01] [ 4.49068414e-02 -5.46632328e-05 9.98991177e-01 1.27391244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.59, Y:69.04, Z:127.40 [[ 8.39561485e-01 5.41951015e-01 -3.77572584e-02 5.42585689e+02] [-5.41405474e-01 8.40410076e-01 2.43108353e-02 6.90404362e+01] [ 4.49068623e-02 3.15453671e-05 9.98991178e-01 1.27395154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.64, Y:69.01, Z:127.39 [[ 8.39765365e-01 5.41635482e-01 -3.77509884e-02 5.42637401e+02] [-5.41089184e-01 8.40613469e-01 2.43205678e-02 6.90050825e+01] [ 4.49068718e-02 3.08101979e-06 9.98991178e-01 1.27393807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.68, Y:68.97, Z:127.40 [[ 8.36646602e-01 5.46441024e-01 -3.77448065e-02 5.42684082e+02] [-5.45899165e-01 8.37497550e-01 2.43301581e-02 6.89657267e+01] [ 4.49061795e-02 2.49114269e-04 9.98991178e-01 1.27400224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.73, Y:68.93, Z:127.40 [[ 8.35098308e-01 5.48804676e-01 -3.77391616e-02 5.42733613e+02] [-5.48264830e-01 8.35950533e-01 2.43389110e-02 6.89279373e+01] [ 4.49053804e-02 3.65671633e-04 9.98991178e-01 1.27402982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.78, Y:68.89, Z:127.40 [[ 8.35624394e-01 5.48003741e-01 -3.77329143e-02 5.42784245e+02] [-5.47462641e-01 8.36475823e-01 2.43485925e-02 6.88915299e+01] [ 4.49057903e-02 3.11083068e-04 9.98991178e-01 1.27403275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.83, Y:68.85, Z:127.41 [[ 8.35269968e-01 5.48544240e-01 -3.77266177e-02 5.42832552e+02] [-5.48003251e-01 8.36121467e-01 2.43583447e-02 6.88517730e+01] [ 4.49056646e-02 3.28515357e-04 9.98991178e-01 1.27407730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.88, Y:68.81, Z:127.41 [[ 8.36403428e-01 5.46814848e-01 -3.77203903e-02 5.42880749e+02] [-5.46271662e-01 8.37253529e-01 2.43679844e-02 6.88126409e+01] [ 4.49063056e-02 2.24114649e-04 9.98991178e-01 1.27408634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.93, Y:68.77, Z:127.41 [[ 8.37573317e-01 5.45021628e-01 -3.77142447e-02 5.42927736e+02] [-5.44476195e-01 8.38421977e-01 2.43774922e-02 6.87726901e+01] [ 4.49067121e-02 1.16571418e-04 9.98991178e-01 1.27411697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.98, Y:68.73, Z:127.42 [[ 8.39182491e-01 5.42540913e-01 -3.77108056e-02 5.42975390e+02] [-5.41992732e-01 8.40029379e-01 2.43828111e-02 6.87330895e+01] [ 4.49068572e-02 -2.26456146e-05 9.98991178e-01 1.27415096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.03, Y:68.69, Z:127.42 [[ 8.40120712e-01 5.41087238e-01 -3.77066377e-02 5.43025757e+02] [-5.40537302e-01 8.40966461e-01 2.43892549e-02 6.86947619e+01] [ 4.49067322e-02 -1.08073929e-04 9.98991178e-01 1.27418342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.08, Y:68.66, Z:127.42 [[ 8.40481019e-01 5.40527864e-01 -3.76999362e-02 5.43075018e+02] [-5.39976901e-01 8.41326099e-01 2.43996094e-02 6.86567813e+01] [ 4.49066090e-02 -1.50313866e-04 9.98991178e-01 1.27421846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.12, Y:68.62, Z:127.43 [[ 8.39348505e-01 5.42285201e-01 -3.76941474e-02 5.43124083e+02] [-5.41735605e-01 8.40194476e-01 2.44085491e-02 6.86179377e+01] [ 4.49068093e-02 -6.70174051e-05 9.98991178e-01 1.27429899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.18, Y:68.58, Z:127.43 [[ 8.37718412e-01 5.44800208e-01 -3.76907983e-02 5.43175202e+02] [-5.44252919e-01 8.38565877e-01 2.44137195e-02 6.85821516e+01] [ 4.49068168e-02 6.15046545e-05 9.98991178e-01 1.27433743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.23, Y:68.55, Z:127.43 [[ 8.36499069e-01 5.46671020e-01 -3.76842638e-02 5.43227117e+02] [-5.46125173e-01 8.37347463e-01 2.44238018e-02 6.85502374e+01] [ 4.49066073e-02 1.49837629e-04 9.98991178e-01 1.27430605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:543.28, Y:68.52, Z:127.43 [[ 8.35596140e-01 5.48050576e-01 -3.76783402e-02 5.43278384e+02] [-5.47505718e-01 8.36445169e-01 2.44329367e-02 6.85158609e+01] [ 4.49063507e-02 2.13039083e-04 9.98991178e-01 1.27430938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.33, Y:68.48, Z:127.44 [[ 8.35052216e-01 5.48879386e-01 -3.76724943e-02 5.43329342e+02] [-5.48334964e-01 8.35901525e-01 2.44419470e-02 6.84801394e+01] [ 4.49061763e-02 2.46843815e-04 9.98991178e-01 1.27438379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:543.38, Y:68.45, Z:127.44 [[ 8.36288431e-01 5.46994435e-01 -3.76662629e-02 5.43381540e+02] [-5.46447666e-01 8.37136231e-01 2.44515461e-02 6.84481887e+01] [ 4.49066530e-02 1.34096346e-04 9.98991178e-01 1.27438539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.630385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:543.43, Y:68.41, Z:127.44 [[ 8.38334186e-01 5.43854274e-01 -3.76605987e-02 5.43433648e+02] [-5.43303938e-01 8.39179675e-01 2.44602671e-02 6.84134826e+01] [ 4.49068298e-02 -4.47264973e-05 9.98991178e-01 1.27441249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.49, Y:68.38, Z:127.45 [[ 8.39518184e-01 5.42025285e-01 -3.76538081e-02 5.43486987e+02] [-5.41472638e-01 8.40362164e-01 2.44707159e-02 6.83803704e+01] [ 4.49065825e-02 -1.55104196e-04 9.98991179e-01 1.27447119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:543.54, Y:68.35, Z:127.45 [[ 8.39301284e-01 5.42361565e-01 -3.76468710e-02 5.43541156e+02] [-5.41808778e-01 8.40145172e-01 2.44813837e-02 6.83483415e+01] [ 4.49065985e-02 -1.49851566e-04 9.98991179e-01 1.27449742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.60, Y:68.32, Z:127.45 [[ 8.38402477e-01 5.43750413e-01 -3.76400656e-02 5.43595102e+02] [-5.43198554e-01 8.39246972e-01 2.44918426e-02 6.83151800e+01] [ 4.49067606e-02 -8.79922689e-05 9.98991179e-01 1.27453174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.65, Y:68.28, Z:127.46 [[ 8.37901091e-01 5.44523183e-01 -3.76332891e-02 5.43648583e+02] [-5.43971636e-01 8.38745789e-01 2.45022506e-02 6.82829347e+01] [ 4.49068063e-02 -5.90207028e-05 9.98991179e-01 1.27455303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.70, Y:68.25, Z:127.46 [[ 8.37325076e-01 5.45408986e-01 -3.76265276e-02 5.43700956e+02] [-5.44857865e-01 8.38170053e-01 2.45126294e-02 6.82522527e+01] [ 4.49068370e-02 -2.39297933e-05 9.98991179e-01 1.27457015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.75, Y:68.22, Z:127.46 [[ 8.37623724e-01 5.44950590e-01 -3.76211619e-02 5.43753063e+02] [-5.44398637e-01 8.38468158e-01 2.45208618e-02 6.82194876e+01] [ 4.49068044e-02 -5.83462756e-05 9.98991179e-01 1.27460886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.81, Y:68.19, Z:127.46 [[ 8.38790820e-01 5.43152918e-01 -3.76147332e-02 5.43806326e+02] [-5.42598714e-01 8.39633777e-01 2.45307194e-02 6.81901519e+01] [ 4.49065323e-02 -1.66436342e-04 9.98991179e-01 1.27464481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.86, Y:68.16, Z:127.47 [[ 8.38845778e-01 5.43068444e-01 -3.76088589e-02 5.43859354e+02] [-5.42513751e-01 8.39688414e-01 2.45397221e-02 6.81562937e+01] [ 4.49064718e-02 -1.81719152e-04 9.98991179e-01 1.27468312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.91, Y:68.12, Z:127.47 [[ 8.38757591e-01 5.43205131e-01 -3.76017107e-02 5.43912127e+02] [-5.42650085e-01 8.39599994e-01 2.45506703e-02 6.81219167e+01] [ 4.49064462e-02 -1.87489557e-04 9.98991179e-01 1.27472764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.97, Y:68.09, Z:127.48 [[ 8.38192666e-01 5.44076930e-01 -3.75945357e-02 5.43965852e+02] [-5.43522267e-01 8.39035321e-01 2.45616525e-02 6.80888386e+01] [ 4.49065719e-02 -1.53929668e-04 9.98991179e-01 1.27476150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.02, Y:68.06, Z:127.48 [[ 8.37599878e-01 5.44989575e-01 -3.75873311e-02 5.44019196e+02] [-5.44435335e-01 8.38442812e-01 2.45726730e-02 6.80564214e+01] [ 4.49066782e-02 -1.18196708e-04 9.98991179e-01 1.27479506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.07, Y:68.02, Z:127.48 [[ 8.37415932e-01 5.45272673e-01 -3.75801597e-02 5.44072156e+02] [-5.44718227e-01 8.38258730e-01 2.45836357e-02 6.80229089e+01] [ 4.49066817e-02 -1.16130276e-04 9.98991179e-01 1.27482841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:544.13, Y:67.99, Z:127.48 [[ 8.39490172e-01 5.42074277e-01 -3.75729851e-02 5.44125947e+02] [-5.41516129e-01 8.40330523e-01 2.45945963e-02 6.79940394e+01] [ 4.49058242e-02 -3.00544468e-04 9.98991179e-01 1.27483130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.18, Y:67.96, Z:127.49 [[ 8.40029178e-01 5.41239025e-01 -3.75672541e-02 5.44178357e+02] [-5.40679650e-01 8.40868712e-01 2.46033469e-02 6.79601273e+01] [ 4.49054201e-02 -3.55679460e-04 9.98991180e-01 1.27486434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.23, Y:67.93, Z:127.49 [[ 8.40691341e-01 5.40210430e-01 -3.75600819e-02 5.44232943e+02] [-5.39649539e-01 8.41529864e-01 2.46142914e-02 6.79305204e+01] [ 4.49048276e-02 -4.23740695e-04 9.98991180e-01 1.27488695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5903857229999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:544.29, Y:67.90, Z:127.49 [[ 8.40712487e-01 5.40177828e-01 -3.75556671e-02 5.44286730e+02] [-5.39616604e-01 8.41550787e-01 2.46210255e-02 6.79016509e+01] [ 4.49047333e-02 -4.33542031e-04 9.98991180e-01 1.27486891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.34, Y:67.87, Z:127.49 [[ 8.39923702e-01 5.41403952e-01 -3.75491139e-02 5.44341667e+02] [-5.40843505e-01 8.40762521e-01 2.46310157e-02 6.78708901e+01] [ 4.49052169e-02 -3.79979572e-04 9.98991180e-01 1.27489328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.710385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:544.39, Y:67.84, Z:127.50 [[ 8.38595242e-01 5.43459874e-01 -3.75417825e-02 5.44394456e+02] [-5.42900984e-01 8.39435099e-01 2.46421848e-02 6.78393649e+01] [ 4.49059286e-02 -2.83348287e-04 9.98991180e-01 1.27498279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.45, Y:67.81, Z:127.50 [[ 8.37934326e-01 5.44478798e-01 -3.75353694e-02 5.44450164e+02] [-5.43920491e-01 8.38774571e-01 2.46519496e-02 6.78103393e+01] [ 4.49061772e-02 -2.40458211e-04 9.98991180e-01 1.27501815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.50, Y:67.78, Z:127.50 [[ 8.38746150e-01 5.43227886e-01 -3.75281059e-02 5.44504454e+02] [-5.42667832e-01 8.39585231e-01 2.46630019e-02 6.77805091e+01] [ 4.49056739e-02 -3.20702076e-04 9.98991180e-01 1.27502532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.890385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:544.56, Y:67.75, Z:127.51 [[ 8.38091897e-01 5.44237188e-01 -3.75214036e-02 5.44557281e+02] [-5.43677687e-01 8.38931347e-01 2.46731943e-02 6.77484348e+01] [ 4.49059516e-02 -2.78854276e-04 9.98991180e-01 1.27505410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:544.61, Y:67.72, Z:127.51 [[ 8.39720524e-01 5.41721119e-01 -3.75189302e-02 5.44614880e+02] [-5.41158936e-01 8.40558180e-01 2.46769549e-02 6.77233379e+01] [ 4.49048714e-02 -4.18041142e-04 9.98991180e-01 1.27505514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.67, Y:67.69, Z:127.51 [[ 8.38429757e-01 5.43717234e-01 -3.75115036e-02 5.44666924e+02] [-5.43156540e-01 8.39268410e-01 2.46882391e-02 6.76907457e+01] [ 4.49056410e-02 -3.24735796e-04 9.98991180e-01 1.27512626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.070385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:544.72, Y:67.66, Z:127.51 [[ 8.39110649e-01 5.42666267e-01 -3.75052080e-02 5.44722272e+02] [-5.42104096e-01 8.39948313e-01 2.46977993e-02 6.76634355e+01] [ 4.49050987e-02 -3.92459586e-04 9.98991180e-01 1.27511897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.130385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:544.77, Y:67.63, Z:127.52 [[ 8.36975266e-01 5.45954390e-01 -3.74994451e-02 5.44774077e+02] [-5.45395118e-01 8.37814867e-01 2.47065461e-02 6.76286919e+01] [ 4.49062400e-02 -2.26753715e-04 9.98991180e-01 1.27517447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.83, Y:67.60, Z:127.52 [[ 8.37290695e-01 5.45470676e-01 -3.74971292e-02 5.44829374e+02] [-5.44910761e-01 8.38129868e-01 2.47100605e-02 6.76013527e+01] [ 4.49060774e-02 -2.56914500e-04 9.98991180e-01 1.27515616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.88, Y:67.57, Z:127.52 [[ 8.36972842e-01 5.45958725e-01 -3.74904258e-02 5.44882091e+02] [-5.45398844e-01 8.37812038e-01 2.47202268e-02 6.75691923e+01] [ 4.49061536e-02 -2.42923581e-04 9.98991180e-01 1.27519925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.310385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:544.93, Y:67.54, Z:127.52 [[ 8.35056516e-01 5.48885786e-01 -3.74834640e-02 5.44934650e+02] [-5.48328372e-01 8.35897353e-01 2.47307786e-02 6.75382585e+01] [ 4.49067012e-02 -9.83510089e-05 9.98991180e-01 1.27521444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.99, Y:67.51, Z:127.52 [[ 8.32436226e-01 5.52851846e-01 -3.74802047e-02 5.44988095e+02] [-5.52298216e-01 8.33279560e-01 2.47357172e-02 6.75051694e+01] [ 4.49066754e-02 1.09343137e-04 9.98991180e-01 1.27524185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.04, Y:67.47, Z:127.53 [[ 8.30399990e-01 5.55906119e-01 -3.74732344e-02 5.45039979e+02] [-5.55355115e-01 8.31245041e-01 2.47462722e-02 6.74699395e+01] [ 4.49060444e-02 2.61648215e-04 9.98991181e-01 1.27527927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.09, Y:67.43, Z:127.54 [[ 8.24997018e-01 5.63893779e-01 -3.74663371e-02 5.45087068e+02] [-5.63350481e-01 8.25847044e-01 2.47567105e-02 6.74307547e+01] [ 4.49016188e-02 6.82466686e-04 9.98991181e-01 1.27541578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.14, Y:67.40, Z:127.53 [[ 8.25906002e-01 5.62561648e-01 -3.74655589e-02 5.45140773e+02] [-5.62016926e-01 8.26755116e-01 2.47578881e-02 6.74018207e+01] [ 4.49026808e-02 6.08589885e-04 9.98991181e-01 1.27532845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.610385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:545.19, Y:67.37, Z:127.54 [[ 8.23549230e-01 5.66006211e-01 -3.74651015e-02 5.45189463e+02] [-5.65465009e-01 8.24400592e-01 2.47585802e-02 6.73653511e+01] [ 4.48997621e-02 7.95294308e-04 9.98991181e-01 1.27535312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.670385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:545.24, Y:67.33, Z:127.55 [[ 8.20845404e-01 5.69920696e-01 -3.74596137e-02 5.45237038e+02] [-5.69383175e-01 8.21699095e-01 2.47668805e-02 6.73256306e+01] [ 4.48956884e-02 9.99093726e-04 9.98991181e-01 1.27545283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.29, Y:67.29, Z:127.55 [[ 8.20238671e-01 5.70793657e-01 -3.74582864e-02 5.45287333e+02] [-5.70256953e-01 8.21092875e-01 2.47688879e-02 6.72890992e+01] [ 4.48946562e-02 1.04444858e-03 9.98991181e-01 1.27545799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.34, Y:67.25, Z:127.55 [[ 8.19163157e-01 5.72336503e-01 -3.74519731e-02 5.45336876e+02] [-5.71800971e-01 8.20018096e-01 2.47784302e-02 6.72520770e+01] [ 4.48928958e-02 1.11749754e-03 9.98991181e-01 1.27545759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.39, Y:67.21, Z:127.54 [[ 8.19344091e-01 5.72077850e-01 -3.74458693e-02 5.45386339e+02] [-5.71541628e-01 8.20198598e-01 2.47876511e-02 6.72137431e+01] [ 4.48935156e-02 1.09225764e-03 9.98991181e-01 1.27542162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.910385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:545.44, Y:67.18, Z:127.55 [[ 8.19789298e-01 5.71440140e-01 -3.74389398e-02 5.45435542e+02] [-5.70902775e-01 8.20643086e-01 2.47981128e-02 6.71751399e+01] [ 4.48946442e-02 1.04476719e-03 9.98991181e-01 1.27545163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.49, Y:67.14, Z:127.55 [[ 8.20346816e-01 5.70639640e-01 -3.74366588e-02 5.45485500e+02] [-5.70101285e-01 8.21199981e-01 2.48015559e-02 6.71358552e+01] [ 4.48957344e-02 9.96809847e-04 9.98991181e-01 1.27547551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:545.53, Y:67.09, Z:127.56 [[ 8.21371029e-01 5.69164903e-01 -3.74292094e-02 5.45530553e+02] [-5.68624504e-01 8.22222901e-01 2.48127930e-02 6.70934044e+01] [ 4.48977241e-02 9.02656267e-04 9.98991181e-01 1.27556391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0903857229999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:545.58, Y:67.06, Z:127.56 [[ 8.23720028e-01 5.65760386e-01 -3.74232676e-02 5.45579698e+02] [-5.65216059e-01 8.24569395e-01 2.48217514e-02 6.70554239e+01] [ 4.49012448e-02 7.06058102e-04 9.98991181e-01 1.27557366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.63, Y:67.01, Z:127.56 [[ 8.25337778e-01 5.63397936e-01 -3.74208168e-02 5.45625481e+02] [-5.62851010e-01 8.26185474e-01 2.48254456e-02 6.70138350e+01] [ 4.49031401e-02 5.72966460e-04 9.98991181e-01 1.27560073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.67, Y:66.97, Z:127.56 [[ 8.27432586e-01 5.60317342e-01 -3.74137966e-02 5.45673228e+02] [-5.59766782e-01 8.28277926e-01 2.48360211e-02 6.69734293e+01] [ 4.49050752e-02 3.92867353e-04 9.98991181e-01 1.27562362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:545.72, Y:66.94, Z:127.57 [[ 8.28078182e-01 5.59363277e-01 -3.74065249e-02 5.45721450e+02] [-5.58811249e-01 8.28922564e-01 2.48469685e-02 6.69352343e+01] [ 4.49055942e-02 3.27954364e-04 9.98991181e-01 1.27568695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.77, Y:66.90, Z:127.57 [[ 8.27861281e-01 5.59684512e-01 -3.74024912e-02 5.45770628e+02] [-5.59132537e-01 8.28705697e-01 2.48530389e-02 6.68960155e+01] [ 4.49055185e-02 3.38081141e-04 9.98991181e-01 1.27570864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:545.82, Y:66.86, Z:127.57 [[ 8.26004930e-01 5.62421037e-01 -3.73956280e-02 5.45819771e+02] [-5.61871392e-01 8.26850864e-01 2.48633615e-02 6.68568388e+01] [ 4.49042849e-02 4.74274393e-04 9.98991181e-01 1.27574390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.450385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:545.87, Y:66.82, Z:127.58 [[ 8.24818038e-01 5.64160696e-01 -3.73886905e-02 5.45869035e+02] [-5.63612362e-01 8.25664823e-01 2.48737895e-02 6.68181810e+01] [ 4.49033409e-02 5.56377926e-04 9.98991181e-01 1.27578241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:545.92, Y:66.78, Z:127.58 [[ 8.23933925e-01 5.65451524e-01 -3.73826419e-02 5.45919347e+02] [-5.64904105e-01 8.24781301e-01 2.48828766e-02 6.67814481e+01] [ 4.49025645e-02 6.15761735e-04 9.98991181e-01 1.27580835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:545.97, Y:66.75, Z:127.58 [[ 8.23201523e-01 5.66517654e-01 -3.73764530e-02 5.45968996e+02] [-5.65970911e-01 8.24049336e-01 2.48921694e-02 6.67455889e+01] [ 4.49018947e-02 6.62713373e-04 9.98991181e-01 1.27580844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.02, Y:66.71, Z:127.59 [[ 8.23349648e-01 5.66302791e-01 -3.73698659e-02 5.46020583e+02] [-5.65755378e-01 8.24197028e-01 2.49020546e-02 6.67100294e+01] [ 4.49022354e-02 6.39104672e-04 9.98991182e-01 1.27585885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.690385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:546.07, Y:66.68, Z:127.59 [[ 8.25280946e-01 5.63485073e-01 -3.73621853e-02 5.46072365e+02] [-5.62934245e-01 8.26126110e-01 2.49135730e-02 6.66771329e+01] [ 4.49043033e-02 4.71756501e-04 9.98991182e-01 1.27585804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.13, Y:66.64, Z:127.59 [[ 8.27626254e-01 5.60035057e-01 -3.73566381e-02 5.46125002e+02] [-5.59480331e-01 8.28468864e-01 2.49218879e-02 6.66439924e+01] [ 4.49059425e-02 2.74295497e-04 9.98991182e-01 1.27588275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.18, Y:66.61, Z:127.59 [[ 8.30090984e-01 5.56375681e-01 -3.73504992e-02 5.46176711e+02] [-5.55816825e-01 8.30930862e-01 2.49310850e-02 6.66100791e+01] [ 4.49067319e-02 6.49669801e-05 9.98991182e-01 1.27593683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.23, Y:66.58, Z:127.59 [[ 8.32350195e-01 5.52990566e-01 -3.73441710e-02 5.46228652e+02] [-5.52427870e-01 8.33187504e-01 2.49405604e-02 6.65776409e+01] [ 4.49065912e-02 -1.29319436e-04 9.98991182e-01 1.27593073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.28, Y:66.54, Z:127.60 [[ 8.33336436e-01 5.51503439e-01 -3.73408922e-02 5.46280157e+02] [-5.50939028e-01 8.34172590e-01 2.49454684e-02 6.65440510e+01] [ 4.49062604e-02 -2.15412815e-04 9.98991182e-01 1.27600405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.33, Y:66.51, Z:127.60 [[ 8.34793998e-01 5.49295104e-01 -3.73345750e-02 5.46333797e+02] [-5.48728059e-01 8.35628368e-01 2.49549195e-02 6.65134897e+01] [ 4.49054450e-02 -3.45688141e-04 9.98991182e-01 1.27599004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.39, Y:66.48, Z:127.60 [[ 8.32861083e-01 5.52221855e-01 -3.73287942e-02 5.46386332e+02] [-5.51657355e-01 8.33697177e-01 2.49635636e-02 6.64799975e+01] [ 4.49063358e-02 -1.98476756e-04 9.98991182e-01 1.27602441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.44, Y:66.45, Z:127.60 [[ 8.31045424e-01 5.54950948e-01 -3.73222267e-02 5.46438335e+02] [-5.54388753e-01 8.31883069e-01 2.49733787e-02 6.64471241e+01] [ 4.49067287e-02 -6.29893561e-05 9.98991182e-01 1.27602281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.49, Y:66.41, Z:127.61 [[ 8.29973041e-01 5.56554005e-01 -3.73147598e-02 5.46489240e+02] [-5.55992926e-01 8.30811434e-01 2.49845306e-02 6.64140646e+01] [ 4.49067697e-02 1.02556387e-05 9.98991182e-01 1.27605627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.54, Y:66.38, Z:127.61 [[ 8.27649147e-01 5.60004420e-01 -3.73087075e-02 5.46540163e+02] [-5.59446429e-01 8.28489599e-01 2.49935650e-02 6.63784674e+01] [ 4.49063830e-02 1.86320402e-04 9.98991182e-01 1.27611211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.290385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:546.59, Y:66.35, Z:127.61 [[ 8.28253863e-01 5.59110037e-01 -3.73028846e-02 5.46592323e+02] [-5.58550747e-01 8.29093451e-01 2.50022528e-02 6.63456772e+01] [ 4.49065878e-02 1.27341594e-04 9.98991182e-01 1.27611904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.64, Y:66.31, Z:127.62 [[ 8.28420086e-01 5.58864076e-01 -3.72975376e-02 5.46643693e+02] [-5.58304177e-01 8.29259268e-01 2.50102267e-02 6.63108357e+01] [ 4.49066459e-02 1.04396871e-04 9.98991182e-01 1.27616931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.70, Y:66.28, Z:127.62 [[ 8.28642034e-01 5.58535101e-01 -3.72950509e-02 5.46695696e+02] [-5.57974702e-01 8.29480883e-01 2.50139343e-02 6.62773417e+01] [ 4.49066920e-02 8.20975139e-05 9.98991182e-01 1.27622583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.75, Y:66.24, Z:127.62 [[ 8.28697444e-01 5.58453384e-01 -3.72875874e-02 5.46747015e+02] [-5.57892402e-01 8.29535903e-01 2.50250549e-02 6.62430302e+01] [ 4.49067191e-02 6.42626565e-05 9.98991182e-01 1.27624653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.80, Y:66.21, Z:127.62 [[ 8.30262143e-01 5.56124744e-01 -3.72832817e-02 5.46800701e+02] [-5.55561123e-01 8.31098829e-01 2.50314681e-02 6.62094623e+01] [ 4.49067106e-02 -6.95385319e-05 9.98991182e-01 1.27624262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.85, Y:66.18, Z:127.63 [[ 8.31140169e-01 5.54812148e-01 -3.72759930e-02 5.46852666e+02] [-5.54246719e-01 8.31975635e-01 2.50423175e-02 6.61766837e+01] [ 4.49064999e-02 -1.53579154e-04 9.98991182e-01 1.27628191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:546.91, Y:66.14, Z:127.63 [[ 8.32378068e-01 5.52953450e-01 -3.72724436e-02 5.46905206e+02] [-5.52385919e-01 8.33212107e-01 2.50475992e-02 6.61424790e+01] [ 4.49060076e-02 -2.60299257e-04 9.98991183e-01 1.27627737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.96, Y:66.11, Z:127.63 [[ 8.32754908e-01 5.52385928e-01 -3.72699529e-02 5.46957059e+02] [-5.51817663e-01 8.33588447e-01 2.50513048e-02 6.61104759e+01] [ 4.49057904e-02 -2.95378703e-04 9.98991183e-01 1.27631681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.01, Y:66.08, Z:127.64 [[ 8.31837890e-01 5.53766338e-01 -3.72634824e-02 5.47009475e+02] [-5.53199025e-01 8.32672078e-01 2.50609258e-02 6.60777541e+01] [ 4.49061584e-02 -2.32505544e-04 9.98991183e-01 1.27637218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.06, Y:66.04, Z:127.64 [[ 8.29764877e-01 5.56868198e-01 -3.72566704e-02 5.47062373e+02] [-5.56303548e-01 8.30600870e-01 2.50710488e-02 6.60449013e+01] [ 4.49066926e-02 -7.70577694e-05 9.98991183e-01 1.27638305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.11, Y:66.01, Z:127.64 [[ 8.29247428e-01 5.57638865e-01 -3.72505030e-02 5.47114323e+02] [-5.57074581e-01 8.30083667e-01 2.50802089e-02 6.60114137e+01] [ 4.49067334e-02 -4.63904007e-05 9.98991183e-01 1.27637914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.17, Y:65.98, Z:127.64 [[ 8.29302802e-01 5.57556678e-01 -3.72480056e-02 5.47166148e+02] [-5.56992145e-01 8.30138873e-01 2.50839175e-02 6.59789639e+01] [ 4.49067230e-02 -5.53165360e-05 9.98991183e-01 1.27643405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.22, Y:65.95, Z:127.65 [[ 8.30746698e-01 5.55403451e-01 -3.72415221e-02 5.47219085e+02] [-5.54836319e-01 8.31581008e-01 2.50935396e-02 6.59463313e+01] [ 4.49063810e-02 -1.83426151e-04 9.98991183e-01 1.27645930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:547.27, Y:65.91, Z:127.65 [[ 8.32309510e-01 5.53059160e-01 -3.72350085e-02 5.47271079e+02] [-5.52489246e-01 8.33141922e-01 2.51032011e-02 6.59134462e+01] [ 4.49056019e-02 -3.21691250e-04 9.98991183e-01 1.27649034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.130385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:547.32, Y:65.88, Z:127.65 [[ 8.34235698e-01 5.50149848e-01 -3.72282765e-02 5.47324686e+02] [-5.49576586e-01 8.35065808e-01 2.51131808e-02 6.58809716e+01] [ 4.49040734e-02 -4.90522783e-04 9.98991183e-01 1.27651936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.38, Y:65.85, Z:127.66 [[ 8.33134167e-01 5.51817066e-01 -3.72207766e-02 5.47376489e+02] [-5.51244969e-01 8.33965080e-01 2.51242917e-02 6.58466624e+01] [ 4.49048408e-02 -4.14140015e-04 9.98991183e-01 1.27656315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.43, Y:65.82, Z:127.66 [[ 8.33177208e-01 5.51752599e-01 -3.72130305e-02 5.47432005e+02] [-5.51179925e-01 8.34007724e-01 2.51357595e-02 6.58185493e+01] [ 4.49046755e-02 -4.31466564e-04 9.98991183e-01 1.27657497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.49, Y:65.79, Z:127.66 [[ 8.31591680e-01 5.54139845e-01 -3.72063045e-02 5.47487156e+02] [-5.53569111e-01 8.32423530e-01 2.51457115e-02 6.57877702e+01] [ 4.49056440e-02 -3.14703592e-04 9.98991183e-01 1.27660180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.54, Y:65.76, Z:127.66 [[ 8.29460037e-01 5.57326013e-01 -3.71989539e-02 5.47539151e+02] [-5.56757986e-01 8.30293738e-01 2.51565809e-02 6.57559500e+01] [ 4.49064754e-02 -1.55563894e-04 9.98991183e-01 1.27661958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.59, Y:65.73, Z:127.66 [[ 8.32157042e-01 5.53291363e-01 -3.71930785e-02 5.47593969e+02] [-5.52718906e-01 8.32987707e-01 2.51652645e-02 6.57269490e+01] [ 4.49051007e-02 -3.84134386e-04 9.98991183e-01 1.27663692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.64, Y:65.69, Z:127.67 [[ 8.31957494e-01 5.53591792e-01 -3.71867767e-02 5.47644913e+02] [-5.53019219e-01 8.32788079e-01 2.51745733e-02 6.56933461e+01] [ 4.49051414e-02 -3.79172676e-04 9.98991183e-01 1.27668692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.70, Y:65.66, Z:127.67 [[ 8.32424450e-01 5.52889627e-01 -3.71832748e-02 5.47698158e+02] [-5.52316123e-01 8.33254392e-01 2.51797445e-02 6.56601554e+01] [ 4.49047466e-02 -4.23312815e-04 9.98991183e-01 1.27671886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.75, Y:65.63, Z:127.67 [[ 8.33359581e-01 5.51479601e-01 -3.71760569e-02 5.47751262e+02] [-5.50904217e-01 8.34188221e-01 2.51903967e-02 6.56284938e+01] [ 4.49038187e-02 -5.12211843e-04 9.98991184e-01 1.27669304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.670385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:547.80, Y:65.60, Z:127.68 [[ 8.31449659e-01 5.54355361e-01 -3.71698533e-02 5.47804654e+02] [-5.53782434e-01 8.32280000e-01 2.51995472e-02 6.55964746e+01] [ 4.49052296e-02 -3.68143115e-04 9.98991184e-01 1.27677116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.730385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:547.86, Y:65.56, Z:127.68 [[ 8.29973554e-01 5.56563349e-01 -3.71636667e-02 5.47857139e+02] [-5.55992223e-01 8.30805134e-01 2.52086676e-02 6.55638275e+01] [ 4.49059856e-02 -2.59817804e-04 9.98991184e-01 1.27679374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.91, Y:65.53, Z:127.68 [[ 8.28327067e-01 5.59011285e-01 -3.71571497e-02 5.47910946e+02] [-5.58442186e-01 8.29160035e-01 2.52182700e-02 6.55306713e+01] [ 4.49065211e-02 -1.38855749e-04 9.98991184e-01 1.27681850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.96, Y:65.50, Z:127.68 [[ 8.26977595e-01 5.61006167e-01 -3.71502238e-02 5.47964303e+02] [-5.60438618e-01 8.27811621e-01 2.52284687e-02 6.54980190e+01] [ 4.49067135e-02 -4.29582257e-05 9.98991184e-01 1.27683776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.01, Y:65.46, Z:127.69 [[ 8.27060880e-01 5.60883840e-01 -3.71432277e-02 5.48014912e+02] [-5.60315706e-01 8.27894507e-01 2.52387648e-02 6.54628914e+01] [ 4.49066895e-02 -6.20611324e-05 9.98991184e-01 1.27686966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.07, Y:65.43, Z:127.69 [[ 8.27064675e-01 5.60878672e-01 -3.71367624e-02 5.48067322e+02] [-5.60310106e-01 8.27898007e-01 2.52482743e-02 6.54278311e+01] [ 4.49066701e-02 -7.38525191e-05 9.98991184e-01 1.27690554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.12, Y:65.40, Z:127.69 [[ 8.29323234e-01 5.57534174e-01 -3.71297490e-02 5.48120497e+02] [-5.56961786e-01 8.30153945e-01 2.52585839e-02 6.53962965e+01] [ 4.49059314e-02 -2.67679203e-04 9.98991184e-01 1.27688861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0903857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:548.17, Y:65.36, Z:127.70 [[ 8.26274670e-01 5.62042526e-01 -3.71263950e-02 5.48167782e+02] [-5.61474449e-01 8.27108335e-01 2.52635129e-02 6.53577783e+01] [ 4.49067193e-02 -2.90785816e-05 9.98991184e-01 1.27697178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.22, Y:65.32, Z:127.70 [[ 8.23180700e-01 5.66564736e-01 -3.71205428e-02 5.48218104e+02] [-5.66000851e-01 8.24017207e-01 2.52721088e-02 6.53220045e+01] [ 4.49062516e-02 2.06746601e-04 9.98991184e-01 1.27698759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.27, Y:65.29, Z:127.69 [[ 8.22335205e-01 5.67791626e-01 -3.71144217e-02 5.48270690e+02] [-5.67228584e-01 8.23172278e-01 2.52810949e-02 6.52889018e+01] [ 4.49059571e-02 2.62826538e-04 9.98991184e-01 1.27694403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.32, Y:65.25, Z:127.70 [[ 8.16910072e-01 5.75570091e-01 -3.71080048e-02 5.48315987e+02] [-5.75014590e-01 8.17752170e-01 2.52905103e-02 6.52469591e+01] [ 4.49016128e-02 6.77571542e-04 9.98991184e-01 1.27702731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.330385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:548.37, Y:65.21, Z:127.70 [[ 8.17743391e-01 5.74385913e-01 -3.71021463e-02 5.48366536e+02] [-5.73828803e-01 8.18584425e-01 2.52991020e-02 6.52112306e+01] [ 4.49026869e-02 6.02106761e-04 9.98991184e-01 1.27698310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:548.41, Y:65.17, Z:127.70 [[ 8.16720726e-01 5.75839337e-01 -3.70987115e-02 5.48413947e+02] [-5.75283495e-01 8.17562598e-01 2.53041379e-02 6.51705817e+01] [ 4.49016369e-02 6.75862519e-04 9.98991184e-01 1.27702698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.46, Y:65.13, Z:127.71 [[ 8.14557099e-01 5.78896303e-01 -3.70918143e-02 5.48457842e+02] [-5.78343160e-01 8.15400747e-01 2.53142440e-02 6.51264761e+01] [ 4.48990154e-02 8.31899958e-04 9.98991184e-01 1.27713958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.50, Y:65.09, Z:127.72 [[ 8.15329859e-01 5.77807809e-01 -3.70858112e-02 5.48504481e+02] [-5.77253140e-01 8.16172504e-01 2.53230356e-02 6.50851037e+01] [ 4.49002671e-02 7.61273966e-04 9.98991184e-01 1.27719677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.55, Y:65.05, Z:127.72 [[ 8.17336039e-01 5.74966874e-01 -3.70795693e-02 5.48553629e+02] [-5.74408861e-01 8.18176473e-01 2.53321720e-02 6.50472723e+01] [ 4.49027910e-02 5.93936046e-04 9.98991184e-01 1.27721866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.60, Y:65.00, Z:127.73 [[ 8.17814876e-01 5.74285986e-01 -3.70733586e-02 5.48598565e+02] [-5.73726862e-01 8.18654572e-01 2.53412581e-02 6.50049888e+01] [ 4.49034039e-02 5.45523786e-04 9.98991185e-01 1.27727863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.65, Y:64.96, Z:127.73 [[ 8.17976353e-01 5.74056332e-01 -3.70677049e-02 5.48646789e+02] [-5.73496597e-01 8.18815642e-01 2.53495254e-02 6.49633894e+01] [ 4.49036721e-02 5.22890296e-04 9.98991185e-01 1.27731424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.70, Y:64.92, Z:127.73 [[ 8.17759180e-01 5.74366121e-01 -3.70605249e-02 5.48695223e+02] [-5.73806229e-01 8.18598364e-01 2.53600180e-02 6.49231974e+01] [ 4.49036202e-02 5.27172589e-04 9.98991185e-01 1.27731953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.74, Y:64.88, Z:127.73 [[ 8.18644110e-01 5.73104270e-01 -3.70582944e-02 5.48741927e+02] [-5.72542937e-01 8.19482331e-01 2.53632771e-02 6.48822631e+01] [ 4.49044198e-02 4.53967289e-04 9.98991185e-01 1.27734190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.79, Y:64.84, Z:127.74 [[ 8.22004488e-01 5.68274374e-01 -3.70521022e-02 5.48789653e+02] [-5.67707707e-01 8.22839112e-01 2.53723197e-02 6.48416859e+01] [ 4.49063580e-02 1.78603303e-04 9.98991185e-01 1.27738493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.84, Y:64.80, Z:127.74 [[ 8.23196643e-01 5.66546515e-01 -3.70450210e-02 5.48840185e+02] [-5.65977632e-01 8.24029757e-01 2.53826544e-02 6.48043591e+01] [ 4.49066541e-02 7.17374113e-05 9.98991185e-01 1.27742373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:548.89, Y:64.77, Z:127.75 [[ 8.26488014e-01 5.61734595e-01 -3.70379086e-02 5.48889160e+02] [-5.61160397e-01 8.27317474e-01 2.53930285e-02 6.47650137e+01] [ 4.49062516e-02 -2.02826201e-04 9.98991185e-01 1.27746536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.94, Y:64.73, Z:127.75 [[ 8.27872222e-01 5.59693038e-01 -3.70308888e-02 5.48939788e+02] [-5.59116337e-01 8.28699944e-01 2.54032614e-02 6.47272283e+01] [ 4.49055240e-02 -3.26079546e-04 9.98991185e-01 1.27749368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.99, Y:64.69, Z:127.75 [[ 8.29000702e-01 5.58020666e-01 -3.70239469e-02 5.48993046e+02] [-5.57441843e-01 8.29826941e-01 2.54133748e-02 6.46942652e+01] [ 4.49046570e-02 -4.29008366e-04 9.98991185e-01 1.27751242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.04, Y:64.66, Z:127.75 [[ 8.27341372e-01 5.60478401e-01 -3.70164295e-02 5.49044391e+02] [-5.59901543e-01 8.28168984e-01 2.54243198e-02 6.46573975e+01] [ 4.49056409e-02 -3.09035679e-04 9.98991185e-01 1.27754806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.09, Y:64.62, Z:127.76 [[ 8.23903156e-01 5.65520936e-01 -3.70089242e-02 5.49092039e+02] [-5.64948652e-01 8.24733938e-01 2.54352402e-02 6.46192703e+01] [ 4.49066766e-02 -4.80328836e-05 9.98991185e-01 1.27763885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.290385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:549.14, Y:64.59, Z:127.76 [[ 8.24325248e-01 5.64905603e-01 -3.70073722e-02 5.49144834e+02] [-5.64332598e-01 8.25155532e-01 2.54374981e-02 6.45870557e+01] [ 4.49066231e-02 -8.43054593e-05 9.98991185e-01 1.27762329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:549.19, Y:64.55, Z:127.77 [[ 8.25058987e-01 5.63833643e-01 -3.70039491e-02 5.49193911e+02] [-5.63259336e-01 8.25888371e-01 2.54424767e-02 6.45513119e+01] [ 4.49064556e-02 -1.48724293e-04 9.98991185e-01 1.27770249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.25, Y:64.52, Z:127.77 [[ 8.25981204e-01 5.62482188e-01 -3.69978221e-02 5.49245365e+02] [-5.61906125e-01 8.26809370e-01 2.54513833e-02 6.45162914e+01] [ 4.49060958e-02 -2.33061323e-04 9.98991185e-01 1.27774140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.30, Y:64.49, Z:127.77 [[ 8.27352843e-01 5.60463128e-01 -3.69912958e-02 5.49299578e+02] [-5.59884620e-01 8.28179302e-01 2.54608652e-02 6.44870498e+01] [ 4.49053017e-02 -3.54261662e-04 9.98991185e-01 1.27772167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.35, Y:64.45, Z:127.78 [[ 8.23635762e-01 5.65911845e-01 -3.69853330e-02 5.49350333e+02] [-5.65338416e-01 8.24465754e-01 2.54695240e-02 6.44509217e+01] [ 4.49066458e-02 -6.83812654e-05 9.98991185e-01 1.27780483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.40, Y:64.42, Z:127.78 [[ 8.22626013e-01 5.67378884e-01 -3.69816719e-02 5.49401511e+02] [-5.66806696e-01 8.23456861e-01 2.54748388e-02 6.44182383e+01] [ 4.49066971e-02 5.19416815e-06 9.98991185e-01 1.27784466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.45, Y:64.39, Z:127.78 [[ 8.22395444e-01 5.67713435e-01 -3.69755198e-02 5.49454346e+02] [-5.67141184e-01 8.23226248e-01 2.54837652e-02 6.43859690e+01] [ 4.49066943e-02 1.26076433e-05 9.98991185e-01 1.27784663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.710385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:549.51, Y:64.35, Z:127.79 [[ 8.22054431e-01 5.68207548e-01 -3.69688308e-02 5.49507882e+02] [-5.67635360e-01 8.22885278e-01 2.54934651e-02 6.43527426e+01] [ 4.49066859e-02 2.77995857e-05 9.98991186e-01 1.27786698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.56, Y:64.32, Z:127.79 [[ 8.24176975e-01 5.65124933e-01 -3.69610982e-02 5.49560329e+02] [-5.64549135e-01 8.25005325e-01 2.55046711e-02 6.43199725e+01] [ 4.49064284e-02 -1.54006693e-04 9.98991186e-01 1.27789230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.61, Y:64.29, Z:127.79 [[ 8.28037030e-01 5.59454244e-01 -3.69543733e-02 5.49612990e+02] [-5.58872339e-01 8.28861100e-01 2.55144113e-02 6.42869638e+01] [ 4.49041882e-02 -4.74100375e-04 9.98991186e-01 1.27788615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.66, Y:64.25, Z:127.79 [[ 8.26887995e-01 5.61151280e-01 -3.69524663e-02 5.49661733e+02] [-5.60570942e-01 8.27713170e-01 2.55171729e-02 6.42500478e+01] [ 4.49050373e-02 -3.85365145e-04 9.98991186e-01 1.27793306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.71, Y:64.22, Z:127.80 [[ 8.26857371e-01 5.61196868e-01 -3.69454030e-02 5.49714358e+02] [-5.60616119e-01 8.27682257e-01 2.55273955e-02 6.42173453e+01] [ 4.49049490e-02 -3.95326731e-04 9.98991186e-01 1.27796270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.77, Y:64.19, Z:127.80 [[ 8.26644499e-01 5.61510849e-01 -3.69382994e-02 5.49767451e+02] [-5.60929955e-01 8.27469282e-01 2.55376704e-02 6.41856944e+01] [ 4.49049871e-02 -3.90776141e-04 9.98991186e-01 1.27797779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.82, Y:64.15, Z:127.80 [[ 8.26401853e-01 5.61868387e-01 -3.69309190e-02 5.49819089e+02] [-5.61287373e-01 8.27226551e-01 2.55483390e-02 6.41519692e+01] [ 4.49050408e-02 -3.84336195e-04 9.98991186e-01 1.27800834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.130385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:549.87, Y:64.12, Z:127.80 [[ 8.27852449e-01 5.59729300e-01 -3.69246968e-02 5.49870541e+02] [-5.59145753e-01 8.28675358e-01 2.55573286e-02 6.41186487e+01] [ 4.49037720e-02 -5.11409672e-04 9.98991186e-01 1.27803289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.92, Y:64.09, Z:127.81 [[ 8.28910316e-01 5.58161726e-01 -3.69212156e-02 5.49923324e+02] [-5.57576399e-01 8.29731960e-01 2.55623567e-02 6.40853666e+01] [ 4.49026417e-02 -6.02502696e-04 9.98991186e-01 1.27806820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.250385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:549.98, Y:64.05, Z:127.81 [[ 8.29344777e-01 5.57516384e-01 -3.69150717e-02 5.49975944e+02] [-5.56930024e-01 8.30165683e-01 2.55712263e-02 6.40514034e+01] [ 4.49020033e-02 -6.48251203e-04 9.98991186e-01 1.27809534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.03, Y:64.02, Z:127.81 [[ 8.30118183e-01 5.56364636e-01 -3.69079064e-02 5.50028450e+02] [-5.55776677e-01 8.30937945e-01 2.55815639e-02 6.40184662e+01] [ 4.49008574e-02 -7.23167804e-04 9.98991186e-01 1.27812816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.08, Y:63.99, Z:127.82 [[ 8.29710986e-01 5.56972003e-01 -3.69034934e-02 5.50081453e+02] [-5.56384361e-01 8.30530975e-01 2.55879285e-02 6.39870574e+01] [ 4.49012541e-02 -6.98058849e-04 9.98991186e-01 1.27816685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:550.14, Y:63.96, Z:127.82 [[ 8.27878372e-01 5.59692727e-01 -3.68978657e-02 5.50135576e+02] [-5.59107418e-01 8.28700029e-01 2.55960410e-02 6.39561809e+01] [ 4.49031804e-02 -5.60538341e-04 9.98991186e-01 1.27816687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.490385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:550.19, Y:63.93, Z:127.82 [[ 8.25545125e-01 5.63128730e-01 -3.68955277e-02 5.50190754e+02] [-5.62546691e-01 8.26369101e-01 2.55994107e-02 6.39272868e+01] [ 4.49050877e-02 -3.78011715e-04 9.98991186e-01 1.27821249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.24, Y:63.90, Z:127.82 [[ 8.24404537e-01 5.64797634e-01 -3.68889218e-02 5.50244893e+02] [-5.64216837e-01 8.25229388e-01 2.56089264e-02 6.38966052e+01] [ 4.49056834e-02 -2.98764259e-04 9.98991186e-01 1.27823043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.30, Y:63.87, Z:127.82 [[ 8.25604873e-01 5.63041971e-01 -3.68826987e-02 5.50299531e+02] [-5.62459020e-01 8.26428203e-01 2.56178860e-02 6.38669287e+01] [ 4.49048474e-02 -4.05244939e-04 9.98991186e-01 1.27824918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.35, Y:63.83, Z:127.83 [[ 8.26404798e-01 5.61867511e-01 -3.68783083e-02 5.50353507e+02] [-5.61283108e-01 8.27227099e-01 2.56242046e-02 6.38343476e+01] [ 4.49041440e-02 -4.76794191e-04 9.98991186e-01 1.27828135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.41, Y:63.80, Z:127.83 [[ 8.26996718e-01 5.60996383e-01 -3.68712153e-02 5.50407767e+02] [-5.60410659e-01 8.27818078e-01 2.56344069e-02 6.38022423e+01] [ 4.49034681e-02 -5.36548298e-04 9.98991186e-01 1.27830596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.46, Y:63.77, Z:127.83 [[ 8.26902946e-01 5.61135086e-01 -3.68636989e-02 5.50461492e+02] [-5.60549019e-01 8.27724061e-01 2.56452112e-02 6.37686684e+01] [ 4.49033984e-02 -5.42190426e-04 9.98991187e-01 1.27832984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.52, Y:63.74, Z:127.83 [[ 8.26861124e-01 5.61197202e-01 -3.68562336e-02 5.50515398e+02] [-5.60610718e-01 8.27681941e-01 2.56559356e-02 6.37380107e+01] [ 4.49032782e-02 -5.51896161e-04 9.98991187e-01 1.27834711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.57, Y:63.70, Z:127.84 [[ 8.26321159e-01 5.61992381e-01 -3.68497707e-02 5.50567793e+02] [-5.61406273e-01 8.27142245e-01 2.56652149e-02 6.37038623e+01] [ 4.49036573e-02 -5.20017643e-04 9.98991187e-01 1.27837503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.62, Y:63.67, Z:127.84 [[ 8.24639754e-01 5.64457186e-01 -3.68423955e-02 5.50620041e+02] [-5.63873059e-01 8.25462250e-01 2.56757977e-02 6.36727683e+01] [ 4.49048952e-02 -3.98849226e-04 9.98991187e-01 1.27840758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.67, Y:63.64, Z:127.84 [[ 8.22254447e-01 5.67926664e-01 -3.68365052e-02 5.50672676e+02] [-5.67345630e-01 8.23079131e-01 2.56842456e-02 6.36412555e+01] [ 4.49061266e-02 -2.19954991e-04 9.98991187e-01 1.27841321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.72, Y:63.61, Z:127.84 [[ 8.19884842e-01 5.71342575e-01 -3.68308122e-02 5.50724718e+02] [-5.70764610e-01 8.20711679e-01 2.56924066e-02 6.36054692e+01] [ 4.49066435e-02 -4.30905370e-05 9.98991187e-01 1.27844748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.78, Y:63.57, Z:127.85 [[ 8.18620178e-01 5.73153440e-01 -3.68257901e-02 5.50776668e+02] [-5.72576980e-01 8.19448066e-01 2.56996031e-02 6.35724290e+01] [ 4.49066383e-02 4.73860303e-05 9.98991187e-01 1.27849813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.210385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:550.83, Y:63.54, Z:127.85 [[ 8.17258934e-01 5.75093180e-01 -3.68194039e-02 5.50828827e+02] [-5.74518274e-01 8.18087901e-01 2.57087491e-02 6.35365679e+01] [ 4.49064352e-02 1.42715450e-04 9.98991187e-01 1.27852280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.270385723 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:550.88, Y:63.50, Z:127.86 [[ 8.14285739e-01 5.79295768e-01 -3.68123283e-02 5.50880278e+02] [-5.78724682e-01 8.15117342e-01 2.57188767e-02 6.35003271e+01] [ 4.49052037e-02 3.61688455e-04 9.98991187e-01 1.27856027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.93, Y:63.46, Z:127.86 [[ 8.10671206e-01 5.84343714e-01 -3.68051635e-02 5.50931959e+02] [-5.83777340e-01 8.11506025e-01 2.57291258e-02 6.34638889e+01] [ 4.49022649e-02 6.28159027e-04 9.98991187e-01 1.27857198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.390385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:550.98, Y:63.43, Z:127.86 [[ 8.06871149e-01 5.89580245e-01 -3.67978699e-02 5.50981656e+02] [-5.89018813e-01 8.07709300e-01 2.57395530e-02 6.34272638e+01] [ 4.48975137e-02 9.06134987e-04 9.98991187e-01 1.27859914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.03, Y:63.39, Z:127.86 [[ 8.05922450e-01 5.90876685e-01 -3.67933157e-02 5.51030059e+02] [-5.90316304e-01 8.06761304e-01 2.57460613e-02 6.33889221e+01] [ 4.48961707e-02 9.70365331e-04 9.98991187e-01 1.27863708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:551.08, Y:63.35, Z:127.86 [[ 8.06192649e-01 5.90508372e-01 -3.67868962e-02 5.51078403e+02] [-5.89947189e-01 8.07030967e-01 2.57552304e-02 6.33504059e+01] [ 4.48968436e-02 9.38648579e-04 9.98991187e-01 1.27863830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.570385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:551.13, Y:63.31, Z:127.87 [[ 8.07082050e-01 5.89292649e-01 -3.67795898e-02 5.51128057e+02] [-5.88729729e-01 8.07919202e-01 2.57656602e-02 6.33116079e+01] [ 4.48984510e-02 8.58236093e-04 9.98991187e-01 1.27867842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.630385723 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:551.18, Y:63.27, Z:127.87 [[ 8.09008207e-01 5.86645995e-01 -3.67722442e-02 5.51175860e+02] [-5.86079859e-01 8.09843188e-01 2.57761393e-02 6.32715297e+01] [ 4.49012204e-02 6.98363508e-04 9.98991188e-01 1.27866488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:551.22, Y:63.23, Z:127.87 [[ 8.09293308e-01 5.86252999e-01 -3.67663391e-02 5.51223347e+02] [-5.85686075e-01 8.10127754e-01 2.57845595e-02 6.32307804e+01] [ 4.49017070e-02 6.66261345e-04 9.98991188e-01 1.27872062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.750385723 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:551.27, Y:63.19, Z:127.87 [[ 8.08720338e-01 5.87043560e-01 -3.67596782e-02 5.51269722e+02] [-5.86477021e-01 8.09555045e-01 2.57940520e-02 6.31891571e+01] [ 4.49012151e-02 6.98532069e-04 9.98991188e-01 1.27873212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.810385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:551.32, Y:63.15, Z:127.88 [[ 8.07692030e-01 5.88458041e-01 -3.67521161e-02 5.51317171e+02] [-5.87892474e-01 8.08527396e-01 2.58048223e-02 6.31499027e+01] [ 4.49001479e-02 7.63943184e-04 9.98991188e-01 1.27878899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.36, Y:63.11, Z:127.88 [[ 8.06097428e-01 5.90640987e-01 -3.67445529e-02 5.51364776e+02] [-5.90077191e-01 8.06933990e-01 2.58155874e-02 6.31090554e+01] [ 4.48981727e-02 8.72243935e-04 9.98991188e-01 1.27882103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.930385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:551.41, Y:63.07, Z:127.88 [[ 8.05888204e-01 5.90926864e-01 -3.67375075e-02 5.51413493e+02] [-5.90362909e-01 8.06724658e-01 2.58256096e-02 6.30695840e+01] [ 4.48980997e-02 8.75907708e-04 9.98991188e-01 1.27884778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:551.46, Y:63.03, Z:127.89 [[ 8.07371717e-01 5.88898801e-01 -3.67302667e-02 5.51460224e+02] [-5.88332276e-01 8.08206433e-01 2.58359037e-02 6.30278190e+01] [ 4.49003705e-02 7.50423506e-04 9.98991188e-01 1.27888143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.050385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:551.51, Y:62.99, Z:127.89 [[ 8.09332875e-01 5.86201054e-01 -3.67235788e-02 5.51506925e+02] [-5.85631316e-01 8.10165401e-01 2.58454065e-02 6.29858597e+01] [ 4.49027775e-02 5.88940603e-04 9.98991188e-01 1.27892689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.55, Y:62.94, Z:127.90 [[ 8.09967720e-01 5.85324003e-01 -3.67165362e-02 5.51551841e+02] [-5.84752909e-01 8.10799317e-01 2.58554075e-02 6.29426755e+01] [ 4.49035331e-02 5.28055837e-04 9.98991188e-01 1.27897333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.170385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:551.60, Y:62.91, Z:127.90 [[ 8.12833729e-01 5.81337617e-01 -3.67138108e-02 5.51600838e+02] [-5.80762270e-01 8.13662389e-01 2.58592768e-02 6.29053482e+01] [ 4.49056174e-02 3.02703705e-04 9.98991188e-01 1.27896349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.230385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:551.65, Y:62.86, Z:127.90 [[ 8.14757171e-01 5.78639308e-01 -3.67056276e-02 5.51647161e+02] [-5.78060694e-01 8.15583553e-01 2.58708873e-02 6.28635430e+01] [ 4.49064184e-02 1.39589606e-04 9.98991188e-01 1.27897973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:551.70, Y:62.82, Z:127.90 [[ 8.15319987e-01 5.77846169e-01 -3.67031872e-02 5.51695033e+02] [-5.77266595e-01 8.16145695e-01 2.58743489e-02 6.28229795e+01] [ 4.49065417e-02 9.16501050e-05 9.98991188e-01 1.27901872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.74, Y:62.78, Z:127.90 [[ 8.13547398e-01 5.80339630e-01 -3.66953113e-02 5.51743721e+02] [-5.79762082e-01 8.14374526e-01 2.58855139e-02 6.27837296e+01] [ 4.49061163e-02 2.15457594e-04 9.98991188e-01 1.27904703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:551.79, Y:62.75, Z:127.91 [[ 8.13089465e-01 5.80981499e-01 -3.66881333e-02 5.51794777e+02] [-5.80404146e-01 8.13916729e-01 2.58956834e-02 6.27473866e+01] [ 4.49059984e-02 2.38437266e-04 9.98991188e-01 1.27907727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.84, Y:62.71, Z:127.91 [[ 8.10035137e-01 5.85232964e-01 -3.66804496e-02 5.51841104e+02] [-5.84659460e-01 8.10865073e-01 2.59065626e-02 6.27064031e+01] [ 4.49042698e-02 4.60345900e-04 9.98991188e-01 1.27908420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.89, Y:62.67, Z:127.91 [[ 8.08677433e-01 5.87107999e-01 -3.66743294e-02 5.51889968e+02] [-5.86536026e-01 8.09508426e-01 2.59152236e-02 6.26680697e+01] [ 4.49032138e-02 5.53758901e-04 9.98991189e-01 1.27910520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.94, Y:62.63, Z:127.91 [[ 8.07677696e-01 5.88482960e-01 -3.66680263e-02 5.51939454e+02] [-5.87911998e-01 8.08509383e-01 2.59241389e-02 6.26313509e+01] [ 4.49023574e-02 6.19223788e-04 9.98991189e-01 1.27913754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.99, Y:62.60, Z:127.92 [[ 8.07351095e-01 5.88931342e-01 -3.66617516e-02 5.51989733e+02] [-5.88360439e-01 8.08182822e-01 2.59330097e-02 6.25956971e+01] [ 4.49021600e-02 6.33280507e-04 9.98991189e-01 1.27918160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.04, Y:62.56, Z:127.92 [[ 8.08049681e-01 5.87972865e-01 -3.66554581e-02 5.52040121e+02] [-5.87400572e-01 8.08880452e-01 2.59419023e-02 6.25596839e+01] [ 4.49030181e-02 5.69091163e-04 9.98991189e-01 1.27920000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.09, Y:62.53, Z:127.93 [[ 8.09285369e-01 5.86271117e-01 -3.66520016e-02 5.52092264e+02] [-5.85696856e-01 8.10114780e-01 2.59467848e-02 6.25268185e+01] [ 4.49041788e-02 4.68608851e-04 9.98991189e-01 1.27928206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.14, Y:62.49, Z:127.93 [[ 8.11005496e-01 5.83889746e-01 -3.66449157e-02 5.52141961e+02] [-5.83312597e-01 8.11832901e-01 2.59567884e-02 6.24905748e+01] [ 4.49054508e-02 3.24342906e-04 9.98991189e-01 1.27931541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.19, Y:62.45, Z:127.94 [[ 8.12756143e-01 5.81450853e-01 -3.66381941e-02 5.52192533e+02] [-5.80870794e-01 8.13581510e-01 2.59662726e-02 6.24537112e+01] [ 4.49062686e-02 1.77809275e-04 9.98991189e-01 1.27936050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.24, Y:62.42, Z:127.94 [[ 8.13037794e-01 5.81057107e-01 -3.66358311e-02 5.52242619e+02] [-5.80476498e-01 8.13862774e-01 2.59696061e-02 6.24185682e+01] [ 4.49063633e-02 1.51967653e-04 9.98991189e-01 1.27937611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.29, Y:62.38, Z:127.94 [[ 8.13351069e-01 5.80618891e-01 -3.66298060e-02 5.52294995e+02] [-5.80037454e-01 8.14175466e-01 2.59781017e-02 6.23831828e+01] [ 4.49064660e-02 1.17342575e-04 9.98991189e-01 1.27941416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.35, Y:62.35, Z:127.94 [[ 8.13154551e-01 5.80894557e-01 -3.66222600e-02 5.52346966e+02] [-5.80312921e-01 8.13978808e-01 2.59887352e-02 6.23476839e+01] [ 4.49064583e-02 1.19512380e-04 9.98991189e-01 1.27942862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.40, Y:62.31, Z:127.94 [[ 8.14083737e-01 5.79592130e-01 -3.66146505e-02 5.52398290e+02] [-5.79008693e-01 8.14906720e-01 2.59994515e-02 6.23131616e+01] [ 4.49066022e-02 3.44702674e-05 9.98991189e-01 1.27943398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.45, Y:62.28, Z:127.94 [[ 8.15403712e-01 5.77734053e-01 -3.66080589e-02 5.52450117e+02] [-5.77148324e-01 8.16225066e-01 2.60087294e-02 6.22792522e+01] [ 4.49065439e-02 -7.93346662e-05 9.98991189e-01 1.27944886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.250385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.50, Y:62.24, Z:127.95 [[ 8.14885390e-01 5.78465335e-01 -3.66013380e-02 5.52499688e+02] [-5.77879919e-01 8.15706966e-01 2.60181841e-02 6.22439129e+01] [ 4.49065840e-02 -5.06598812e-05 9.98991189e-01 1.27948236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.55, Y:62.21, Z:127.95 [[ 8.14598686e-01 5.78869220e-01 -3.65979004e-02 5.52550724e+02] [-5.78283994e-01 8.15420397e-01 2.60230186e-02 6.22088306e+01] [ 4.49065990e-02 -3.43367151e-05 9.98991189e-01 1.27953092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.60, Y:62.18, Z:127.95 [[ 8.15772940e-01 5.77213622e-01 -3.65915990e-02 5.52603848e+02] [-5.76626331e-01 8.16593177e-01 2.60318762e-02 6.21758901e+01] [ 4.49064036e-02 -1.36420713e-04 9.98991189e-01 1.27952503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.65, Y:62.14, Z:127.95 [[ 8.14886520e-01 5.78464784e-01 -3.65848674e-02 5.52654443e+02] [-5.77878328e-01 8.15707354e-01 2.60413333e-02 6.21403323e+01] [ 4.49065396e-02 -7.91294846e-05 9.98991189e-01 1.27954421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.70, Y:62.10, Z:127.96 [[ 8.14542973e-01 5.78948886e-01 -3.65777596e-02 5.52703931e+02] [-5.78362469e-01 8.15363835e-01 2.60513131e-02 6.21040519e+01] [ 4.49065610e-02 -6.47107046e-05 9.98991189e-01 1.27960140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.75, Y:62.07, Z:127.97 [[ 8.14744530e-01 5.78665611e-01 -3.65713180e-02 5.52753086e+02] [-5.78078503e-01 8.15564898e-01 2.60603527e-02 6.20672878e+01] [ 4.49065132e-02 -9.14370847e-05 9.98991190e-01 1.27968762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.610385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:552.80, Y:62.03, Z:127.97 [[ 8.14467471e-01 5.79055933e-01 -3.65645456e-02 5.52804990e+02] [-5.78468791e-01 8.15287814e-01 2.60698515e-02 6.20322416e+01] [ 4.49065306e-02 -8.15974641e-05 9.98991190e-01 1.27972958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.86, Y:62.00, Z:127.97 [[ 8.14785989e-01 5.78608147e-01 -3.65568564e-02 5.52856367e+02] [-5.78020071e-01 8.15605663e-01 2.60806294e-02 6.19992859e+01] [ 4.49064437e-02 -1.19534743e-04 9.98991190e-01 1.27974201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.91, Y:61.96, Z:127.98 [[ 8.13603569e-01 5.80270002e-01 -3.65507472e-02 5.52905957e+02] [-5.79683216e-01 8.14424167e-01 2.60891883e-02 6.19629760e+01] [ 4.49065852e-02 -3.84020310e-05 9.98991190e-01 1.27981737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.96, Y:61.94, Z:127.98 [[ 8.15433086e-01 5.77696647e-01 -3.65440386e-02 5.52961770e+02] [-5.77106850e-01 8.16251522e-01 2.60985819e-02 6.19353689e+01] [ 4.49061904e-02 -1.91832122e-04 9.98991190e-01 1.27978149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.01, Y:61.90, Z:127.98 [[ 8.15775880e-01 5.77212867e-01 -3.65379253e-02 5.53012591e+02] [-5.76622202e-01 8.16593689e-01 2.61071377e-02 6.18993694e+01] [ 4.49060150e-02 -2.28994291e-04 9.98991190e-01 1.27982529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.07, Y:61.87, Z:127.98 [[ 8.17729334e-01 5.74442517e-01 -3.65312308e-02 5.53067424e+02] [-5.73848663e-01 8.18544831e-01 2.61165018e-02 6.18715986e+01] [ 4.49048792e-02 -3.92831623e-04 9.98991190e-01 1.27983643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.12, Y:61.84, Z:127.99 [[ 8.17659172e-01 5.74542770e-01 -3.65251204e-02 5.53121659e+02] [-5.73948634e-01 8.18474463e-01 2.61250447e-02 6.18388593e+01] [ 4.49048339e-02 -3.97839419e-04 9.98991190e-01 1.27986308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.18, Y:61.81, Z:127.99 [[ 8.16815969e-01 5.75741352e-01 -3.65180534e-02 5.53175844e+02] [-5.75147971e-01 8.17631811e-01 2.61349194e-02 6.18068044e+01] [ 4.49052759e-02 -3.44135196e-04 9.98991190e-01 1.27990348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.23, Y:61.78, Z:128.00 [[ 8.15119738e-01 5.78140790e-01 -3.65108130e-02 5.53230906e+02] [-5.77549358e-01 8.15936993e-01 2.61450303e-02 6.17753191e+01] [ 4.49060315e-02 -2.24533649e-04 9.98991190e-01 1.27995235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.29, Y:61.75, Z:128.00 [[ 8.14013271e-01 5.79698107e-01 -3.65034079e-02 5.53285473e+02] [-5.79107775e-01 8.14831321e-01 2.61553652e-02 6.17472238e+01] [ 4.49063358e-02 -1.51407011e-04 9.98991190e-01 1.27996479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.34, Y:61.72, Z:128.00 [[ 8.12175448e-01 5.82270383e-01 -3.64998962e-02 5.53338631e+02] [-5.81682421e-01 8.12995204e-01 2.61602649e-02 6.17153366e+01] [ 4.49065880e-02 -1.53768860e-05 9.98991190e-01 1.28003152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.39, Y:61.68, Z:128.00 [[ 8.10199121e-01 5.85017642e-01 -3.64930575e-02 5.53392463e+02] [-5.84432031e-01 8.11020556e-01 2.61698013e-02 6.16847179e+01] [ 4.49064152e-02 1.24961670e-04 9.98991190e-01 1.28004661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.330385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:553.45, Y:61.65, Z:128.01 [[ 8.09506377e-01 5.85976256e-01 -3.64863407e-02 5.53445068e+02] [-5.85391196e-01 8.10328205e-01 2.61791626e-02 6.16516838e+01] [ 4.49062787e-02 1.66583535e-04 9.98991190e-01 1.28008612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.50, Y:61.62, Z:128.01 [[ 8.11061677e-01 5.83822070e-01 -3.64793931e-02 5.53498270e+02] [-5.83234392e-01 8.11881635e-01 2.61888402e-02 6.16209886e+01] [ 4.49065722e-02 3.52720305e-05 9.98991190e-01 1.28006994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.55, Y:61.59, Z:128.01 [[ 8.12258558e-01 5.82156124e-01 -3.64730340e-02 5.53550422e+02] [-5.81566366e-01 8.13077021e-01 2.61976935e-02 6.15863305e+01] [ 4.49065335e-02 -6.78109239e-05 9.98991190e-01 1.28009874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.510385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:553.60, Y:61.55, Z:128.01 [[ 8.13094227e-01 5.80988833e-01 -3.64657901e-02 5.53602572e+02] [-5.80397448e-01 8.13911515e-01 2.62077727e-02 6.15504608e+01] [ 4.49063498e-02 -1.44737143e-04 9.98991191e-01 1.28012123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.65, Y:61.51, Z:128.01 [[ 8.12171761e-01 5.82278118e-01 -3.64585417e-02 5.53653626e+02] [-5.81687577e-01 8.12989660e-01 2.62178523e-02 6.15143611e+01] [ 4.49064991e-02 -8.59184499e-05 9.98991191e-01 1.28013833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.70, Y:61.48, Z:128.02 [[ 8.11547387e-01 5.83148486e-01 -3.64510812e-02 5.53704478e+02] [-5.82558358e-01 8.12365583e-01 2.62282207e-02 6.14775758e+01] [ 4.49065510e-02 -5.05619326e-05 9.98991191e-01 1.28016568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.75, Y:61.44, Z:128.02 [[ 8.09590493e-01 5.85862690e-01 -3.64436726e-02 5.53754039e+02] [-5.85274841e-01 8.10410329e-01 2.62385108e-02 6.14403594e+01] [ 4.49064932e-02 8.71157903e-05 9.98991191e-01 1.28018993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.80, Y:61.40, Z:128.02 [[ 8.08110516e-01 5.87902842e-01 -3.64368323e-02 5.53804096e+02] [-5.87316635e-01 8.08931525e-01 2.62480063e-02 6.14027159e+01] [ 4.49061799e-02 1.88667830e-04 9.98991191e-01 1.28022488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.810385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:553.85, Y:61.37, Z:128.03 [[ 8.06858486e-01 5.89620453e-01 -3.64294516e-02 5.53851876e+02] [-5.89035531e-01 8.07680412e-01 2.62582460e-02 6.13654357e+01] [ 4.49057534e-02 2.71552732e-04 9.98991191e-01 1.28026374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.90, Y:61.33, Z:128.03 [[ 8.06299578e-01 5.90384741e-01 -3.64259350e-02 5.53899929e+02] [-5.89800378e-01 8.07121901e-01 2.62631234e-02 6.13268871e+01] [ 4.49055172e-02 3.08084926e-04 9.98991191e-01 1.28030019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.95, Y:61.29, Z:128.03 [[ 8.06442358e-01 5.90190107e-01 -3.64192336e-02 5.53949437e+02] [-5.89605125e-01 8.07264242e-01 2.62724129e-02 6.12883295e+01] [ 4.49056632e-02 2.85780195e-04 9.98991191e-01 1.28033285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.990385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:554.00, Y:61.25, Z:128.03 [[ 8.07237345e-01 5.89102733e-01 -3.64120688e-02 5.53997864e+02] [-5.88516197e-01 8.08058119e-01 2.62823392e-02 6.12485262e+01] [ 4.49060657e-02 2.13006596e-04 9.98991191e-01 1.28033980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.05, Y:61.21, Z:128.04 [[ 8.07128083e-01 5.89252876e-01 -3.64047454e-02 5.54045023e+02] [-5.88666035e-01 8.07948640e-01 2.62924792e-02 6.12069588e+01] [ 4.49060835e-02 2.08838757e-04 9.98991191e-01 1.28036824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.09, Y:61.17, Z:128.04 [[ 8.07583542e-01 5.88628717e-01 -3.64013115e-02 5.54092504e+02] [-5.88041028e-01 8.08403492e-01 2.62972325e-02 6.11687547e+01] [ 4.49062536e-02 1.68252487e-04 9.98991191e-01 1.28038641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.14, Y:61.13, Z:128.04 [[ 8.07436247e-01 5.88831143e-01 -3.63949609e-02 5.54137839e+02] [-5.88243263e-01 8.08256059e-01 2.63060187e-02 6.11254158e+01] [ 4.49062507e-02 1.68657531e-04 9.98991191e-01 1.28042433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.19, Y:61.09, Z:128.05 [[ 8.09307540e-01 5.86256680e-01 -3.63924590e-02 5.54185589e+02] [-5.85666036e-01 8.10125364e-01 2.63094795e-02 6.10869963e+01] [ 4.49065622e-02 2.13671343e-05 9.98991191e-01 1.28045080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.24, Y:61.05, Z:128.05 [[ 8.09228129e-01 5.86366691e-01 -3.63859594e-02 5.54235288e+02] [-5.85775755e-01 8.10045741e-01 2.63184653e-02 6.10479166e+01] [ 4.49065629e-02 1.63703945e-05 9.98991191e-01 1.28047862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3503857229999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:554.28, Y:61.01, Z:128.05 [[ 8.06940038e-01 5.89511979e-01 -3.63785787e-02 5.54281197e+02] [-5.88923770e-01 8.07759614e-01 2.63286634e-02 6.10073376e+01] [ 4.49062091e-02 1.78557064e-04 9.98991191e-01 1.28047651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:554.33, Y:60.97, Z:128.05 [[ 8.06139495e-01 5.90606589e-01 -3.63726858e-02 5.54329746e+02] [-5.90019125e-01 8.06959605e-01 2.63368019e-02 6.09679612e+01] [ 4.49059769e-02 2.29444074e-04 9.98991191e-01 1.28051954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.38, Y:60.93, Z:128.05 [[ 8.06184145e-01 5.90546087e-01 -3.63654052e-02 5.54378457e+02] [-5.89958109e-01 8.07003887e-01 2.63468509e-02 6.09280539e+01] [ 4.49060531e-02 2.13652244e-04 9.98991192e-01 1.28052538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.43, Y:60.89, Z:128.05 [[ 8.06407188e-01 5.90241817e-01 -3.63599384e-02 5.54425182e+02] [-5.89653189e-01 8.07226463e-01 2.63543931e-02 6.08883356e+01] [ 4.49061694e-02 1.87381630e-04 9.98991192e-01 1.28054172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.47, Y:60.84, Z:128.06 [[ 8.05043335e-01 5.92100893e-01 -3.63560246e-02 5.54468504e+02] [-5.91513914e-01 8.05863792e-01 2.63597912e-02 6.08440598e+01] [ 4.49056598e-02 2.84320175e-04 9.98991192e-01 1.28057134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.52, Y:60.80, Z:128.06 [[ 8.05728423e-01 5.91168695e-01 -3.63494537e-02 5.54516201e+02] [-5.90580357e-01 8.06547906e-01 2.63688492e-02 6.08038488e+01] [ 4.49060139e-02 2.21142086e-04 9.98991192e-01 1.28063472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.57, Y:60.77, Z:128.06 [[ 8.07196561e-01 5.89163016e-01 -3.63407990e-02 5.54565443e+02] [-5.88572105e-01 8.08014191e-01 2.63807715e-02 6.07685245e+01] [ 4.49064562e-02 9.47125350e-05 9.98991192e-01 1.28063900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.61, Y:60.73, Z:128.07 [[ 8.06918118e-01 5.89544669e-01 -3.63350219e-02 5.54612441e+02] [-5.88953787e-01 8.07735769e-01 2.63887260e-02 6.07275578e+01] [ 4.49064296e-02 1.06107624e-04 9.98991192e-01 1.28065996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.66, Y:60.69, Z:128.07 [[ 8.06423780e-01 5.90221071e-01 -3.63287070e-02 5.54660901e+02] [-5.89630483e-01 8.07241643e-01 2.63974168e-02 6.06864463e+01] [ 4.49063567e-02 1.33008437e-04 9.98991192e-01 1.28068823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.71, Y:60.65, Z:128.07 [[ 8.07900075e-01 5.88198917e-01 -3.63249665e-02 5.54709649e+02] [-5.87606050e-01 8.08716288e-01 2.64025630e-02 6.06488138e+01] [ 4.49065510e-02 1.41374470e-05 9.98991192e-01 1.28073338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.76, Y:60.61, Z:128.08 [[ 8.09160888e-01 5.86463754e-01 -3.63169718e-02 5.54757757e+02] [-5.85868644e-01 8.09975466e-01 2.64135551e-02 6.06081140e+01] [ 4.49064489e-02 -9.58406857e-05 9.98991192e-01 1.28075328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.81, Y:60.57, Z:128.08 [[ 8.10858001e-01 5.84115490e-01 -3.63097334e-02 5.54805070e+02] [-5.83517575e-01 8.11670523e-01 2.64235018e-02 6.05678426e+01] [ 4.49059170e-02 -2.38340231e-04 9.98991192e-01 1.28076172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.86, Y:60.53, Z:128.08 [[ 8.09390403e-01 5.86147887e-01 -3.63019443e-02 5.54855232e+02] [-5.85551533e-01 8.10204070e-01 2.64341985e-02 6.05296960e+01] [ 4.49063327e-02 -1.38927461e-04 9.98991192e-01 1.28081543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.91, Y:60.49, Z:128.08 [[ 8.09407470e-01 5.86124859e-01 -3.62932222e-02 5.54906297e+02] [-5.85527945e-01 8.10220727e-01 2.64461683e-02 6.04947484e+01] [ 4.49062775e-02 -1.55030356e-04 9.98991192e-01 1.28084594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.96, Y:60.46, Z:128.09 [[ 8.09886648e-01 5.85463041e-01 -3.62856037e-02 5.54956701e+02] [-5.84864994e-01 8.10699072e-01 2.64566172e-02 6.04589161e+01] [ 4.49060768e-02 -2.04681602e-04 9.98991192e-01 1.28086071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.01, Y:60.42, Z:128.09 [[ 8.11009889e-01 5.83906508e-01 -3.62787716e-02 5.55008064e+02] [-5.83306484e-01 8.11820853e-01 2.64659824e-02 6.04235326e+01] [ 4.49055227e-02 -3.02530742e-04 9.98991192e-01 1.28089203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.06, Y:60.39, Z:128.09 [[ 8.11822787e-01 5.82776243e-01 -3.62713756e-02 5.55059752e+02] [-5.82174637e-01 8.12632579e-01 2.64761147e-02 6.03887952e+01] [ 4.49049521e-02 -3.77638343e-04 9.98991192e-01 1.28091693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.11, Y:60.36, Z:128.09 [[ 8.14018862e-01 5.79705249e-01 -3.62645400e-02 5.55112784e+02] [-5.79100170e-01 8.14826063e-01 2.64854741e-02 6.03559983e+01] [ 4.49030607e-02 -5.58874175e-04 9.98991193e-01 1.28087543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.16, Y:60.32, Z:128.10 [[ 8.14145024e-01 5.79528219e-01 -3.62618743e-02 5.55161755e+02] [-5.78922803e-01 8.14951971e-01 2.64891233e-02 6.03193947e+01] [ 4.49028804e-02 -5.73161991e-04 9.98991193e-01 1.28098017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.21, Y:60.28, Z:128.10 [[ 8.14202634e-01 5.79447778e-01 -3.62538738e-02 5.55212901e+02] [-5.78841794e-01 8.15009156e-01 2.65000685e-02 6.02833493e+01] [ 4.49026449e-02 -5.91168183e-04 9.98991193e-01 1.28099646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.26, Y:60.25, Z:128.10 [[ 8.13838985e-01 5.79958882e-01 -3.62464186e-02 5.55264598e+02] [-5.79352951e-01 8.14645545e-01 2.65102617e-02 6.02470978e+01] [ 4.49028452e-02 -5.75614922e-04 9.98991193e-01 1.28101865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.32, Y:60.21, Z:128.10 [[ 8.13426343e-01 5.80537957e-01 -3.62390039e-02 5.55316278e+02] [-5.79932149e-01 8.14232996e-01 2.65203936e-02 6.02129301e+01] [ 4.49030878e-02 -5.56223333e-04 9.98991193e-01 1.28096044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.37, Y:60.18, Z:128.11 [[ 8.11695580e-01 5.82955841e-01 -3.62322162e-02 5.55365474e+02] [-5.82352022e-01 8.12503723e-01 2.65296637e-02 6.01750450e+01] [ 4.49044330e-02 -4.34106391e-04 9.98991193e-01 1.28105382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.42, Y:60.14, Z:128.11 [[ 8.08726125e-01 5.87068807e-01 -3.62252761e-02 5.55415059e+02] [-5.86468674e-01 8.09537009e-01 2.65391369e-02 6.01373768e+01] [ 4.49060011e-02 -2.17903726e-04 9.98991193e-01 1.28106702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.790385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:555.47, Y:60.10, Z:128.11 [[ 8.06502830e-01 5.90119661e-01 -3.62211384e-02 5.55466491e+02] [-5.89522343e-01 8.07315788e-01 2.65447829e-02 6.01023681e+01] [ 4.49064952e-02 -5.52721366e-05 9.98991193e-01 1.28111622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:555.52, Y:60.06, Z:128.12 [[ 8.04894121e-01 5.92312316e-01 -3.62156485e-02 5.55516960e+02] [-5.91716875e-01 8.05708456e-01 2.65522707e-02 6.00641716e+01] [ 4.49064912e-02 5.76438018e-05 9.98991193e-01 1.28115047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.57, Y:60.03, Z:128.12 [[ 8.05225664e-01 5.91861732e-01 -3.62121474e-02 5.55567242e+02] [-5.91265621e-01 8.06039509e-01 2.65570447e-02 6.00259702e+01] [ 4.49065200e-02 2.65838081e-05 9.98991193e-01 1.28117911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9703857229999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:555.62, Y:59.99, Z:128.12 [[ 8.06271038e-01 5.90437358e-01 -3.62041451e-02 5.55618280e+02] [-5.89839319e-01 8.07083467e-01 2.65679495e-02 5.99884723e+01] [ 4.49064768e-02 -6.63399300e-05 9.98991193e-01 1.28116794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.67, Y:59.95, Z:128.12 [[ 8.06778844e-01 5.89743750e-01 -3.61967830e-02 5.55667259e+02] [-5.89144562e-01 8.07590426e-01 2.65779759e-02 5.99497538e+01] [ 4.49063706e-02 -1.17410772e-04 9.98991193e-01 1.28121205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.72, Y:59.91, Z:128.12 [[ 8.07457072e-01 5.88815251e-01 -3.61894779e-02 5.55716384e+02] [-5.88214684e-01 8.08267634e-01 2.65879191e-02 5.99106862e+01] [ 4.49061559e-02 -1.81420930e-04 9.98991193e-01 1.28123451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:555.77, Y:59.88, Z:128.12 [[ 8.09720743e-01 5.85698868e-01 -3.61822366e-02 5.55768655e+02] [-5.85094742e-01 8.10528656e-01 2.65977699e-02 5.98758098e+01] [ 4.49050233e-02 -3.66729622e-04 9.98991193e-01 1.28119306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.82, Y:59.84, Z:128.13 [[ 8.09171508e-01 5.86457644e-01 -3.61787579e-02 5.55817029e+02] [-5.85854064e-01 8.09979829e-01 2.66025008e-02 5.98357529e+01] [ 4.49053040e-02 -3.30513344e-04 9.98991193e-01 1.28125135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.87, Y:59.80, Z:128.13 [[ 8.09682076e-01 5.85753048e-01 -3.61704711e-02 5.55866112e+02] [-5.85148262e-01 8.10489494e-01 2.66137632e-02 5.97984454e+01] [ 4.49048798e-02 -3.83598760e-04 9.98991193e-01 1.28128924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.92, Y:59.76, Z:128.13 [[ 8.10140575e-01 5.85119217e-01 -3.61628229e-02 5.55917434e+02] [-5.84513335e-01 8.10947172e-01 2.66241516e-02 5.97627812e+01] [ 4.49044417e-02 -4.31653228e-04 9.98991194e-01 1.28132298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.97, Y:59.73, Z:128.14 [[ 8.09558132e-01 5.85925289e-01 -3.61550423e-02 5.55968231e+02] [-5.85319738e-01 8.10364977e-01 2.66347132e-02 5.97276809e+01] [ 4.49047321e-02 -4.00088788e-04 9.98991194e-01 1.28138024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.450385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:556.02, Y:59.69, Z:128.14 [[ 8.08388392e-01 5.87538393e-01 -3.61503042e-02 5.56019036e+02] [-5.86934165e-01 8.09196228e-01 2.66411426e-02 5.96911260e+01] [ 4.49053839e-02 -3.18541822e-04 9.98991194e-01 1.28141567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.07, Y:59.66, Z:128.14 [[ 8.07019270e-01 5.89418007e-01 -3.61429299e-02 5.56070727e+02] [-5.88815213e-01 8.07828176e-01 2.66511433e-02 5.96572914e+01] [ 4.49059409e-02 -2.26479282e-04 9.98991194e-01 1.28141562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:556.12, Y:59.62, Z:128.14 [[ 8.05065329e-01 5.92084453e-01 -3.61360941e-02 5.56120058e+02] [-5.91483922e-01 8.05875917e-01 2.66604087e-02 5.96198027e+01] [ 4.49064214e-02 -8.94520785e-05 9.98991194e-01 1.28144576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:556.17, Y:59.58, Z:128.15 [[ 8.02759043e-01 5.95207764e-01 -3.61335961e-02 5.56170456e+02] [-5.94610234e-01 8.03571846e-01 2.66637938e-02 5.95848972e+01] [ 4.49064376e-02 8.08044617e-05 9.98991194e-01 1.28150501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.22, Y:59.55, Z:128.15 [[ 8.04428328e-01 5.92950300e-01 -3.61248695e-02 5.56222862e+02] [-5.92349959e-01 8.05239056e-01 2.66756116e-02 5.95500942e+01] [ 4.49064678e-02 -6.00527118e-05 9.98991194e-01 1.28154682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.750385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:556.27, Y:59.51, Z:128.16 [[ 8.04890827e-01 5.92322856e-01 -3.61163518e-02 5.56274098e+02] [-5.91721365e-01 8.05700703e-01 2.66871389e-02 5.95131284e+01] [ 4.49063723e-02 -1.09416327e-04 9.98991194e-01 1.28158283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.810385723 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:556.32, Y:59.48, Z:128.16 [[ 8.06366189e-01 5.90313236e-01 -3.61088958e-02 5.56324976e+02] [-5.89709276e-01 8.07174224e-01 2.66972234e-02 5.94754700e+01] [ 4.49058943e-02 -2.33987481e-04 9.98991194e-01 1.28159324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.38, Y:59.44, Z:128.16 [[ 8.08385536e-01 5.87545261e-01 -3.61025030e-02 5.56377843e+02] [-5.86938148e-01 8.09191206e-01 2.67058656e-02 5.94423761e+01] [ 4.49047327e-02 -3.98699259e-04 9.98991194e-01 1.28162725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.43, Y:59.41, Z:128.17 [[ 8.09584542e-01 5.85892393e-01 -3.60967053e-02 5.56429741e+02] [-5.85283286e-01 8.10388705e-01 2.67136997e-02 5.94070998e+01] [ 4.49037157e-02 -5.00200059e-04 9.98991194e-01 1.28166115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.48, Y:59.37, Z:128.16 [[ 8.12444948e-01 5.81919893e-01 -3.60894037e-02 5.56484298e+02] [-5.81306416e-01 8.13245782e-01 2.67235602e-02 5.93744408e+01] [ 4.49005266e-02 -7.32419551e-04 9.98991194e-01 1.28163092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.050385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:556.54, Y:59.34, Z:128.17 [[ 8.13125554e-01 5.80968978e-01 -3.60815743e-02 5.56536845e+02] [-5.80354097e-01 8.13925309e-01 2.67341272e-02 5.93398177e+01] [ 4.48994051e-02 -7.98112525e-04 9.98991194e-01 1.28167054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:556.59, Y:59.31, Z:128.17 [[ 8.13871514e-01 5.79923992e-01 -3.60738390e-02 5.56589250e+02] [-5.79307621e-01 8.14670122e-01 2.67445607e-02 5.93051150e+01] [ 4.48980913e-02 -8.68786217e-04 9.98991194e-01 1.28169358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.64, Y:59.27, Z:128.17 [[ 8.14187599e-01 5.79480621e-01 -3.60661027e-02 5.56642283e+02] [-5.78863353e-01 8.14985515e-01 2.67549894e-02 5.92716068e+01] [ 4.48973491e-02 -9.06235373e-04 9.98991195e-01 1.28172801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.70, Y:59.24, Z:128.18 [[ 8.14510357e-01 5.79027354e-01 -3.60583145e-02 5.56695152e+02] [-5.78409178e-01 8.15307569e-01 2.67654816e-02 5.92381304e+01] [ 4.48965627e-02 -9.44301863e-04 9.98991195e-01 1.28179916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.290385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:556.75, Y:59.21, Z:128.18 [[ 8.16533747e-01 5.76170713e-01 -3.60548039e-02 5.56749954e+02] [-5.75549540e-01 8.17328626e-01 2.67702098e-02 5.92068445e+01] [ 4.48928342e-02 -1.10745388e-03 9.98991195e-01 1.28179821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3503857229999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:556.80, Y:59.17, Z:128.18 [[ 8.16104924e-01 5.76778452e-01 -3.60467929e-02 5.56802857e+02] [-5.76157395e-01 8.16899893e-01 2.67809925e-02 5.91739907e+01] [ 4.48933206e-02 -1.08747356e-03 9.98991195e-01 1.28182051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:556.85, Y:59.14, Z:128.19 [[ 8.15930782e-01 5.77025224e-01 -3.60395701e-02 5.56854575e+02] [-5.76403978e-01 8.16725604e-01 2.67907088e-02 5.91386962e+01] [ 4.48933544e-02 -1.08601245e-03 9.98991195e-01 1.28186554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.91, Y:59.11, Z:128.19 [[ 8.15198038e-01 5.78060424e-01 -3.60320045e-02 5.56910140e+02] [-5.77439739e-01 8.15993297e-01 2.68008802e-02 5.91095883e+01] [ 4.48944024e-02 -1.04171370e-03 9.98991195e-01 1.28186891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.96, Y:59.08, Z:128.19 [[ 8.12928256e-01 5.81248381e-01 -3.60273444e-02 5.56963974e+02] [-5.80630537e-01 8.13725726e-01 2.68071432e-02 5.90770273e+01] [ 4.48979855e-02 -8.73707846e-04 9.98991195e-01 1.28189931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.02, Y:59.04, Z:128.20 [[ 8.10929493e-01 5.84034201e-01 -3.60195685e-02 5.57015357e+02] [-5.83418633e-01 8.11728720e-01 2.68175872e-02 5.90422886e+01] [ 4.49005064e-02 -7.32684949e-04 9.98991195e-01 1.28196212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.650385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:557.07, Y:59.01, Z:128.20 [[ 8.08962500e-01 5.86756134e-01 -3.60126824e-02 5.57066778e+02] [-5.86142844e-01 8.09763476e-01 2.68268312e-02 5.90076374e+01] [ 4.49025627e-02 -5.93324370e-04 9.98991195e-01 1.28201146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.710385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:557.12, Y:58.97, Z:128.20 [[ 8.08035701e-01 5.88032217e-01 -3.60058051e-02 5.57117947e+02] [-5.87419781e-01 8.08837330e-01 2.68360585e-02 5.89730978e+01] [ 4.49033062e-02 -5.33971132e-04 9.98991195e-01 1.28198609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.770385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:557.17, Y:58.94, Z:128.20 [[ 8.07462733e-01 5.88819164e-01 -3.59989984e-02 5.57170541e+02] [-5.88207102e-01 8.08264648e-01 2.68451862e-02 5.89377885e+01] [ 4.49036778e-02 -5.01620826e-04 9.98991195e-01 1.28201400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.830385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:557.22, Y:58.90, Z:128.21 [[ 8.07079236e-01 5.89345176e-01 -3.59912650e-02 5.57222601e+02] [-5.88733175e-01 8.07881197e-01 2.68555503e-02 5.89024954e+01] [ 4.49038553e-02 -4.85305274e-04 9.98991195e-01 1.28205579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.890385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:557.27, Y:58.87, Z:128.21 [[ 8.07051788e-01 5.89383222e-01 -3.59837383e-02 5.57272529e+02] [-5.88770810e-01 8.07853434e-01 2.68656316e-02 5.88660477e+01] [ 4.49037391e-02 -4.95781259e-04 9.98991195e-01 1.28213404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.950385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:557.32, Y:58.83, Z:128.21 [[ 8.08012111e-01 5.88066402e-01 -3.59768814e-02 5.57322844e+02] [-5.87452274e-01 8.08812444e-01 2.68748108e-02 5.88306628e+01] [ 4.49027227e-02 -5.80471789e-04 9.98991195e-01 1.28206189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.010385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:557.37, Y:58.79, Z:128.21 [[ 8.09007501e-01 5.86696668e-01 -3.59705963e-02 5.57373338e+02] [-5.86080812e-01 8.09806505e-01 2.68832204e-02 5.87946414e+01] [ 4.49015187e-02 -6.67050700e-04 9.98991195e-01 1.28210298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.42, Y:58.76, Z:128.21 [[ 8.10720571e-01 5.84327613e-01 -3.59638289e-02 5.57423168e+02] [-5.83709020e-01 8.11517458e-01 2.68922708e-02 5.87581876e+01] [ 4.48991714e-02 -8.09705803e-04 9.98991196e-01 1.28211389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.47, Y:58.72, Z:128.22 [[ 8.11918918e-01 5.82661755e-01 -3.59575980e-02 5.57473412e+02] [-5.82041159e-01 8.12714247e-01 2.69005994e-02 5.87213144e+01] [ 4.48972027e-02 -9.12303507e-04 9.98991196e-01 1.28216375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.52, Y:58.69, Z:128.22 [[ 8.12115820e-01 5.82387750e-01 -3.59500117e-02 5.57524465e+02] [-5.81766438e-01 8.12910588e-01 2.69107340e-02 5.86854531e+01] [ 4.48966270e-02 -9.40122565e-04 9.98991196e-01 1.28220520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.58, Y:58.65, Z:128.23 [[ 8.10893879e-01 5.84088400e-01 -3.59424187e-02 5.57575883e+02] [-5.83468305e-01 8.11689598e-01 2.69208715e-02 5.86503036e+01] [ 4.48982562e-02 -8.58707761e-04 9.98991196e-01 1.28227142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.63, Y:58.61, Z:128.23 [[ 8.08093007e-01 5.87957759e-01 -3.59355779e-02 5.57625012e+02] [-5.87341068e-01 8.08891368e-01 2.69299999e-02 5.86147600e+01] [ 4.49016811e-02 -6.55503929e-04 9.98991196e-01 1.28227430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.68, Y:58.58, Z:128.23 [[ 8.05896624e-01 5.90964750e-01 -3.59346120e-02 5.57675021e+02] [-5.90350982e-01 8.06697232e-01 2.69312888e-02 5.85789917e+01] [ 4.49037944e-02 -4.89801230e-04 9.98991196e-01 1.28229870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.73, Y:58.54, Z:128.23 [[ 8.02220347e-01 5.95946061e-01 -3.59278109e-02 5.57726533e+02] [-5.95336858e-01 8.03024434e-01 2.69403588e-02 5.85434213e+01] [ 4.49059107e-02 -2.22953919e-04 9.98991196e-01 1.28234284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.78, Y:58.51, Z:128.24 [[ 7.98046848e-01 6.01523868e-01 -3.59202558e-02 5.57777244e+02] [-6.00919832e-01 7.98854824e-01 2.69504284e-02 5.85065556e+01] [ 4.49063956e-02 7.74897025e-05 9.98991196e-01 1.28236971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.83, Y:58.47, Z:128.24 [[ 7.95438402e-01 6.04969445e-01 -3.59126619e-02 5.57827967e+02] [-6.04368452e-01 7.96248644e-01 2.69605438e-02 5.84691943e+01] [ 4.49057136e-02 2.59027999e-04 9.98991196e-01 1.28239726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.88, Y:58.43, Z:128.24 [[ 7.94932154e-01 6.05634971e-01 -3.59047721e-02 5.57876486e+02] [-6.05034182e-01 7.95742547e-01 2.69710470e-02 5.84313200e+01] [ 4.49055641e-02 2.83461888e-04 9.98991196e-01 1.28240924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.92, Y:58.39, Z:128.24 [[ 7.94569573e-01 6.06111016e-01 -3.58974833e-02 5.57924480e+02] [-6.05510274e-01 7.95380002e-01 2.69807447e-02 5.83919644e+01] [ 4.49054669e-02 2.98216167e-04 9.98991196e-01 1.28241959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.97, Y:58.35, Z:128.25 [[ 7.93535037e-01 6.07465209e-01 -3.58910084e-02 5.57972491e+02] [-6.06865461e-01 7.94346201e-01 2.69893550e-02 5.83505219e+01] [ 4.49049804e-02 3.64014537e-04 9.98991196e-01 1.28245500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.02, Y:58.31, Z:128.25 [[ 7.92759556e-01 6.08477345e-01 -3.58832296e-02 5.58021039e+02] [-6.07878165e-01 7.93571140e-01 2.69996932e-02 5.83100056e+01] [ 4.49045971e-02 4.08366952e-04 9.98991196e-01 1.28248600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.07, Y:58.27, Z:128.25 [[ 7.91228292e-01 6.10467639e-01 -3.58754991e-02 5.58067958e+02] [-6.09870034e-01 7.92041037e-01 2.70099613e-02 5.82688447e+01] [ 4.49035747e-02 5.08346320e-04 9.98991196e-01 1.28251306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.11, Y:58.23, Z:128.26 [[ 7.90615929e-01 6.11260921e-01 -3.58683569e-02 5.58114350e+02] [-6.10663702e-01 7.91428957e-01 2.70194425e-02 5.82259586e+01] [ 4.49031856e-02 5.41501935e-04 9.98991197e-01 1.28255044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.16, Y:58.18, Z:128.26 [[ 7.90284397e-01 6.11689943e-01 -3.58606503e-02 5.58158933e+02] [-6.11092701e-01 7.91097407e-01 2.70296670e-02 5.81829056e+01] [ 4.49030429e-02 5.53057617e-04 9.98991197e-01 1.28257730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.21, Y:58.14, Z:128.26 [[ 7.90805097e-01 6.11017037e-01 -3.58535774e-02 5.58205721e+02] [-6.10418678e-01 7.91617286e-01 2.70390456e-02 5.81409580e+01] [ 4.49036291e-02 5.03078203e-04 9.98991197e-01 1.28258874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.25, Y:58.10, Z:128.26 [[ 7.91190063e-01 6.10518684e-01 -3.58499913e-02 5.58250465e+02] [-6.09919598e-01 7.92001715e-01 2.70437994e-02 5.80969673e+01] [ 4.49039994e-02 4.68826952e-04 9.98991197e-01 1.28261898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.29, Y:58.05, Z:128.27 [[ 7.92278700e-01 6.09105691e-01 -3.58429692e-02 5.58294850e+02] [-6.08504737e-01 7.93088971e-01 2.70531031e-02 5.80533724e+01] [ 4.49048626e-02 3.77019118e-04 9.98991197e-01 1.28267706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.34, Y:58.01, Z:128.27 [[ 7.92937498e-01 6.08248219e-01 -3.58361405e-02 5.58338125e+02] [-6.07645980e-01 7.93746813e-01 2.70621458e-02 5.80093717e+01] [ 4.49053243e-02 3.17096486e-04 9.98991197e-01 1.28269254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.38, Y:57.97, Z:128.27 [[ 7.93378789e-01 6.07672867e-01 -3.58299116e-02 5.58383467e+02] [-6.07069669e-01 7.94187390e-01 2.70703903e-02 5.79688511e+01] [ 4.49056056e-02 2.74179076e-04 9.98991197e-01 1.28268608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.43, Y:57.92, Z:128.28 [[ 7.91526390e-01 6.10084108e-01 -3.58239337e-02 5.58427039e+02] [-6.09483015e-01 7.92336557e-01 2.70782989e-02 5.79242893e+01] [ 4.49046521e-02 4.00890960e-04 9.98991197e-01 1.28276734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.47, Y:57.88, Z:128.28 [[ 7.90958008e-01 6.10820901e-01 -3.58225592e-02 5.58473269e+02] [-6.10220480e-01 7.91768674e-01 2.70801171e-02 5.78822022e+01] [ 4.49042817e-02 4.40423727e-04 9.98991197e-01 1.28276980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.52, Y:57.84, Z:128.28 [[ 7.89342259e-01 6.12907563e-01 -3.58206330e-02 5.58517101e+02] [-6.12309170e-01 7.90154422e-01 2.70826648e-02 5.78378177e+01] [ 4.49030016e-02 5.55810261e-04 9.98991197e-01 1.28278859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.56, Y:57.79, Z:128.28 [[ 7.90175067e-01 6.11833928e-01 -3.58135334e-02 5.58561922e+02] [-6.11234005e-01 7.90986101e-01 2.70920498e-02 5.77927870e+01] [ 4.49038424e-02 4.82987224e-04 9.98991197e-01 1.28283215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.61, Y:57.75, Z:128.29 [[ 7.89874804e-01 6.12221980e-01 -3.58055981e-02 5.58605591e+02] [-6.11621981e-01 7.90685781e-01 2.71025333e-02 5.77499108e+01] [ 4.49037439e-02 4.91882716e-04 9.98991197e-01 1.28286198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.65, Y:57.71, Z:128.29 [[ 7.91134581e-01 6.10593554e-01 -3.57992437e-02 5.58649769e+02] [-6.09991506e-01 7.91944039e-01 2.71109241e-02 5.77059119e+01] [ 4.49047532e-02 3.88844983e-04 9.98991197e-01 1.28287500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.70, Y:57.67, Z:128.29 [[ 7.92356688e-01 6.09007181e-01 -3.57929197e-02 5.58698036e+02] [-6.08403135e-01 7.93164655e-01 2.71192708e-02 5.76673695e+01] [ 4.49055095e-02 2.88388984e-04 9.98991197e-01 1.28294943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:558.75, Y:57.63, Z:128.29 [[ 7.90679722e-01 6.11183225e-01 -3.57860821e-02 5.58748793e+02] [-6.10580994e-01 7.91489043e-01 2.71282905e-02 5.76311180e+01] [ 4.49046480e-02 4.00512438e-04 9.98991197e-01 1.28293662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.80, Y:57.60, Z:128.30 [[ 7.92564499e-01 6.08737534e-01 -3.57789167e-02 5.58801081e+02] [-6.08132379e-01 7.93371636e-01 2.71377376e-02 5.75968236e+01] [ 4.49057371e-02 2.49910298e-04 9.98991197e-01 1.28295851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.85, Y:57.56, Z:128.30 [[ 7.94344447e-01 6.06413426e-01 -3.57722812e-02 5.58849618e+02] [-6.05805516e-01 7.95149511e-01 2.71464815e-02 5.75605642e+01] [ 4.49063028e-02 1.07388434e-04 9.98991197e-01 1.28300866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.90, Y:57.52, Z:128.30 [[ 7.96113687e-01 6.04089065e-01 -3.57686809e-02 5.58900110e+02] [-6.03478591e-01 7.96916809e-01 2.71512244e-02 5.75248943e+01] [ 4.49064209e-02 -2.98282247e-05 9.98991197e-01 1.28301501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.990385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:558.95, Y:57.49, Z:128.30 [[ 7.99003803e-01 6.00261604e-01 -3.57621137e-02 5.58950095e+02] [-5.99646897e-01 7.99803689e-01 2.71598717e-02 5.74874039e+01] [ 4.49056986e-02 -2.56200339e-04 9.98991197e-01 1.28302813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.00, Y:57.45, Z:128.31 [[ 8.00371699e-01 5.98436863e-01 -3.57556298e-02 5.58998915e+02] [-5.97819950e-01 8.01169885e-01 2.71684050e-02 5.74483050e+01] [ 4.49049089e-02 -3.69393598e-04 9.98991198e-01 1.28307294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:559.05, Y:57.41, Z:128.31 [[ 8.00354783e-01 5.98459938e-01 -3.57480615e-02 5.59047454e+02] [-5.97842604e-01 8.01152643e-01 2.71783597e-02 5.74086527e+01] [ 4.49048134e-02 -3.80616039e-04 9.98991198e-01 1.28308985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.10, Y:57.37, Z:128.31 [[ 7.99294713e-01 5.99875345e-01 -3.57425940e-02 5.59096019e+02] [-5.99259102e-01 8.00093416e-01 2.71855482e-02 5.73723992e+01] [ 4.49053542e-02 -3.10190122e-04 9.98991198e-01 1.28313160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.230385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:559.14, Y:57.33, Z:128.32 [[ 7.97803865e-01 6.01856901e-01 -3.57388155e-02 5.59144504e+02] [-6.01242420e-01 7.98603924e-01 2.71905145e-02 5.73326951e+01] [ 4.49059572e-02 -2.05005625e-04 9.98991198e-01 1.28315539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.19, Y:57.30, Z:128.32 [[ 7.98326298e-01 6.01164182e-01 -3.57316200e-02 5.59194615e+02] [-6.00548583e-01 7.99125498e-01 2.71999670e-02 5.72966368e+01] [ 4.49056945e-02 -2.55875227e-04 9.98991198e-01 1.28316996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.24, Y:57.26, Z:128.32 [[ 7.93719857e-01 6.07233509e-01 -3.57247147e-02 5.59242517e+02] [-6.06623613e-01 7.94523417e-01 2.72090336e-02 5.72590773e+01] [ 4.49063593e-02 7.51052901e-05 9.98991198e-01 1.28321241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.30, Y:57.23, Z:128.32 [[ 7.94634012e-01 6.06036971e-01 -3.57208221e-02 5.59295521e+02] [-6.05425636e-01 7.95436478e-01 2.72141428e-02 5.72258207e+01] [ 4.49064216e-02 1.01798681e-06 9.98991198e-01 1.28321615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.34, Y:57.19, Z:128.32 [[ 7.96623670e-01 6.03419640e-01 -3.57136724e-02 5.59343232e+02] [-6.02805248e-01 7.97423797e-01 2.72235223e-02 5.71880739e+01] [ 4.49061403e-02 -1.58513057e-04 9.98991198e-01 1.28324690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.530385723 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:559.39, Y:57.15, Z:128.33 [[ 7.97934812e-01 6.01685167e-01 -3.57070875e-02 5.59389497e+02] [-6.01068649e-01 7.98733303e-01 2.72321566e-02 5.71489416e+01] [ 4.49056246e-02 -2.67074949e-04 9.98991198e-01 1.28330054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.44, Y:57.12, Z:128.33 [[ 8.01449161e-01 5.96996249e-01 -3.57032389e-02 5.59441921e+02] [-5.96374835e-01 8.02243847e-01 2.72372014e-02 5.71153413e+01] [ 4.49032108e-02 -5.36718987e-04 9.98991198e-01 1.28331049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.49, Y:57.08, Z:128.34 [[ 7.99949826e-01 5.99004217e-01 -3.56962840e-02 5.59488572e+02] [-5.98384391e-01 8.00745752e-01 2.72463132e-02 5.70754021e+01] [ 4.49043043e-02 -4.35584341e-04 9.98991198e-01 1.28335918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.54, Y:57.04, Z:128.34 [[ 7.99392330e-01 5.99748247e-01 -3.56923431e-02 5.59538679e+02] [-5.99128932e-01 8.00188653e-01 2.72514748e-02 5.70395618e+01] [ 4.49046322e-02 -4.00304469e-04 9.98991198e-01 1.28337786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.59, Y:57.00, Z:128.34 [[ 7.96495319e-01 6.03590697e-01 -3.56858177e-02 5.59587399e+02] [-6.02974841e-01 7.97294320e-01 2.72600172e-02 5.70023974e+01] [ 4.49059925e-02 -1.94825820e-04 9.98991198e-01 1.28342822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.64, Y:56.97, Z:128.35 [[ 7.94980015e-01 6.05585466e-01 -3.56793971e-02 5.59636609e+02] [-6.04971237e-01 7.95780268e-01 2.72684182e-02 5.69650405e+01] [ 4.49063179e-02 -9.28384673e-05 9.98991198e-01 1.28347810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.69, Y:56.93, Z:128.35 [[ 7.93193281e-01 6.07924224e-01 -3.56729225e-02 5.59686180e+02] [-6.07311975e-01 7.93995048e-01 2.72768858e-02 5.69275836e+01] [ 4.49064034e-02 2.87504638e-05 9.98991198e-01 1.28349430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.73, Y:56.89, Z:128.35 [[ 7.90849039e-01 6.10971145e-01 -3.56659070e-02 5.59734790e+02] [-6.10361571e-01 7.91652843e-01 2.72860558e-02 5.68909402e+01] [ 4.49060094e-02 1.89948052e-04 9.98991198e-01 1.28353124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.79, Y:56.85, Z:128.36 [[ 7.89613378e-01 6.12567498e-01 -3.56619329e-02 5.59785460e+02] [-6.11959315e-01 7.90418234e-01 2.72912487e-02 5.68537611e+01] [ 4.49055740e-02 2.74116952e-04 9.98991198e-01 1.28355856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.84, Y:56.81, Z:128.36 [[ 7.89807056e-01 6.12318200e-01 -3.56544122e-02 5.59835087e+02] [-6.11709319e-01 7.90611384e-01 2.73010706e-02 5.68149573e+01] [ 4.49057266e-02 2.47557974e-04 9.98991198e-01 1.28359350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.88, Y:56.78, Z:128.36 [[ 7.91305804e-01 6.10380555e-01 -3.56469083e-02 5.59884599e+02] [-6.09769263e-01 7.92108302e-01 2.73108649e-02 5.67779490e+01] [ 4.49062329e-02 1.25143047e-04 9.98991198e-01 1.28359854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.93, Y:56.74, Z:128.36 [[ 7.91712557e-01 6.09853273e-01 -3.56400382e-02 5.59934529e+02] [-6.09241043e-01 7.92514339e-01 2.73198273e-02 5.67403247e+01] [ 4.49063274e-02 8.39237573e-05 9.98991199e-01 1.28362388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.99, Y:56.70, Z:128.36 [[ 7.92739006e-01 6.08518568e-01 -3.56373505e-02 5.59985573e+02] [-6.07904831e-01 7.93539635e-01 2.73233328e-02 5.67041807e+01] [ 4.49064055e-02 3.84582128e-06 9.98991199e-01 1.28364371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.03, Y:56.67, Z:128.37 [[ 7.91424967e-01 6.10227058e-01 -3.56294663e-02 5.60033031e+02] [-6.09614586e-01 7.92226565e-01 2.73336099e-02 5.66657145e+01] [ 4.49063181e-02 8.77410790e-05 9.98991199e-01 1.28371534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.08, Y:56.63, Z:128.37 [[ 7.91062832e-01 6.10696823e-01 -3.56228279e-02 5.60083367e+02] [-6.10084438e-01 7.91864495e-01 2.73422587e-02 5.66277997e+01] [ 4.49062832e-02 1.03488322e-04 9.98991199e-01 1.28374350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.13, Y:56.59, Z:128.38 [[ 7.91669564e-01 6.09910536e-01 -3.56151667e-02 5.60132066e+02] [-6.09296905e-01 7.92470275e-01 2.73522343e-02 5.65901615e+01] [ 4.49063768e-02 4.62794407e-05 9.98991199e-01 1.28376414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.18, Y:56.55, Z:128.38 [[ 7.92371792e-01 6.08998363e-01 -3.56081035e-02 5.60180652e+02] [-6.08383398e-01 7.93171478e-01 2.73614264e-02 5.65515267e+01] [ 4.49063960e-02 -1.70435096e-05 9.98991199e-01 1.28378102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.23, Y:56.51, Z:128.38 [[ 7.93070317e-01 6.08088569e-01 -3.56056841e-02 5.60229747e+02] [-6.07472545e-01 7.93869188e-01 2.73645744e-02 5.65132039e+01] [ 4.49063404e-02 -7.25561079e-05 9.98991199e-01 1.28383869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.28, Y:56.47, Z:128.39 [[ 7.91626022e-01 6.09968008e-01 -3.55987402e-02 5.60277731e+02] [-6.09353475e-01 7.92426040e-01 2.73736048e-02 5.64740665e+01] [ 4.49063919e-02 2.25582050e-05 9.98991199e-01 1.28391959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.33, Y:56.44, Z:128.39 [[ 7.92477505e-01 6.08861749e-01 -3.55917806e-02 5.60329510e+02] [-6.08245692e-01 7.93276351e-01 2.73826508e-02 5.64405012e+01] [ 4.49063665e-02 -5.15875762e-05 9.98991199e-01 1.28389741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.38, Y:56.40, Z:128.40 [[ 7.89821724e-01 6.12303293e-01 -3.55854091e-02 5.60377067e+02] [-6.11690345e-01 7.90622957e-01 2.73909285e-02 5.64015452e+01] [ 4.49061971e-02 1.33300783e-04 9.98991199e-01 1.28397806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.43, Y:56.37, Z:128.40 [[ 7.89427257e-01 6.12812196e-01 -3.55783544e-02 5.60428669e+02] [-6.12199351e-01 7.90228568e-01 2.74000888e-02 5.63675924e+01] [ 4.49061407e-02 1.50668528e-04 9.98991199e-01 1.28395339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:560.48, Y:56.33, Z:128.40 [[ 7.87890876e-01 6.14786633e-01 -3.55719303e-02 5.60479609e+02] [-6.14175420e-01 7.88693433e-01 2.74084264e-02 5.63311685e+01] [ 4.49056820e-02 2.52556138e-04 9.98991199e-01 1.28397948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.53, Y:56.29, Z:128.40 [[ 7.86991288e-01 6.15938230e-01 -3.55641512e-02 5.60528911e+02] [-6.15327735e-01 7.87794392e-01 2.74185166e-02 5.62932298e+01] [ 4.49053514e-02 3.05474911e-04 9.98991199e-01 1.28402359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.58, Y:56.26, Z:128.41 [[ 7.87093594e-01 6.15807904e-01 -3.55570034e-02 5.60579345e+02] [-6.15196857e-01 7.87896277e-01 2.74277828e-02 5.62553038e+01] [ 4.49054761e-02 2.86324647e-04 9.98991199e-01 1.28405368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.030385723 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:560.63, Y:56.22, Z:128.41 [[ 7.87365134e-01 6.15461111e-01 -3.55494872e-02 5.60628455e+02] [-6.14849271e-01 7.88167213e-01 2.74375212e-02 5.62166757e+01] [ 4.49056676e-02 2.54228776e-04 9.98991199e-01 1.28407733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0903857229999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:560.68, Y:56.18, Z:128.41 [[ 7.89633645e-01 6.12548168e-01 -3.55450366e-02 5.60678374e+02] [-6.11933110e-01 7.90433258e-01 2.74432858e-02 5.61807558e+01] [ 4.49063135e-02 8.10429763e-05 9.98991199e-01 1.28411394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.73, Y:56.14, Z:128.41 [[ 7.90633135e-01 6.11257815e-01 -3.55405290e-02 5.60728596e+02] [-6.10641189e-01 7.91431541e-01 2.74491220e-02 5.61423153e+01] [ 4.49063860e-02 3.25489337e-07 9.98991199e-01 1.28413763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.78, Y:56.10, Z:128.42 [[ 7.89670469e-01 6.12501391e-01 -3.55330382e-02 5.60775447e+02] [-6.11885586e-01 7.90469508e-01 2.74588156e-02 5.61022607e+01] [ 4.49063459e-02 5.87381047e-05 9.98991199e-01 1.28420456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.83, Y:56.07, Z:128.42 [[ 7.92243046e-01 6.09170469e-01 -3.55288068e-02 5.60826868e+02] [-6.08551059e-01 7.93039293e-01 2.74642895e-02 5.60693753e+01] [ 4.49061739e-02 -1.37299346e-04 9.98991200e-01 1.28419882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.330385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:560.88, Y:56.03, Z:128.42 [[ 7.92183088e-01 6.09248665e-01 -3.55249181e-02 5.60876690e+02] [-6.08629108e-01 7.92979221e-01 2.74693185e-02 5.60324625e+01] [ 4.49061675e-02 -1.39230352e-04 9.98991200e-01 1.28422372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.93, Y:56.00, Z:128.42 [[ 7.91646795e-01 6.09945765e-01 -3.55178214e-02 5.60928005e+02] [-6.09326498e-01 7.92443153e-01 2.74784915e-02 5.59954355e+01] [ 4.49062439e-02 -1.11310033e-04 9.98991200e-01 1.28424797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.450385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:560.97, Y:55.95, Z:128.43 [[ 7.88170958e-01 6.14431084e-01 -3.55103340e-02 5.60974837e+02] [-6.13815913e-01 7.88970485e-01 2.74881640e-02 5.59549631e+01] [ 4.49061878e-02 1.31435539e-04 9.98991200e-01 1.28433522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:561.03, Y:55.92, Z:128.44 [[ 7.86819062e-01 6.16161486e-01 -3.55075559e-02 5.61027144e+02] [-6.15547912e-01 7.87619814e-01 2.74917521e-02 5.59200534e+01] [ 4.49058134e-02 2.25567284e-04 9.98991200e-01 1.28440231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:561.08, Y:55.89, Z:128.44 [[ 7.88476407e-01 6.14039774e-01 -3.54980484e-02 5.61080143e+02] [-6.13423492e-01 7.89275077e-01 2.75040230e-02 5.58883463e+01] [ 4.49062890e-02 8.90636263e-05 9.98991200e-01 1.28435120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.630385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:561.13, Y:55.85, Z:128.44 [[ 7.86832070e-01 6.16145806e-01 -3.54913956e-02 5.61129992e+02] [-6.15531274e-01 7.87632089e-01 2.75126051e-02 5.58496265e+01] [ 4.49059383e-02 1.98263913e-04 9.98991200e-01 1.28438257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:561.18, Y:55.82, Z:128.44 [[ 7.88528640e-01 6.13973289e-01 -3.54878040e-02 5.61181981e+02] [-6.13356345e-01 7.89326799e-01 2.75172371e-02 5.58157751e+01] [ 4.49063233e-02 6.85402355e-05 9.98991200e-01 1.28438730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.23, Y:55.78, Z:128.44 [[ 7.89272073e-01 6.13017754e-01 -3.54799748e-02 5.61231105e+02] [-6.12399390e-01 7.90069132e-01 2.75273282e-02 5.57797173e+01] [ 4.49063738e-02 1.36353736e-06 9.98991200e-01 1.28442983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.810385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:561.28, Y:55.74, Z:128.45 [[ 7.91511698e-01 6.10123688e-01 -3.54727761e-02 5.61281896e+02] [-6.09501994e-01 7.92306162e-01 2.75366015e-02 5.57427225e+01] [ 4.49060320e-02 -1.74814456e-04 9.98991200e-01 1.28446421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.870385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:561.33, Y:55.71, Z:128.45 [[ 7.93485632e-01 6.07554749e-01 -3.54651678e-02 5.61332481e+02] [-6.06930045e-01 7.94277732e-01 2.75463970e-02 5.57071232e+01] [ 4.49051374e-02 -3.32794392e-04 9.98991200e-01 1.28449055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.930385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:561.38, Y:55.67, Z:128.45 [[ 7.94104916e-01 6.06745499e-01 -3.54581526e-02 5.61382857e+02] [-6.06119585e-01 7.94896060e-01 2.75554242e-02 5.56702606e+01] [ 4.49046754e-02 -3.90017053e-04 9.98991200e-01 1.28451193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.990385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:561.43, Y:55.63, Z:128.45 [[ 7.93033826e-01 6.08145231e-01 -3.54503607e-02 5.61432015e+02] [-6.07520266e-01 7.93825719e-01 2.75654449e-02 5.56307348e+01] [ 4.49052019e-02 -3.23517640e-04 9.98991200e-01 1.28451060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.48, Y:55.59, Z:128.46 [[ 7.94414319e-01 6.06341027e-01 -3.54464206e-02 5.61483983e+02] [-6.05714037e-01 7.95204610e-01 2.75705105e-02 5.55946883e+01] [ 4.49042887e-02 -4.32013832e-04 9.98991200e-01 1.28456177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.110385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:561.54, Y:55.56, Z:128.46 [[ 7.96464336e-01 6.03646232e-01 -3.54370833e-02 5.61535812e+02] [-6.03016035e-01 7.97252072e-01 2.75825068e-02 5.55602497e+01] [ 4.49023644e-02 -5.99353499e-04 9.98991200e-01 1.28457303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:561.59, Y:55.52, Z:128.46 [[ 7.96305269e-01 6.03856523e-01 -3.54290533e-02 5.61585204e+02] [-6.03226075e-01 7.97092805e-01 2.75928173e-02 5.55221194e+01] [ 4.49023461e-02 -6.00577105e-04 9.98991200e-01 1.28459899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.64, Y:55.48, Z:128.46 [[ 7.94890771e-01 6.05717743e-01 -3.54214376e-02 5.61635479e+02] [-6.05088704e-01 7.95679431e-01 2.76025902e-02 5.54847264e+01] [ 4.49034880e-02 -5.07932461e-04 9.98991201e-01 1.28462648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.290385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:561.69, Y:55.45, Z:128.46 [[ 7.92398229e-01 6.08975293e-01 -3.54138392e-02 5.61685809e+02] [-6.08349060e-01 7.93189120e-01 2.76123354e-02 5.54475719e+01] [ 4.49051020e-02 -3.35989834e-04 9.98991201e-01 1.28464394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3503857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:561.74, Y:55.41, Z:128.47 [[ 7.90610408e-01 6.11294999e-01 -3.54063119e-02 5.61735258e+02] [-6.10670655e-01 7.91402791e-01 2.76219841e-02 5.54092504e+01] [ 4.49058348e-02 -2.16632488e-04 9.98991201e-01 1.28467414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.78, Y:55.37, Z:128.47 [[ 7.88554119e-01 6.13945708e-01 -3.53987145e-02 5.61784418e+02] [-6.13323591e-01 7.89348251e-01 2.76317171e-02 5.53699296e+01] [ 4.49062875e-02 -7.82376292e-05 9.98991201e-01 1.28470198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:561.83, Y:55.33, Z:128.47 [[ 7.86807529e-01 6.16182924e-01 -3.53909287e-02 5.61832623e+02] [-6.15562616e-01 7.87603075e-01 2.76416856e-02 5.53296507e+01] [ 4.49063389e-02 3.66463489e-05 9.98991201e-01 1.28471673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:561.88, Y:55.29, Z:128.48 [[ 7.85511559e-01 6.17834622e-01 -3.53832024e-02 5.61880348e+02] [-6.17215542e-01 7.86308060e-01 2.76515722e-02 5.52887942e+01] [ 4.49061959e-02 1.18432882e-04 9.98991201e-01 1.28475707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.93, Y:55.25, Z:128.48 [[ 7.85084909e-01 6.18377120e-01 -3.53754480e-02 5.61927813e+02] [-6.17758143e-01 7.85881491e-01 2.76614890e-02 5.52480555e+01] [ 4.49061418e-02 1.36853509e-04 9.98991201e-01 1.28477607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.650385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:561.97, Y:55.20, Z:128.48 [[ 7.85247168e-01 6.18171509e-01 -3.53676511e-02 5.61973254e+02] [-6.17551874e-01 7.86043239e-01 2.76714546e-02 5.52045502e+01] [ 4.49062078e-02 1.12427876e-04 9.98991201e-01 1.28479304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.710385723 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:562.02, Y:55.16, Z:128.48 [[ 7.85878352e-01 6.17369335e-01 -3.53598513e-02 5.62020920e+02] [-6.16748440e-01 7.86673440e-01 2.76814179e-02 5.51626269e+01] [ 4.49063144e-02 5.39060573e-05 9.98991201e-01 1.28481056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.07, Y:55.12, Z:128.49 [[ 7.86673995e-01 6.16355703e-01 -3.53507062e-02 5.62066457e+02] [-6.15733259e-01 7.87467870e-01 2.76930918e-02 5.51209591e+01] [ 4.49063404e-02 -1.88296193e-05 9.98991201e-01 1.28485425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.11, Y:55.08, Z:128.49 [[ 7.86814995e-01 6.16176191e-01 -3.53421250e-02 5.62112107e+02] [-6.15553074e-01 7.87608341e-01 2.77040388e-02 5.50769221e+01] [ 4.49063216e-02 -4.29994148e-05 9.98991201e-01 1.28488974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:562.16, Y:55.03, Z:128.49 [[ 7.84982998e-01 6.18508820e-01 -3.53345664e-02 5.62156246e+02] [-6.17887626e-01 7.85777852e-01 2.77136759e-02 5.50334474e+01] [ 4.49062727e-02 7.80269826e-05 9.98991201e-01 1.28493620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:562.20, Y:54.99, Z:128.50 [[ 7.84474997e-01 6.19153413e-01 -3.53274603e-02 5.62202195e+02] [-6.18532465e-01 7.85270043e-01 2.77227314e-02 5.49927212e+01] [ 4.49062200e-02 1.03391443e-04 9.98991202e-01 1.28495472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.25, Y:54.95, Z:128.49 [[ 7.86147068e-01 6.17029349e-01 -3.53209695e-02 5.62250211e+02] [-6.16405881e-01 7.86940139e-01 2.77309988e-02 5.49533160e+01] [ 4.49063287e-02 -2.85900685e-05 9.98991202e-01 1.28494760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.29, Y:54.91, Z:128.50 [[ 7.86790106e-01 6.16209561e-01 -3.53143878e-02 5.62294163e+02] [-6.15584891e-01 7.87582230e-01 2.77393777e-02 5.49097825e+01] [ 4.49062541e-02 -8.60642883e-05 9.98991202e-01 1.28500550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.130385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:562.34, Y:54.87, Z:128.50 [[ 7.88314788e-01 6.14258245e-01 -3.53072601e-02 5.62343123e+02] [-6.13631208e-01 7.89105040e-01 2.77484470e-02 5.48716886e+01] [ 4.49058493e-02 -2.08874443e-04 9.98991202e-01 1.28500189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.39, Y:54.83, Z:128.51 [[ 7.88081110e-01 6.14558446e-01 -3.52998767e-02 5.62388814e+02] [-6.13931289e-01 7.88871266e-01 2.77578366e-02 5.48279337e+01] [ 4.49058714e-02 -2.03727835e-04 9.98991202e-01 1.28506919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.44, Y:54.79, Z:128.51 [[ 7.86971828e-01 6.15978778e-01 -3.52914603e-02 5.62436399e+02] [-6.15352567e-01 7.87762735e-01 2.77685331e-02 5.47877804e+01] [ 4.49061244e-02 -1.36362594e-04 9.98991202e-01 1.28505879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.49, Y:54.75, Z:128.51 [[ 7.85023686e-01 6.18460082e-01 -3.52836981e-02 5.62485285e+02] [-6.17835928e-01 7.85816217e-01 2.77783926e-02 5.47485892e+01] [ 4.49063291e-02 -7.15981904e-06 9.98991202e-01 1.28506461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.53, Y:54.71, Z:128.51 [[ 7.83216121e-01 6.20748025e-01 -3.52760193e-02 5.62531754e+02] [-6.20125747e-01 7.84010126e-01 2.77881406e-02 5.47066740e+01] [ 4.49061897e-02 1.11448131e-04 9.98991202e-01 1.28508588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.58, Y:54.67, Z:128.51 [[ 7.82345903e-01 6.21844860e-01 -3.52683781e-02 5.62578642e+02] [-6.21223258e-01 7.83140437e-01 2.77978353e-02 5.46663255e+01] [ 4.49060340e-02 1.62014159e-04 9.98991202e-01 1.28511453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.63, Y:54.63, Z:128.51 [[ 7.81259765e-01 6.23209157e-01 -3.52636696e-02 5.62625857e+02] [-6.22588673e-01 7.82055172e-01 2.78038071e-02 5.46257470e+01] [ 4.49057224e-02 2.32765506e-04 9.98991202e-01 1.28514050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.67, Y:54.59, Z:128.52 [[ 7.81110014e-01 6.23397232e-01 -3.52567270e-02 5.62674510e+02] [-6.22776542e-01 7.81905261e-01 2.78126079e-02 5.45858807e+01] [ 4.49057231e-02 2.32355973e-04 9.98991202e-01 1.28517677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.72, Y:54.54, Z:128.52 [[ 7.80731204e-01 6.23872020e-01 -3.52489652e-02 5.62722144e+02] [-6.23251370e-01 7.81526482e-01 2.78224415e-02 5.45449539e+01] [ 4.49056425e-02 2.47117601e-04 9.98991202e-01 1.28520531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.77, Y:54.51, Z:128.52 [[ 7.80203174e-01 6.24532679e-01 -3.52411629e-02 5.62770640e+02] [-6.23912256e-01 7.80998629e-01 2.78323207e-02 5.45065672e+01] [ 4.49054938e-02 2.72528523e-04 9.98991202e-01 1.28522422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.730385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:562.82, Y:54.47, Z:128.52 [[ 7.81111700e-01 6.23396406e-01 -3.52339741e-02 5.62820523e+02] [-6.22774416e-01 7.81905929e-01 2.78414183e-02 5.44687584e+01] [ 4.49058934e-02 1.95560076e-04 9.98991202e-01 1.28523791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.87, Y:54.43, Z:128.53 [[ 7.82454354e-01 6.21710782e-01 -3.52262436e-02 5.62870974e+02] [-6.21086640e-01 7.83246894e-01 2.78511959e-02 5.44317114e+01] [ 4.49062347e-02 8.62597891e-05 9.98991202e-01 1.28525879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.92, Y:54.39, Z:128.53 [[ 7.82950550e-01 6.21086221e-01 -3.52185020e-02 5.62921035e+02] [-6.20461006e-01 7.83742244e-01 2.78609820e-02 5.43934789e+01] [ 4.49062998e-02 3.79360275e-05 9.98991203e-01 1.28528715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.97, Y:54.36, Z:128.53 [[ 7.84764066e-01 6.18793629e-01 -3.52108826e-02 5.62971118e+02] [-6.18165670e-01 7.85553584e-01 2.78706081e-02 5.43575611e+01] [ 4.49061897e-02 -1.05692932e-04 9.98991203e-01 1.28529611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.02, Y:54.32, Z:128.53 [[ 7.88052923e-01 6.14600097e-01 -3.52038444e-02 5.63022512e+02] [-6.13967540e-01 7.88838763e-01 2.78794953e-02 5.43229800e+01] [ 4.49048976e-02 -3.56500090e-04 9.98991203e-01 1.28529788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.07, Y:54.29, Z:128.53 [[ 7.87355855e-01 6.15492993e-01 -3.52013294e-02 5.63071987e+02] [-6.14861185e-01 7.88142297e-01 2.78826705e-02 5.42857253e+01] [ 4.49052449e-02 -3.09652768e-04 9.98991203e-01 1.28533246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.12, Y:54.24, Z:128.54 [[ 7.86678427e-01 6.16359027e-01 -3.51937803e-02 5.63118030e+02] [-6.15727659e-01 7.87465222e-01 2.78921957e-02 5.42438695e+01] [ 4.49054846e-02 -2.72404671e-04 9.98991203e-01 1.28538910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.17, Y:54.21, Z:128.54 [[ 7.85679086e-01 6.17632769e-01 -3.51871562e-02 5.63167461e+02] [-6.17002303e-01 7.86466603e-01 2.79005498e-02 5.42063893e+01] [ 4.49058171e-02 -2.10322066e-04 9.98991203e-01 1.28544100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.210385723 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:563.22, Y:54.17, Z:128.54 [[ 7.88122219e-01 6.14512615e-01 -3.51797354e-02 5.63215528e+02] [-6.13878613e-01 7.88906893e-01 2.79099035e-02 5.41675350e+01] [ 4.49045236e-02 -4.00327950e-04 9.98991203e-01 1.28541797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.26, Y:54.13, Z:128.55 [[ 7.90089604e-01 6.11981439e-01 -3.51729474e-02 5.63264167e+02] [-6.11344542e-01 7.90871931e-01 2.79184553e-02 5.41281536e+01] [ 4.49028733e-02 -5.55291867e-04 9.98991203e-01 1.28546028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.330385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:563.31, Y:54.09, Z:128.55 [[ 7.91848283e-01 6.09704595e-01 -3.51653832e-02 5.63312538e+02] [-6.09065027e-01 7.92628426e-01 2.79279798e-02 5.40883025e+01] [ 4.49008999e-02 -6.96717798e-04 9.98991203e-01 1.28549158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.36, Y:54.05, Z:128.55 [[ 7.93454945e-01 6.07612695e-01 -3.51576935e-02 5.63364228e+02] [-6.06970641e-01 7.94233044e-01 2.79376568e-02 5.40532427e+01] [ 4.48986769e-02 -8.27584200e-04 9.98991203e-01 1.28553831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.42, Y:54.02, Z:128.55 [[ 7.92577983e-01 6.08756646e-01 -3.51494929e-02 5.63415232e+02] [-6.08115258e-01 7.93356631e-01 2.79479705e-02 5.40154088e+01] [ 4.48995960e-02 -7.76003158e-04 9.98991203e-01 1.28553307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.46, Y:53.98, Z:128.56 [[ 7.88762163e-01 6.13693186e-01 -3.51414800e-02 5.63462782e+02] [-6.13056223e-01 7.89544435e-01 2.79580422e-02 5.39758806e+01] [ 4.49034200e-02 -5.08542818e-04 9.98991203e-01 1.28555399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:563.52, Y:53.94, Z:128.56 [[ 7.89442080e-01 6.12818702e-01 -3.51346075e-02 5.63515483e+02] [-6.12180489e-01 7.90223332e-01 2.79666762e-02 5.39411932e+01] [ 4.49026888e-02 -5.69349881e-04 9.98991203e-01 1.28556326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.630385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:563.56, Y:53.90, Z:128.56 [[ 7.86282889e-01 6.16867361e-01 -3.51265872e-02 5.63563524e+02] [-6.16232721e-01 7.87067046e-01 2.79767461e-02 5.39022823e+01] [ 4.49049208e-02 -3.51484347e-04 9.98991203e-01 1.28560370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.62, Y:53.87, Z:128.56 [[ 7.87974001e-01 6.14705980e-01 -3.51216639e-02 5.63616085e+02] [-6.14068914e-01 7.88756189e-01 2.79829254e-02 5.38674574e+01] [ 4.49037014e-02 -4.82695726e-04 9.98991203e-01 1.28563310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.66, Y:53.83, Z:128.57 [[ 7.86598255e-01 6.16465897e-01 -3.51138707e-02 5.63664609e+02] [-6.15830144e-01 7.87381510e-01 2.79927012e-02 5.38297058e+01] [ 4.49045582e-02 -3.94829870e-04 9.98991204e-01 1.28567141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.72, Y:53.79, Z:128.57 [[ 7.85985837e-01 6.17246937e-01 -3.51067343e-02 5.63716104e+02] [-6.16611563e-01 7.86769399e-01 2.80016484e-02 5.37928744e+01] [ 4.49048360e-02 -3.61680748e-04 9.98991204e-01 1.28569684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.77, Y:53.76, Z:128.57 [[ 7.85179194e-01 6.18273140e-01 -3.50992486e-02 5.63767139e+02] [-6.17638371e-01 7.85963247e-01 2.80110283e-02 5.37557962e+01] [ 4.49051858e-02 -3.15033920e-04 9.98991204e-01 1.28573781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.82, Y:53.72, Z:128.58 [[ 7.85229463e-01 6.18209721e-01 -3.50917639e-02 5.63819421e+02] [-6.17574470e-01 7.86013124e-01 2.80204019e-02 5.37197373e+01] [ 4.49050718e-02 -3.30667598e-04 9.98991204e-01 1.28576181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.87, Y:53.68, Z:128.58 [[ 7.86425692e-01 6.16687705e-01 -3.50842768e-02 5.63870052e+02] [-6.16050519e-01 7.87207781e-01 2.80297734e-02 5.36825366e+01] [ 4.49042323e-02 -4.29647055e-04 9.98991204e-01 1.28578825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.92, Y:53.65, Z:128.58 [[ 7.89644506e-01 6.12561153e-01 -3.50768831e-02 5.63923143e+02] [-6.11919470e-01 7.90422910e-01 2.80390230e-02 5.36484600e+01] [ 4.49011882e-02 -6.76632779e-04 9.98991204e-01 1.28579646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.97, Y:53.61, Z:128.58 [[ 7.91498438e-01 6.10164246e-01 -3.50687234e-02 5.63974383e+02] [-6.09519753e-01 7.92274518e-01 2.80492247e-02 5.36120035e+01] [ 4.48986899e-02 -8.25837888e-04 9.98991204e-01 1.28581956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:564.02, Y:53.57, Z:128.59 [[ 7.91395648e-01 6.10298028e-01 -3.50605792e-02 5.64023789e+02] [-6.09653217e-01 7.92171462e-01 2.80594009e-02 5.35734250e+01] [ 4.48985874e-02 -8.31292892e-04 9.98991204e-01 1.28587824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.230385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:564.08, Y:53.54, Z:128.59 [[ 7.91282685e-01 6.10444947e-01 -3.50525184e-02 5.64075628e+02] [-6.09799833e-01 7.92058248e-01 2.80694671e-02 5.35379538e+01] [ 4.48985007e-02 -8.35863383e-04 9.98991204e-01 1.28589321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.13, Y:53.50, Z:128.59 [[ 7.89408417e-01 6.12866912e-01 -3.50499473e-02 5.64126929e+02] [-6.12224036e-01 7.90185835e-01 2.80726772e-02 5.35034496e+01] [ 4.49007869e-02 -7.02387431e-04 9.98991204e-01 1.28593521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.18, Y:53.47, Z:128.60 [[ 7.87867107e-01 6.14847362e-01 -3.50448708e-02 5.64178652e+02] [-6.14206158e-01 7.88645906e-01 2.80790131e-02 5.34676741e+01] [ 4.49023010e-02 -5.97755402e-04 9.98991204e-01 1.28599021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.23, Y:53.43, Z:128.60 [[ 7.85337857e-01 6.18075118e-01 -3.50371191e-02 5.64230274e+02] [-6.17436684e-01 7.86118927e-01 2.80886823e-02 5.34311076e+01] [ 4.49042581e-02 -4.25902918e-04 9.98991204e-01 1.28600222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.28, Y:53.40, Z:128.60 [[ 7.81611263e-01 6.22781509e-01 -3.50289264e-02 5.64282160e+02] [-6.22147320e-01 7.82395785e-01 2.80988956e-02 5.33957517e+01] [ 4.49059570e-02 -1.69260569e-04 9.98991204e-01 1.28603638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.33, Y:53.36, Z:128.61 [[ 7.78997671e-01 6.26048078e-01 -3.50204752e-02 5.64332550e+02] [-6.25416706e-01 7.79784460e-01 2.81094246e-02 5.33598069e+01] [ 4.49062736e-02 5.21393146e-06 9.98991204e-01 1.28606657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.38, Y:53.32, Z:128.61 [[ 7.78035357e-01 6.27244048e-01 -3.50126713e-02 5.64380204e+02] [-6.26613448e-01 7.78822766e-01 2.81191417e-02 5.33184947e+01] [ 4.49062298e-02 6.17242348e-05 9.98991205e-01 1.28606978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:564.43, Y:53.28, Z:128.61 [[ 7.75563508e-01 6.30298263e-01 -3.50049105e-02 5.64426744e+02] [-6.29670329e-01 7.76353043e-01 2.81287997e-02 5.32779782e+01] [ 4.49057024e-02 2.25882904e-04 9.98991205e-01 1.28610735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.47, Y:53.24, Z:128.62 [[ 7.73254165e-01 6.33129625e-01 -3.49982071e-02 5.64473309e+02] [-6.32504203e-01 7.74045693e-01 2.81371377e-02 5.32357461e+01] [ 4.49046669e-02 3.79354116e-04 9.98991205e-01 1.28618460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.52, Y:53.20, Z:128.62 [[ 7.71527157e-01 6.35233461e-01 -3.49899433e-02 5.64520098e+02] [-6.34609732e-01 7.72320018e-01 2.81474104e-02 5.31958516e+01] [ 4.49036106e-02 4.88467047e-04 9.98991205e-01 1.28620684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.56, Y:53.15, Z:128.63 [[ 7.68622221e-01 6.38745682e-01 -3.49833503e-02 5.64562817e+02] [-6.38125203e-01 7.69417629e-01 2.81556022e-02 5.31506189e+01] [ 4.49010758e-02 6.82736005e-04 9.98991205e-01 1.28625423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.61, Y:53.11, Z:128.63 [[ 7.70426222e-01 6.36569033e-01 -3.49757352e-02 5.64608059e+02] [-6.35945878e-01 7.71219534e-01 2.81650587e-02 5.31091070e+01] [ 4.49029744e-02 5.43574899e-04 9.98991205e-01 1.28626950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.65, Y:53.07, Z:128.63 [[ 7.70635711e-01 6.36315789e-01 -3.49688176e-02 5.64654818e+02] [-6.35691982e-01 7.71428512e-01 2.81736448e-02 5.30671893e+01] [ 4.49032779e-02 5.17780213e-04 9.98991205e-01 1.28630527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:564.70, Y:53.02, Z:128.63 [[ 7.73220735e-01 6.33172512e-01 -3.49609044e-02 5.64697978e+02] [-6.32545039e-01 7.74010637e-01 2.81834609e-02 5.30200233e+01] [ 4.49051046e-02 3.22310257e-04 9.98991205e-01 1.28632944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.74, Y:52.98, Z:128.64 [[ 7.75852532e-01 6.29945371e-01 -3.49525001e-02 5.64740333e+02] [-6.29314143e-01 7.76639437e-01 2.81938799e-02 5.29756529e+01] [ 4.49060941e-02 1.21809527e-04 9.98991205e-01 1.28635729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.78, Y:52.93, Z:128.64 [[ 7.78144659e-01 6.27112030e-01 -3.49484101e-02 5.64784713e+02] [-6.26477709e-01 7.78929072e-01 2.81989488e-02 5.29302379e+01] [ 4.49062327e-02 -4.84615388e-05 9.98991205e-01 1.28636542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.190385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:564.83, Y:52.88, Z:128.64 [[ 7.77863154e-01 6.27461646e-01 -3.49399089e-02 5.64827053e+02] [-6.26827204e-01 7.78647469e-01 2.82094783e-02 5.28849578e+01] [ 4.49062373e-02 -4.18283943e-05 9.98991205e-01 1.28641356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.87, Y:52.84, Z:128.65 [[ 7.77780377e-01 6.27564626e-01 -3.49331527e-02 5.64871374e+02] [-6.26929912e-01 7.78564473e-01 2.82178424e-02 5.28395199e+01] [ 4.49062313e-02 -4.66457602e-05 9.98991205e-01 1.28645683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.92, Y:52.80, Z:128.65 [[ 7.76508171e-01 6.29138529e-01 -3.49252357e-02 5.64915247e+02] [-6.28504965e-01 7.77293194e-01 2.82276378e-02 5.27955145e+01] [ 4.49062426e-02 3.16926259e-05 9.98991205e-01 1.28647307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.370385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:564.96, Y:52.76, Z:128.65 [[ 7.73052998e-01 6.33379641e-01 -3.49183720e-02 5.64963360e+02] [-6.32750000e-01 7.73841172e-01 2.82361259e-02 5.27562812e+01] [ 4.49054612e-02 2.66578135e-04 9.98991205e-01 1.28650685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.01, Y:52.72, Z:128.65 [[ 7.71011415e-01 6.35863648e-01 -3.49116035e-02 5.65013232e+02] [-6.35236167e-01 7.71801310e-01 2.82444921e-02 5.27175130e+01] [ 4.49044671e-02 4.00287323e-04 9.98991205e-01 1.28653194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.06, Y:52.68, Z:128.66 [[ 7.71114494e-01 6.35739060e-01 -3.49039293e-02 5.65061168e+02] [-6.35111022e-01 7.71903946e-01 2.82539725e-02 5.26790843e+01] [ 4.49046347e-02 3.80822484e-04 9.98991206e-01 1.28657421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.11, Y:52.64, Z:128.66 [[ 7.72242217e-01 6.34369111e-01 -3.48968473e-02 5.65110422e+02] [-6.33739277e-01 7.73030237e-01 2.82627169e-02 5.26394268e+01] [ 4.49053127e-02 2.89839692e-04 9.98991206e-01 1.28660724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.16, Y:52.60, Z:128.66 [[ 7.74448838e-01 6.31673766e-01 -3.48891200e-02 5.65159276e+02] [-6.31040760e-01 7.75234312e-01 2.82722528e-02 5.26017796e+01] [ 4.49060833e-02 1.21043471e-04 9.98991206e-01 1.28661468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.21, Y:52.56, Z:128.66 [[ 7.76779710e-01 6.28805621e-01 -3.48822666e-02 5.65207294e+02] [-6.28169336e-01 7.77562530e-01 2.82807059e-02 5.25618749e+01] [ 4.49062103e-02 -5.59082839e-05 9.98991206e-01 1.28663318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.26, Y:52.52, Z:128.67 [[ 7.78302814e-01 6.26919850e-01 -3.48745123e-02 5.65256017e+02] [-6.26281239e-01 7.79083738e-01 2.82902650e-02 5.25224911e+01] [ 4.49058941e-02 -1.77140137e-04 9.98991206e-01 1.28666550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.30, Y:52.48, Z:128.67 [[ 7.78435582e-01 6.26755432e-01 -3.48665019e-02 5.65304686e+02] [-6.26116214e-01 7.79216009e-01 2.83001340e-02 5.24841537e+01] [ 4.49057992e-02 -1.99349094e-04 9.98991206e-01 1.28668791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8503857229999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:565.35, Y:52.45, Z:128.67 [[ 7.78627852e-01 6.26516830e-01 -3.48615942e-02 5.65353494e+02] [-6.25877102e-01 7.79407861e-01 2.83061782e-02 5.24453100e+01] [ 4.49056976e-02 -2.20905189e-04 9.98991206e-01 1.28671286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.40, Y:52.41, Z:128.67 [[ 7.80690195e-01 6.23945509e-01 -3.48542960e-02 5.65401863e+02] [-6.23302811e-01 7.81467758e-01 2.83151619e-02 5.24059054e+01] [ 4.49046267e-02 -3.80588560e-04 9.98991206e-01 1.28670868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.45, Y:52.37, Z:128.67 [[ 7.80356517e-01 6.24362936e-01 -3.48515634e-02 5.65449864e+02] [-6.23720504e-01 7.81134300e-01 2.83185249e-02 5.23669699e+01] [ 4.49047889e-02 -3.60910746e-04 9.98991206e-01 1.28672075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.030385723 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:565.50, Y:52.33, Z:128.67 [[ 7.78356301e-01 6.26855175e-01 -3.48433578e-02 5.65497747e+02] [-6.26214781e-01 7.79135763e-01 2.83286175e-02 5.23279750e+01] [ 4.49056467e-02 -2.30332235e-04 9.98991206e-01 1.28674429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.55, Y:52.29, Z:128.68 [[ 7.77780988e-01 6.27569263e-01 -3.48361143e-02 5.65545722e+02] [-6.26929187e-01 7.78560710e-01 2.83375222e-02 5.22892062e+01] [ 4.49057878e-02 -2.00609177e-04 9.98991206e-01 1.28678822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.59, Y:52.25, Z:128.68 [[ 7.79744123e-01 6.25128584e-01 -3.48332767e-02 5.65593083e+02] [-6.24485911e-01 7.80521706e-01 2.83410099e-02 5.22501029e+01] [ 4.49049039e-02 -3.45845356e-04 9.98991206e-01 1.28682098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.64, Y:52.21, Z:128.69 [[ 7.81068278e-01 6.23473737e-01 -3.48259088e-02 5.65641568e+02] [-6.22829013e-01 7.81844162e-01 2.83500607e-02 5.22110616e+01] [ 4.49039518e-02 -4.52746662e-04 9.98991206e-01 1.28686105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.69, Y:52.17, Z:128.69 [[ 7.80796391e-01 6.23814575e-01 -3.48191395e-02 5.65691659e+02] [-6.23169819e-01 7.81572248e-01 2.83583722e-02 5.21724705e+01] [ 4.49040391e-02 -4.43877802e-04 9.98991206e-01 1.28689672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.74, Y:52.13, Z:128.69 [[ 7.80469766e-01 6.24223620e-01 -3.48111491e-02 5.65740653e+02] [-6.23578834e-01 7.81245598e-01 2.83681774e-02 5.21339020e+01] [ 4.49041434e-02 -4.33009045e-04 9.98991206e-01 1.28691594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.79, Y:52.10, Z:128.70 [[ 7.81829797e-01 6.22519768e-01 -3.48038237e-02 5.65789717e+02] [-6.21872891e-01 7.82603887e-01 2.83771619e-02 5.20952378e+01] [ 4.49029519e-02 -5.42556290e-04 9.98991206e-01 1.28695687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.84, Y:52.06, Z:128.70 [[ 7.83695471e-01 6.20169852e-01 -3.47960345e-02 5.65838226e+02] [-6.19520230e-01 7.84467258e-01 2.83867097e-02 5.20572511e+01] [ 4.49009314e-02 -6.89688482e-04 9.98991207e-01 1.28697766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.89, Y:52.02, Z:128.70 [[ 7.85192682e-01 6.18273555e-01 -3.47888383e-02 5.65886580e+02] [-6.17621679e-01 7.85962567e-01 2.83955262e-02 5.20172793e+01] [ 4.48989276e-02 -8.09618612e-04 9.98991207e-01 1.28701441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.570385723 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:565.94, Y:51.98, Z:128.70 [[ 7.85805601e-01 6.17494801e-01 -3.47811476e-02 5.65935104e+02] [-6.16841746e-01 7.86574485e-01 2.84049433e-02 5.19780094e+01] [ 4.48978681e-02 -8.66299779e-04 9.98991207e-01 1.28700491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.98, Y:51.94, Z:128.70 [[ 7.87818893e-01 6.14924267e-01 -3.47784023e-02 5.65984141e+02] [-6.14268555e-01 7.88585512e-01 2.84083042e-02 5.19399832e+01] [ 4.48946998e-02 -1.01731987e-03 9.98991207e-01 1.28701594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.690385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:566.03, Y:51.90, Z:128.71 [[ 7.87488835e-01 6.15347375e-01 -3.47698487e-02 5.66030564e+02] [-6.14691613e-01 7.88255412e-01 2.84187694e-02 5.19012124e+01] [ 4.48949365e-02 -1.00672920e-03 9.98991207e-01 1.28705892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.08, Y:51.86, Z:128.71 [[ 7.87293841e-01 6.15597213e-01 -3.47631936e-02 5.66079393e+02] [-6.14941335e-01 7.88060319e-01 2.84269079e-02 5.18620785e+01] [ 4.48950187e-02 -1.00300484e-03 9.98991207e-01 1.28712113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.13, Y:51.82, Z:128.71 [[ 7.86902319e-01 6.16098047e-01 -3.47553833e-02 5.66127997e+02] [-6.15442235e-01 7.87668854e-01 2.84364537e-02 5.18236680e+01] [ 4.48953765e-02 -9.86780563e-04 9.98991207e-01 1.28714562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.18, Y:51.79, Z:128.72 [[ 7.86550823e-01 6.16547134e-01 -3.47481696e-02 5.66176142e+02] [-6.15891371e-01 7.87317399e-01 2.84452658e-02 5.17852486e+01] [ 4.48956856e-02 -9.72549397e-04 9.98991207e-01 1.28716668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.23, Y:51.75, Z:128.72 [[ 7.86241158e-01 6.16942379e-01 -3.47410744e-02 5.66226398e+02] [-6.16286619e-01 7.87007737e-01 2.84539288e-02 5.17480193e+01] [ 4.48959288e-02 -9.61190723e-04 9.98991207e-01 1.28718369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.28, Y:51.71, Z:128.72 [[ 7.87240415e-01 6.15667211e-01 -3.47334907e-02 5.66276397e+02] [-6.15009801e-01 7.88005578e-01 2.84631831e-02 5.17093600e+01] [ 4.48940330e-02 -1.04593083e-03 9.98991207e-01 1.28721250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.33, Y:51.67, Z:128.72 [[ 7.88644017e-01 6.13868664e-01 -3.47257635e-02 5.66326220e+02] [-6.13209095e-01 7.89407320e-01 2.84726074e-02 5.16703290e+01] [ 4.48912134e-02 -1.16059745e-03 9.98991207e-01 1.28724108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.37, Y:51.63, Z:128.73 [[ 7.88342409e-01 6.14256382e-01 -3.47180474e-02 5.66374619e+02] [-6.13596775e-01 7.89105679e-01 2.84820129e-02 5.16306577e+01] [ 4.48914666e-02 -1.15069680e-03 9.98991207e-01 1.28727667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.42, Y:51.59, Z:128.73 [[ 7.86351299e-01 6.16803750e-01 -3.47097818e-02 5.66423440e+02] [-6.16146171e-01 7.87116317e-01 2.84920823e-02 5.15913009e+01] [ 4.48946588e-02 -1.01848672e-03 9.98991207e-01 1.28730258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.48, Y:51.55, Z:128.73 [[ 7.85078294e-01 6.18423462e-01 -3.47058181e-02 5.66475116e+02] [-6.17767249e-01 7.85844484e-01 2.84969096e-02 5.15549420e+01] [ 4.48965332e-02 -9.32187429e-04 9.98991207e-01 1.28731704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:566.52, Y:51.52, Z:128.73 [[ 7.83482152e-01 6.20444897e-01 -3.46965011e-02 5.66524544e+02] [-6.19790158e-01 7.84249603e-01 2.85082490e-02 5.15164348e+01] [ 4.48985148e-02 -8.31154340e-04 9.98991207e-01 1.28732350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.58, Y:51.48, Z:128.74 [[ 7.83707512e-01 6.20160439e-01 -3.46924616e-02 5.66575552e+02] [-6.19505204e-01 7.84474538e-01 2.85131639e-02 5.14791667e+01] [ 4.48980891e-02 -8.53820242e-04 9.98991207e-01 1.28735495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.63, Y:51.44, Z:128.74 [[ 7.86072869e-01 6.17160067e-01 -3.46827826e-02 5.66625263e+02] [-6.16501387e-01 7.86836939e-01 2.85249324e-02 5.14427157e+01] [ 4.48941437e-02 -1.04069189e-03 9.98991208e-01 1.28738303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.68, Y:51.41, Z:128.74 [[ 7.88948933e-01 6.13479475e-01 -3.46772908e-02 5.66675714e+02] [-6.12816938e-01 7.89709660e-01 2.85316072e-02 5.14069220e+01] [ 4.48885469e-02 -1.25914985e-03 9.98991208e-01 1.28743145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.73, Y:51.37, Z:128.74 [[ 7.91015141e-01 6.10813459e-01 -3.46693790e-02 5.66728653e+02] [-6.10147937e-01 7.91773259e-01 2.85412178e-02 5.13726947e+01] [ 4.48836471e-02 -1.42308529e-03 9.98991208e-01 1.28744663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5903857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:566.78, Y:51.34, Z:128.75 [[ 7.92309365e-01 6.09134179e-01 -3.46615449e-02 5.66780215e+02] [-6.08466636e-01 7.93065703e-01 2.85507286e-02 5.13374753e+01] [ 4.48801071e-02 -1.53061608e-03 9.98991208e-01 1.28747930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.83, Y:51.30, Z:128.75 [[ 7.91589021e-01 6.10070269e-01 -3.46567214e-02 5.66831460e+02] [-6.09403364e-01 7.92345923e-01 2.85565825e-02 5.13017140e+01] [ 4.48816339e-02 -1.48515453e-03 9.98991208e-01 1.28752838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.88, Y:51.27, Z:128.75 [[ 7.91302891e-01 6.10441777e-01 -3.46492513e-02 5.66882092e+02] [-6.09774832e-01 7.92059757e-01 2.85656435e-02 5.12665164e+01] [ 4.48819397e-02 -1.47583487e-03 9.98991208e-01 1.28754188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.770385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:566.93, Y:51.23, Z:128.76 [[ 7.88928019e-01 6.13508400e-01 -3.46413471e-02 5.66933627e+02] [-6.12843977e-01 7.89687100e-01 2.85752257e-02 5.12321079e+01] [ 4.48869659e-02 -1.31405529e-03 9.98991208e-01 1.28756965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.99, Y:51.20, Z:128.76 [[ 7.87822454e-01 6.14927846e-01 -3.46341591e-02 5.66986922e+02] [-6.14264409e-01 7.88582396e-01 2.85839351e-02 5.11997421e+01] [ 4.48889458e-02 -1.24453462e-03 9.98991208e-01 1.28755134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.04, Y:51.16, Z:128.76 [[ 7.87883649e-01 6.14849808e-01 -3.46275917e-02 5.67038271e+02] [-6.14185946e-01 7.88643220e-01 2.85918888e-02 5.11626883e+01] [ 4.48885328e-02 -1.25930152e-03 9.98991208e-01 1.28758427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.950385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:567.09, Y:51.12, Z:128.76 [[ 7.87814272e-01 6.14939145e-01 -3.46196654e-02 5.67088553e+02] [-6.14274947e-01 7.88573550e-01 2.86014830e-02 5.11243666e+01] [ 4.48883239e-02 -1.26666343e-03 9.98991208e-01 1.28761850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.14, Y:51.09, Z:128.76 [[ 7.85863503e-01 6.17430627e-01 -3.46117865e-02 5.67140430e+02] [-6.16768418e-01 7.86624516e-01 2.86110144e-02 5.10877460e+01] [ 4.48917963e-02 -1.13689519e-03 9.98991208e-01 1.28764700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.070385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:567.19, Y:51.05, Z:128.77 [[ 7.83933913e-01 6.19879179e-01 -3.46038165e-02 5.67190896e+02] [-6.19218922e-01 7.84696620e-01 2.86206505e-02 5.10493328e+01] [ 4.48948432e-02 -1.00936055e-03 9.98991208e-01 1.28767002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.24, Y:51.01, Z:128.77 [[ 7.80848922e-01 6.23761238e-01 -3.45959362e-02 5.67241407e+02] [-6.23104352e-01 7.81614534e-01 2.86301729e-02 5.10115931e+01] [ 4.48990786e-02 -7.98961236e-04 9.98991208e-01 1.28769238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.29, Y:50.97, Z:128.77 [[ 7.79633154e-01 6.25280585e-01 -3.45880636e-02 5.67290264e+02] [-6.24624770e-01 7.80399683e-01 2.86396806e-02 5.09726318e+01] [ 4.49003501e-02 -7.23883275e-04 9.98991208e-01 1.28769290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.34, Y:50.93, Z:128.77 [[ 7.80827026e-01 6.23789462e-01 -3.45812355e-02 5.67337599e+02] [-6.23131818e-01 7.81591987e-01 2.86479229e-02 5.09313893e+01] [ 4.48986890e-02 -8.20404227e-04 9.98991209e-01 1.28773535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.38, Y:50.89, Z:128.78 [[ 7.82587342e-01 6.21580048e-01 -3.45730647e-02 5.67384578e+02] [-6.20919809e-01 7.83350064e-01 2.86577802e-02 5.08911576e+01] [ 4.48959169e-02 -9.60115255e-04 9.98991209e-01 1.28775921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.370385723 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:567.43, Y:50.85, Z:128.78 [[ 7.82560073e-01 6.21614798e-01 -3.45655241e-02 5.67431263e+02] [-6.20954192e-01 7.83322476e-01 2.86668724e-02 5.08506107e+01] [ 4.48957041e-02 -9.69942684e-04 9.98991209e-01 1.28776578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.48, Y:50.81, Z:128.78 [[ 7.81675984e-01 6.22726555e-01 -3.45585644e-02 5.67477820e+02] [-6.22066662e-01 7.82439006e-01 2.86752600e-02 5.08099799e+01] [ 4.48968147e-02 -9.17031291e-04 9.98991209e-01 1.28781475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.52, Y:50.77, Z:128.78 [[ 7.80412781e-01 6.24309276e-01 -3.45516921e-02 5.67524631e+02] [-6.23650565e-01 7.81176823e-01 2.86835383e-02 5.07683642e+01] [ 4.48983801e-02 -8.36817554e-04 9.98991209e-01 1.28783107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.57, Y:50.73, Z:128.79 [[ 7.78814234e-01 6.26302729e-01 -3.45438831e-02 5.67571547e+02] [-6.25645557e-01 7.79579600e-01 2.86929398e-02 5.07258122e+01] [ 4.49001730e-02 -7.34242939e-04 9.98991209e-01 1.28786811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.610385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:567.62, Y:50.68, Z:128.79 [[ 7.76999170e-01 6.28553544e-01 -3.45359450e-02 5.67617778e+02] [-6.27898165e-01 7.77766071e-01 2.87024912e-02 5.06841471e+01] [ 4.49019388e-02 -6.16755393e-04 9.98991209e-01 1.28789422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.66, Y:50.64, Z:128.79 [[ 7.76522547e-01 6.29142675e-01 -3.45286654e-02 5.67664547e+02] [-6.28487488e-01 7.77289612e-01 2.87112457e-02 5.06422647e+01] [ 4.49022429e-02 -5.94095387e-04 9.98991209e-01 1.28791870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.71, Y:50.60, Z:128.79 [[ 7.76987654e-01 6.28568613e-01 -3.45207828e-02 5.67709937e+02] [-6.27912438e-01 7.77753875e-01 2.87207202e-02 5.05991265e+01] [ 4.49016158e-02 -6.39616130e-04 9.98991209e-01 1.28794761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.76, Y:50.56, Z:128.80 [[ 7.77287664e-01 6.28198026e-01 -3.45127180e-02 5.67757768e+02] [-6.27541056e-01 7.78053203e-01 2.87304082e-02 5.05582876e+01] [ 4.49011165e-02 -6.73644374e-04 9.98991209e-01 1.28797551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.81, Y:50.52, Z:128.80 [[ 7.79256729e-01 6.25754253e-01 -3.45045741e-02 5.67805426e+02] [-6.25094450e-01 7.80019827e-01 2.87401855e-02 5.05178517e+01] [ 4.48985452e-02 -8.27365150e-04 9.98991209e-01 1.28799977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.910385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:567.85, Y:50.48, Z:128.80 [[ 7.79793620e-01 6.25085530e-01 -3.44962358e-02 5.67851875e+02] [-6.24424631e-01 7.80555768e-01 2.87501903e-02 5.04762671e+01] [ 4.48975638e-02 -8.78915705e-04 9.98991209e-01 1.28803014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.90, Y:50.43, Z:128.81 [[ 7.78069278e-01 6.27230987e-01 -3.44889589e-02 5.67896218e+02] [-6.26571802e-01 7.78832910e-01 2.87589171e-02 5.04330163e+01] [ 4.48996201e-02 -7.66620695e-04 9.98991209e-01 1.28811724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.030385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:567.94, Y:50.39, Z:128.81 [[ 7.78047512e-01 6.27258385e-01 -3.44816998e-02 5.67942895e+02] [-6.26598842e-01 7.78810834e-01 2.87676180e-02 5.03931200e+01] [ 4.48994510e-02 -7.76380410e-04 9.98991209e-01 1.28806283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.99, Y:50.35, Z:128.81 [[ 7.77205293e-01 6.28301842e-01 -3.44779344e-02 5.67989135e+02] [-6.27643123e-01 7.77969327e-01 2.87721301e-02 5.03510333e+01] [ 4.49003578e-02 -7.22013343e-04 9.98991209e-01 1.28810966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.04, Y:50.31, Z:128.82 [[ 7.77212710e-01 6.28293098e-01 -3.44700911e-02 5.68035642e+02] [-6.27633954e-01 7.77976377e-01 2.87815237e-02 5.03081807e+01] [ 4.49001492e-02 -7.34766486e-04 9.98991210e-01 1.28815174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.08, Y:50.27, Z:128.82 [[ 7.77181531e-01 6.28332097e-01 -3.44621978e-02 5.68080540e+02] [-6.27672573e-01 7.77944870e-01 2.87909718e-02 5.02651110e+01] [ 4.48999817e-02 -7.44835141e-04 9.98991210e-01 1.28821367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.13, Y:50.22, Z:128.82 [[ 7.78436815e-01 6.26776673e-01 -3.44547003e-02 5.68125390e+02] [-6.26115227e-01 7.79198489e-01 2.87999414e-02 5.02230767e+01] [ 4.48981819e-02 -8.46322183e-04 9.98991210e-01 1.28820807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.17, Y:50.18, Z:128.83 [[ 7.79160860e-01 6.25876745e-01 -3.44478524e-02 5.68170620e+02] [-6.25214057e-01 7.79921454e-01 2.88081299e-02 5.01806582e+01] [ 4.48969577e-02 -9.08885750e-04 9.98991210e-01 1.28827401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.22, Y:50.14, Z:128.83 [[ 7.80645212e-01 6.24024758e-01 -3.44405959e-02 5.68217489e+02] [-6.23359884e-01 7.81403895e-01 2.88168025e-02 5.01380984e+01] [ 4.48944140e-02 -1.02681306e-03 9.98991210e-01 1.28831366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.26, Y:50.09, Z:128.84 [[ 7.79364868e-01 6.25623545e-01 -3.44322814e-02 5.68260390e+02] [-6.24959789e-01 7.80124530e-01 2.88267339e-02 5.00928319e+01] [ 4.48961508e-02 -9.47752357e-04 9.98991210e-01 1.28838812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.31, Y:50.06, Z:128.83 [[ 7.82478583e-01 6.21725169e-01 -3.44250002e-02 5.68311381e+02] [-6.21057247e-01 7.83234584e-01 2.88354264e-02 5.00569173e+01] [ 4.48905611e-02 -1.18320774e-03 9.98991210e-01 1.28826179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.35, Y:50.01, Z:128.83 [[ 7.78377119e-01 6.26852551e-01 -3.44229602e-02 5.68354285e+02] [-6.26189503e-01 7.79137398e-01 2.88378616e-02 5.00112561e+01] [ 4.48973027e-02 -8.91435269e-04 9.98991210e-01 1.28831356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.40, Y:49.97, Z:128.84 [[ 7.76897128e-01 6.28686356e-01 -3.44139203e-02 5.68396897e+02] [-6.28024625e-01 7.77658554e-01 2.88486454e-02 4.99670537e+01] [ 4.48990292e-02 -7.99640419e-04 9.98991210e-01 1.28839478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.690385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:568.44, Y:49.92, Z:128.84 [[ 7.76821768e-01 6.28779865e-01 -3.44067263e-02 5.68439544e+02] [-6.28117845e-01 7.77582943e-01 2.88572229e-02 4.99223798e+01] [ 4.48989242e-02 -8.05440164e-04 9.98991210e-01 1.28842353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.49, Y:49.88, Z:128.85 [[ 7.77203942e-01 6.28307657e-01 -3.44023300e-02 5.68485285e+02] [-6.27644944e-01 7.77964513e-01 2.88624630e-02 4.98795952e+01] [ 4.48982984e-02 -8.39571560e-04 9.98991210e-01 1.28845309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.53, Y:49.83, Z:128.85 [[ 7.78340822e-01 6.26899186e-01 -3.43944162e-02 5.68529327e+02] [-6.26234679e-01 7.79099827e-01 2.88718905e-02 4.98347186e+01] [ 4.48964484e-02 -9.33194805e-04 9.98991210e-01 1.28848433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.870385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:568.58, Y:49.80, Z:128.84 [[ 7.81976815e-01 6.22358283e-01 -3.43864458e-02 5.68579592e+02] [-6.21688954e-01 7.82731570e-01 2.88813802e-02 4.97969175e+01] [ 4.48899229e-02 -1.20689618e-03 9.98991210e-01 1.28842649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.930385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:568.62, Y:49.75, Z:128.85 [[ 7.77226004e-01 6.28281634e-01 -3.43791642e-02 5.68622177e+02] [-6.27617675e-01 7.77985487e-01 2.88900453e-02 4.97536775e+01] [ 4.48975757e-02 -8.77123304e-04 9.98991210e-01 1.28853546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.990385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:568.67, Y:49.72, Z:128.85 [[ 7.79306122e-01 6.25700010e-01 -3.43724633e-02 5.68673421e+02] [-6.25033184e-01 7.80063089e-01 2.88980156e-02 4.97171779e+01] [ 4.48941786e-02 -1.03647035e-03 9.98991210e-01 1.28848906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.72, Y:49.68, Z:128.86 [[ 7.75971613e-01 6.29830755e-01 -3.43696842e-02 5.68717646e+02] [-6.29167814e-01 7.76731985e-01 2.89013205e-02 4.96754316e+01] [ 4.48989736e-02 -8.02305256e-04 9.98991210e-01 1.28860489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.110385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:568.77, Y:49.64, Z:128.86 [[ 7.76205687e-01 6.29542653e-01 -3.43624681e-02 5.68765815e+02] [-6.28879050e-01 7.76965481e-01 2.89098976e-02 4.96355725e+01] [ 4.48984652e-02 -8.30190598e-04 9.98991210e-01 1.28863432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.82, Y:49.60, Z:128.87 [[ 7.75974279e-01 6.29828303e-01 -3.43544304e-02 5.68815163e+02] [-6.29164556e-01 7.76733948e-01 2.89194459e-02 4.95962573e+01] [ 4.48985379e-02 -8.26156174e-04 9.98991211e-01 1.28866426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.87, Y:49.56, Z:128.86 [[ 7.76213963e-01 6.29533326e-01 -3.43464027e-02 5.68865316e+02] [-6.28868869e-01 7.76973011e-01 2.89289769e-02 4.95583708e+01] [ 4.48979830e-02 -8.55692400e-04 9.98991211e-01 1.28862425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.91, Y:49.52, Z:128.87 [[ 7.73377744e-01 6.33014744e-01 -3.43394681e-02 5.68912013e+02] [-6.32353339e-01 7.74139453e-01 2.89372061e-02 4.95180515e+01] [ 4.49012152e-02 -6.64713821e-04 9.98991211e-01 1.28869575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3503857229999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:568.96, Y:49.48, Z:128.87 [[ 7.72417387e-01 6.34186462e-01 -3.43352672e-02 5.68958441e+02] [-6.33525992e-01 7.73179906e-01 2.89421898e-02 4.94776007e+01] [ 4.49020837e-02 -6.03166425e-04 9.98991211e-01 1.28872653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:569.01, Y:49.44, Z:128.88 [[ 7.71824757e-01 6.34908026e-01 -3.43269879e-02 5.69005881e+02] [-6.34247832e-01 7.72587515e-01 2.89520062e-02 4.94398988e+01] [ 4.49024634e-02 -5.74057521e-04 9.98991211e-01 1.28878200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.05, Y:49.40, Z:128.88 [[ 7.72413763e-01 6.34191717e-01 -3.43197575e-02 5.69052560e+02] [-6.33530435e-01 7.73175577e-01 2.89605746e-02 4.93983945e+01] [ 4.49017548e-02 -6.26935461e-04 9.98991211e-01 1.28882844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.10, Y:49.36, Z:128.89 [[ 7.72853682e-01 6.33655971e-01 -3.43117435e-02 5.69097292e+02] [-6.32993740e-01 7.73614672e-01 2.89700663e-02 4.93561136e+01] [ 4.49011237e-02 -6.70503577e-04 9.98991211e-01 1.28888737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.15, Y:49.32, Z:128.89 [[ 7.75576926e-01 6.30320267e-01 -3.43044076e-02 5.69146130e+02] [-6.29654379e-01 7.76334718e-01 2.89787503e-02 4.93169669e+01] [ 4.48975963e-02 -8.75329614e-04 9.98991211e-01 1.28888772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.19, Y:49.28, Z:128.89 [[ 7.75483184e-01 6.30435994e-01 -3.42970696e-02 5.69193148e+02] [-6.29769836e-01 7.76240738e-01 2.89874325e-02 4.92757277e+01] [ 4.48975034e-02 -8.80006571e-04 9.98991211e-01 1.28892106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.24, Y:49.24, Z:128.89 [[ 7.77000199e-01 6.28565494e-01 -3.42944546e-02 5.69241281e+02] [-6.27897376e-01 7.77756025e-01 2.89905258e-02 4.92385484e+01] [ 4.48951629e-02 -9.92246267e-04 9.98991211e-01 1.28892331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.29, Y:49.20, Z:128.89 [[ 7.75824646e-01 6.30016245e-01 -3.42877668e-02 5.69289618e+02] [-6.29349190e-01 7.76581411e-01 2.89984335e-02 4.91996553e+01] [ 4.48967265e-02 -9.18721111e-04 9.98991211e-01 1.28894814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.34, Y:49.16, Z:128.90 [[ 7.72066515e-01 6.34616545e-01 -3.42802949e-02 5.69336212e+02] [-6.33953608e-01 7.72826890e-01 2.90072637e-02 4.91582688e+01] [ 4.49012232e-02 -6.63420325e-04 9.98991211e-01 1.28899809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.39, Y:49.12, Z:128.90 [[ 7.70037837e-01 6.37076989e-01 -3.42730083e-02 5.69385090e+02] [-6.36416100e-01 7.70799992e-01 2.90158705e-02 4.91215365e+01] [ 4.49029780e-02 -5.31423859e-04 9.98991211e-01 1.28902036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:569.43, Y:49.08, Z:128.90 [[ 7.68587257e-01 6.38826616e-01 -3.42663390e-02 5.69433488e+02] [-6.38167111e-01 7.69350610e-01 2.90237445e-02 4.90812259e+01] [ 4.49039693e-02 -4.39629669e-04 9.98991211e-01 1.28903964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:569.48, Y:49.04, Z:128.91 [[ 7.67587371e-01 6.40028117e-01 -3.42583895e-02 5.69480779e+02] [-6.39369387e-01 7.68351394e-01 2.90331248e-02 4.90393965e+01] [ 4.49044975e-02 -3.81694417e-04 9.98991211e-01 1.28908165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.070385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:569.53, Y:49.00, Z:128.91 [[ 7.68950628e-01 6.38390041e-01 -3.42503515e-02 5.69528867e+02] [-6.37729262e-01 7.69712879e-01 2.90426041e-02 4.89991207e+01] [ 4.49034459e-02 -4.89877278e-04 9.98991211e-01 1.28911373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:569.58, Y:48.96, Z:128.91 [[ 7.72395885e-01 6.34217687e-01 -3.42421192e-02 5.69577956e+02] [-6.33552361e-01 7.73154169e-01 2.90523070e-02 4.89600799e+01] [ 4.48999242e-02 -7.45706937e-04 9.98991212e-01 1.28913039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.63, Y:48.92, Z:128.92 [[ 7.76547224e-01 6.29128318e-01 -3.42340312e-02 5.69626630e+02] [-6.28457603e-01 7.77300747e-01 2.90618345e-02 4.89202324e+01] [ 4.48937610e-02 -1.05324970e-03 9.98991212e-01 1.28916168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.250385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:569.68, Y:48.88, Z:128.92 [[ 7.78256478e-01 6.27013112e-01 -3.42258973e-02 5.69676346e+02] [-6.26339929e-01 7.79007796e-01 2.90714105e-02 4.88833750e+01] [ 4.48903964e-02 -1.18796744e-03 9.98991212e-01 1.28918925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.310385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:569.73, Y:48.85, Z:128.92 [[ 7.77270164e-01 6.28235642e-01 -3.42208956e-02 5.69727119e+02] [-6.27563382e-01 7.78022308e-01 2.90772969e-02 4.88461479e+01] [ 4.48920145e-02 -1.12513434e-03 9.98991212e-01 1.28922792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.370385723 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:569.78, Y:48.81, Z:128.92 [[ 7.75684403e-01 6.30192970e-01 -3.42129710e-02 5.69777045e+02] [-6.29522197e-01 7.76437874e-01 2.90866182e-02 4.88071661e+01] [ 4.48944288e-02 -1.02421144e-03 9.98991212e-01 1.28923819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.83, Y:48.77, Z:128.93 [[ 7.73331369e-01 6.33078672e-01 -3.42050969e-02 5.69827214e+02] [-6.32410302e-01 7.74086972e-01 2.90958750e-02 4.87697448e+01] [ 4.48976978e-02 -8.69097228e-04 9.98991212e-01 1.28927402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.490385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:569.88, Y:48.73, Z:128.93 [[ 7.71154791e-01 6.35728619e-01 -3.41966671e-02 5.69876241e+02] [-6.35062407e-01 7.71912296e-01 2.91057793e-02 4.87320700e+01] [ 4.49002047e-02 -7.28043441e-04 9.98991212e-01 1.28933785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.550385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:569.93, Y:48.69, Z:128.94 [[ 7.70072604e-01 6.37039484e-01 -3.41888979e-02 5.69926636e+02] [-6.36374157e-01 7.70830886e-01 2.91149025e-02 4.86937841e+01] [ 4.49012009e-02 -6.63657730e-04 9.98991212e-01 1.28935059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.98, Y:48.66, Z:128.93 [[ 7.70419870e-01 6.36619889e-01 -3.41809938e-02 5.69980016e+02] [-6.35953737e-01 7.71177428e-01 2.91241789e-02 4.86593348e+01] [ 4.49006425e-02 -7.00315395e-04 9.98991212e-01 1.28934363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.03, Y:48.62, Z:128.94 [[ 7.70388948e-01 6.36657753e-01 -3.41727068e-02 5.70029540e+02] [-6.35991207e-01 7.71146160e-01 2.91338992e-02 4.86224540e+01] [ 4.49004745e-02 -7.10892930e-04 9.98991212e-01 1.28941029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.08, Y:48.59, Z:128.95 [[ 7.72903292e-01 6.33603386e-01 -3.41650650e-02 5.70079375e+02] [-6.32933452e-01 7.73657508e-01 2.91428580e-02 4.85857631e+01] [ 4.48970725e-02 -9.00398299e-04 9.98991212e-01 1.28945401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.13, Y:48.55, Z:128.95 [[ 7.75709659e-01 6.30164890e-01 -3.41575362e-02 5.70129956e+02] [-6.29491225e-01 7.76460544e-01 2.91516796e-02 4.85491290e+01] [ 4.48923441e-02 -1.11137018e-03 9.98991212e-01 1.28948975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.18, Y:48.51, Z:128.95 [[ 7.76814027e-01 6.28803389e-01 -3.41506220e-02 5.70181609e+02] [-6.28128053e-01 7.77563410e-01 2.91597772e-02 4.85130480e+01] [ 4.48900408e-02 -1.20076019e-03 9.98991212e-01 1.28948281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.910385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:570.23, Y:48.48, Z:128.95 [[ 7.78857661e-01 6.26270730e-01 -3.41425828e-02 5.70232536e+02] [-6.25592546e-01 7.79604467e-01 2.91691871e-02 4.84771787e+01] [ 4.48855182e-02 -1.35929958e-03 9.98991212e-01 1.28947815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:570.28, Y:48.44, Z:128.95 [[ 7.80248428e-01 6.24537561e-01 -3.41354142e-02 5.70283820e+02] [-6.23857352e-01 7.80993389e-01 2.91775737e-02 4.84426431e+01] [ 4.48820236e-02 -1.47012690e-03 9.98991213e-01 1.28950543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.34, Y:48.41, Z:128.95 [[ 7.80853999e-01 6.23780669e-01 -3.41278483e-02 5.70336027e+02] [-6.23099352e-01 7.81597947e-01 2.91864206e-02 4.84076186e+01] [ 4.48801812e-02 -1.52529307e-03 9.98991213e-01 1.28954512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.39, Y:48.37, Z:128.96 [[ 7.79807004e-01 6.25089490e-01 -3.41198770e-02 5.70388959e+02] [-6.24409015e-01 7.80551722e-01 2.91957363e-02 4.83730199e+01] [ 4.48822767e-02 -1.46228087e-03 9.98991213e-01 1.28959033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.44, Y:48.34, Z:128.96 [[ 7.77402337e-01 6.28078004e-01 -3.41119836e-02 5.70441820e+02] [-6.27399988e-01 7.78149295e-01 2.92049560e-02 4.83386996e+01] [ 4.48872065e-02 -1.30214298e-03 9.98991213e-01 1.28962493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.49, Y:48.30, Z:128.96 [[ 7.74883307e-01 6.31183647e-01 -3.41037185e-02 5.70493158e+02] [-6.30508202e-01 7.75632590e-01 2.92146043e-02 4.83029763e+01] [ 4.48917360e-02 -1.13523500e-03 9.98991213e-01 1.28963013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.54, Y:48.26, Z:128.97 [[ 7.73750504e-01 6.32572084e-01 -3.40986117e-02 5.70543633e+02] [-6.31897721e-01 7.74500761e-01 2.92205636e-02 4.82644996e+01] [ 4.48935136e-02 -1.06259081e-03 9.98991213e-01 1.28965272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.59, Y:48.23, Z:128.97 [[ 7.72762193e-01 6.33779480e-01 -3.40905219e-02 5.70594083e+02] [-6.33105873e-01 7.73513129e-01 2.92299987e-02 4.82281606e+01] [ 4.48948396e-02 -1.00492830e-03 9.98991213e-01 1.28966170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.390385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:570.64, Y:48.19, Z:128.97 [[ 7.72059060e-01 6.34636237e-01 -3.40830525e-02 5.70643734e+02] [-6.33963080e-01 7.72810398e-01 2.92387056e-02 4.81898471e+01] [ 4.48956795e-02 -9.66610666e-04 9.98991213e-01 1.28965480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.69, Y:48.15, Z:128.97 [[ 7.72172891e-01 6.34498109e-01 -3.40760391e-02 5.70692526e+02] [-6.33824457e-01 7.72923786e-01 2.92468770e-02 4.81494642e+01] [ 4.48952693e-02 -9.85418605e-04 9.98991213e-01 1.28968732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.74, Y:48.11, Z:128.97 [[ 7.73051777e-01 6.33427434e-01 -3.40681095e-02 5.70740121e+02] [-6.32752335e-01 7.73801371e-01 2.92561109e-02 4.81091649e+01] [ 4.48935731e-02 -1.05981264e-03 9.98991213e-01 1.28972846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.79, Y:48.07, Z:128.98 [[ 7.73640712e-01 6.32708439e-01 -3.40599402e-02 5.70787298e+02] [-6.32032226e-01 7.74389301e-01 2.92656185e-02 4.80671586e+01] [ 4.48922571e-02 -1.11409408e-03 9.98991213e-01 1.28976696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.83, Y:48.03, Z:128.98 [[ 7.74140544e-01 6.32097213e-01 -3.40519055e-02 5.70833649e+02] [-6.31419997e-01 7.74888227e-01 2.92749643e-02 4.80265164e+01] [ 4.48910440e-02 -1.16188277e-03 9.98991213e-01 1.28979796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.690385723 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:570.88, Y:47.99, Z:128.98 [[ 7.74657293e-01 6.31464212e-01 -3.40444825e-02 5.70881422e+02] [-6.30786007e-01 7.75404078e-01 2.92835941e-02 4.79853299e+01] [ 4.48897723e-02 -1.20996657e-03 9.98991213e-01 1.28980338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.93, Y:47.95, Z:128.98 [[ 7.73305003e-01 6.33119734e-01 -3.40407624e-02 5.70929584e+02] [-6.32442938e-01 7.74053066e-01 2.92879179e-02 4.79453950e+01] [ 4.48921153e-02 -1.11965362e-03 9.98991213e-01 1.28984430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.98, Y:47.91, Z:128.99 [[ 7.70168045e-01 6.36932511e-01 -3.40317252e-02 5.70975893e+02] [-6.36258955e-01 7.70919026e-01 2.92984151e-02 4.79052176e+01] [ 4.48968176e-02 -9.11713188e-04 9.98991213e-01 1.28987475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.02, Y:47.86, Z:128.99 [[ 7.68241089e-01 6.39255776e-01 -3.40247408e-02 5.71023407e+02] [-6.38584132e-01 7.68993780e-01 2.93065239e-02 4.78644892e+01] [ 4.48991788e-02 -7.86816265e-04 9.98991214e-01 1.28985120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.07, Y:47.82, Z:128.99 [[ 7.66281071e-01 6.41604385e-01 -3.40166544e-02 5.71068335e+02] [-6.40934632e-01 7.67035446e-01 2.93159070e-02 4.78213548e+01] [ 4.49011942e-02 -6.61772743e-04 9.98991214e-01 1.28991779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.11, Y:47.78, Z:129.00 [[ 7.67159271e-01 6.40554460e-01 -3.40093652e-02 5.71113080e+02] [-6.39883300e-01 7.67912394e-01 2.93243608e-02 4.77777612e+01] [ 4.49000631e-02 -7.34430432e-04 9.98991214e-01 1.28995551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.16, Y:47.73, Z:129.00 [[ 7.68827026e-01 6.38552222e-01 -3.40009579e-02 5.71157377e+02] [-6.37878670e-01 7.69578010e-01 2.93341056e-02 4.77341086e+01] [ 4.48977478e-02 -8.64367369e-04 9.98991214e-01 1.28999063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.20, Y:47.69, Z:129.00 [[ 7.68055971e-01 6.39479857e-01 -3.39932015e-02 5.71203560e+02] [-6.38806814e-01 7.68807412e-01 2.93430912e-02 4.76912098e+01] [ 4.48985411e-02 -8.22047654e-04 9.98991214e-01 1.29002173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.25, Y:47.65, Z:129.01 [[ 7.66547822e-01 6.41287340e-01 -3.39850582e-02 5.71248683e+02] [-6.40615652e-01 7.67300473e-01 2.93525197e-02 4.76472918e+01] [ 4.49001506e-02 -7.28749830e-04 9.98991214e-01 1.29005373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.29, Y:47.60, Z:129.01 [[ 7.66261559e-01 6.41629796e-01 -3.39768758e-02 5.71293344e+02] [-6.40958025e-01 7.67014136e-01 2.93619882e-02 4.76049490e+01] [ 4.49002705e-02 -7.21211614e-04 9.98991214e-01 1.29006167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.34, Y:47.56, Z:129.01 [[ 7.67795567e-01 6.39793704e-01 -3.39703341e-02 5.71337913e+02] [-6.39119798e-01 7.68546233e-01 2.93695547e-02 4.75603949e+01] [ 4.48982285e-02 -8.38700818e-04 9.98991214e-01 1.29009320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.38, Y:47.52, Z:129.01 [[ 7.69285433e-01 6.38001943e-01 -3.39623666e-02 5.71381925e+02] [-6.37325883e-01 7.70034160e-01 2.93787652e-02 4.75171110e+01] [ 4.48958917e-02 -9.55560863e-04 9.98991214e-01 1.29012796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.42, Y:47.47, Z:129.02 [[ 7.70060826e-01 6.37066224e-01 -3.39551288e-02 5.71424134e+02] [-6.36388885e-01 7.70808396e-01 2.93871281e-02 4.74715646e+01] [ 4.48944451e-02 -1.02120958e-03 9.98991214e-01 1.29021601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.47, Y:47.43, Z:129.02 [[ 7.71572178e-01 6.35235342e-01 -3.39475390e-02 5.71468436e+02] [-6.34555844e-01 7.72317786e-01 2.93958931e-02 4.74298255e+01] [ 4.48915984e-02 -1.13944404e-03 9.98991214e-01 1.29018971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.51, Y:47.38, Z:129.02 [[ 7.71298731e-01 6.35567388e-01 -3.39464784e-02 5.71510864e+02] [-6.34888157e-01 7.72044582e-01 2.93971179e-02 4.73836387e+01] [ 4.48920441e-02 -1.12174260e-03 9.98991214e-01 1.29023499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.56, Y:47.34, Z:129.03 [[ 7.69151983e-01 6.38164094e-01 -3.39384200e-02 5.71555510e+02] [-6.37486972e-01 7.69899749e-01 2.94064182e-02 4.73397109e+01] [ 4.48953013e-02 -9.82704238e-04 9.98991214e-01 1.29026409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.60, Y:47.29, Z:129.04 [[ 7.67180880e-01 6.40532769e-01 -3.39303513e-02 5.71596373e+02] [-6.39857544e-01 7.67930360e-01 2.94157252e-02 4.72928194e+01] [ 4.48978828e-02 -8.56590659e-04 9.98991214e-01 1.29037138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.64, Y:47.25, Z:129.04 [[ 7.67671438e-01 6.39944843e-01 -3.39287560e-02 5.71640014e+02] [-6.39268963e-01 7.68420327e-01 2.94175652e-02 4.72483351e+01] [ 4.48971649e-02 -8.93423944e-04 9.98991214e-01 1.29039379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.68, Y:47.20, Z:129.04 [[ 7.68833396e-01 6.38548796e-01 -3.39211440e-02 5.71682883e+02] [-6.37871170e-01 7.69580705e-01 2.94263400e-02 4.72045869e+01] [ 4.48952118e-02 -9.86633117e-04 9.98991214e-01 1.29039855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:571.73, Y:47.16, Z:129.04 [[ 7.70056162e-01 6.37074042e-01 -3.39141942e-02 5.71725817e+02] [-6.36394632e-01 7.70801850e-01 2.94343475e-02 4.71594317e+01] [ 4.48929823e-02 -1.08328951e-03 9.98991214e-01 1.29039439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.77, Y:47.11, Z:129.04 [[ 7.68358449e-01 6.39120976e-01 -3.39068122e-02 5.71767480e+02] [-6.38443178e-01 7.69105602e-01 2.94428487e-02 4.71126243e+01] [ 4.48954614e-02 -9.75088680e-04 9.98991215e-01 1.29044292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.81, Y:47.07, Z:129.04 [[ 7.66665135e-01 6.41151631e-01 -3.38992008e-02 5.71810287e+02] [-6.40475425e-01 7.67413730e-01 2.94516095e-02 4.70680734e+01] [ 4.48976596e-02 -8.67917178e-04 9.98991215e-01 1.29043075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.010385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:571.85, Y:47.02, Z:129.05 [[ 7.63061789e-01 6.45436304e-01 -3.38922354e-02 5.71850915e+02] [-6.44763946e-01 7.63813842e-01 2.94596230e-02 4.70207455e+01] [ 4.49016687e-02 -6.27021203e-04 9.98991215e-01 1.29045821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.89, Y:46.98, Z:129.04 [[ 7.60879039e-01 6.48008436e-01 -3.38844193e-02 5.71894269e+02] [-6.47338221e-01 7.61633001e-01 2.94686103e-02 4.69756264e+01] [ 4.49034000e-02 -4.87368238e-04 9.98991215e-01 1.29044810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.93, Y:46.93, Z:129.05 [[ 7.58827010e-01 6.50410576e-01 -3.38770101e-02 5.71934135e+02] [-6.49742367e-01 7.59582751e-01 2.94771255e-02 4.69276382e+01] [ 4.49046266e-02 -3.56710272e-04 9.98991215e-01 1.29049833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.190385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:571.97, Y:46.88, Z:129.05 [[ 7.58956234e-01 6.50260168e-01 -3.38695750e-02 5.71973665e+02] [-6.49591428e-01 7.59711506e-01 2.94856660e-02 4.68787146e+01] [ 4.49044599e-02 -3.76944451e-04 9.98991215e-01 1.29054241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.02, Y:46.83, Z:129.06 [[ 7.60446386e-01 6.48517292e-01 -3.38617132e-02 5.72016422e+02] [-6.47846419e-01 7.61199764e-01 2.94946918e-02 4.68341751e+01] [ 4.49033457e-02 -4.91942148e-04 9.98991215e-01 1.29057445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.06, Y:46.79, Z:129.06 [[ 7.59091300e-01 6.50103245e-01 -3.38551073e-02 5.72063177e+02] [-6.49433609e-01 7.59845776e-01 2.95022723e-02 4.67941262e+01] [ 4.49041833e-02 -4.08273712e-04 9.98991215e-01 1.29059470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.370385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:572.11, Y:46.75, Z:129.06 [[ 7.58947936e-01 6.50270967e-01 -3.38481781e-02 5.72111462e+02] [-6.49601143e-01 7.59702246e-01 2.95102202e-02 4.67544327e+01] [ 4.49041763e-02 -4.08905531e-04 9.98991215e-01 1.29059909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.16, Y:46.71, Z:129.07 [[ 7.59746296e-01 6.49338461e-01 -3.38397542e-02 5.72155393e+02] [-6.48667281e-01 7.60499399e-01 2.95198767e-02 4.67124316e+01] [ 4.49035041e-02 -4.76875647e-04 9.98991215e-01 1.29066952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.20, Y:46.67, Z:129.07 [[ 7.60601148e-01 6.48337273e-01 -3.38330354e-02 5.72202658e+02] [-6.47664759e-01 7.61353060e-01 2.95275753e-02 4.66716861e+01] [ 4.49027127e-02 -5.46242967e-04 9.98991215e-01 1.29068929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.25, Y:46.63, Z:129.07 [[ 7.62622000e-01 6.45959405e-01 -3.38250278e-02 5.72251494e+02] [-6.45284141e-01 7.63371442e-01 2.95367454e-02 4.66313747e+01] [ 4.49005988e-02 -6.98617865e-04 9.98991215e-01 1.29070300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.30, Y:46.59, Z:129.07 [[ 7.63330325e-01 6.45122638e-01 -3.38171219e-02 5.72297382e+02] [-6.44446151e-01 7.64078664e-01 2.95457943e-02 4.65904415e+01] [ 4.48996021e-02 -7.59886673e-04 9.98991215e-01 1.29074977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.35, Y:46.55, Z:129.08 [[ 7.63372886e-01 6.45072637e-01 -3.38102023e-02 5.72345510e+02] [-6.44395750e-01 7.64120864e-01 2.95537104e-02 4.65513005e+01] [ 4.48993710e-02 -7.73350526e-04 9.98991215e-01 1.29078647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.39, Y:46.51, Z:129.08 [[ 7.60963046e-01 6.47914064e-01 -3.38024862e-02 5.72392081e+02] [-6.47239579e-01 7.61713190e-01 2.95625333e-02 4.65107445e+01] [ 4.49017807e-02 -6.17688414e-04 9.98991215e-01 1.29084692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.44, Y:46.47, Z:129.09 [[ 7.61381577e-01 6.47422592e-01 -3.37946976e-02 5.72438312e+02] [-6.46747228e-01 7.62130930e-01 2.95714342e-02 4.64716345e+01] [ 4.49011989e-02 -6.58518283e-04 9.98991216e-01 1.29088664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8503857229999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:572.48, Y:46.43, Z:129.09 [[ 7.62499746e-01 6.46105615e-01 -3.37886314e-02 5.72484078e+02] [-6.45428649e-01 7.63247652e-01 2.95783639e-02 4.64306332e+01] [ 4.48998406e-02 -7.45344256e-04 9.98991216e-01 1.29093957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.53, Y:46.39, Z:129.09 [[ 7.64217586e-01 6.44073237e-01 -3.37808571e-02 5.72529848e+02] [-6.43393890e-01 7.64963331e-01 2.95872400e-02 4.63904079e+01] [ 4.48974664e-02 -8.76692083e-04 9.98991216e-01 1.29094940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:572.58, Y:46.35, Z:129.10 [[ 7.63874682e-01 6.44480107e-01 -3.37766573e-02 5.72576700e+02] [-6.43800946e-01 7.64620595e-01 2.95920338e-02 4.63499611e+01] [ 4.48978049e-02 -8.59161535e-04 9.98991216e-01 1.29097968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.63, Y:46.31, Z:129.10 [[ 7.64214429e-01 6.44077619e-01 -3.37687368e-02 5.72625171e+02] [-6.43397666e-01 7.64959620e-01 2.96010695e-02 4.63099717e+01] [ 4.48971064e-02 -8.94837952e-04 9.98991216e-01 1.29097943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.67, Y:46.27, Z:129.10 [[ 7.61574139e-01 6.47197865e-01 -3.37602503e-02 5.72670122e+02] [-6.46520537e-01 7.62321716e-01 2.96107453e-02 4.62679837e+01] [ 4.49001830e-02 -7.24082694e-04 9.98991216e-01 1.29102865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.72, Y:46.23, Z:129.10 [[ 7.64427021e-01 6.43825874e-01 -3.37575580e-02 5.72718963e+02] [-6.43145114e-01 7.65171474e-01 2.96138142e-02 4.62276919e+01] [ 4.48964603e-02 -9.26591324e-04 9.98991216e-01 1.29102982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.76, Y:46.19, Z:129.11 [[ 7.65291743e-01 6.42798238e-01 -3.37486839e-02 5.72764403e+02] [-6.42116032e-01 7.66034871e-01 2.96239240e-02 4.61863035e+01] [ 4.48948749e-02 -1.00037338e-03 9.98991216e-01 1.29107327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.81, Y:46.15, Z:129.11 [[ 7.67262851e-01 6.40444393e-01 -3.37445688e-02 5.72812092e+02] [-6.39759702e-01 7.68003691e-01 2.96286108e-02 4.61464711e+01] [ 4.48914310e-02 -1.14451713e-03 9.98991216e-01 1.29105074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.330385723 meters Centerline goodness : 0.996930 with order 1 Centerline is valid? [True, True] Translation: X:573.34, Y:46.77, Z:130.08 [[ 7.85713290e-01 6.17670032e-01 -3.37395568e-02 5.73344023e+02] [-6.16963667e-01 7.86433494e-01 2.96343170e-02 4.67741820e+01] [ 4.48381471e-02 -2.46799603e-03 9.98991216e-01 1.30075860e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 790.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.39, Y:46.74, Z:130.08 [[ 7.84511522e-01 6.19145704e-01 -3.46448921e-02 5.73393885e+02] [-6.18488531e-01 7.85275543e-01 2.85352117e-02 4.67356767e+01] [ 4.48732402e-02 -9.58733916e-04 9.98992229e-01 1.30080191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.44, Y:46.70, Z:130.08 [[ 7.83125017e-01 6.20899052e-01 -3.46348784e-02 5.73442512e+02] [-6.20243053e-01 7.83890046e-01 2.85473608e-02 4.66955640e+01] [ 4.48749657e-02 -8.74109707e-04 9.98992229e-01 1.30083695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.49, Y:46.66, Z:130.09 [[ 7.84236188e-01 6.19495441e-01 -3.46265866e-02 5.73491661e+02] [-6.18837629e-01 7.84999658e-01 2.85574148e-02 4.66573802e+01] [ 4.48730469e-02 -9.67523348e-04 9.98992229e-01 1.30088368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.54, Y:46.62, Z:130.09 [[ 7.85949777e-01 6.17320403e-01 -3.46188905e-02 5.73541007e+02] [-6.16660069e-01 7.86711066e-01 2.85667414e-02 4.66186207e+01] [ 4.48698966e-02 -1.10393661e-03 9.98992229e-01 1.30090484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.59, Y:46.58, Z:130.09 [[ 7.90888366e-01 6.10980933e-01 -3.46105847e-02 5.73589674e+02] [-6.10314059e-01 7.91643933e-01 2.85768010e-02 4.65806969e+01] [ 4.48591399e-02 -1.47773298e-03 9.98992229e-01 1.30094080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.64, Y:46.54, Z:130.10 [[ 7.93460936e-01 6.07636717e-01 -3.46029340e-02 5.73639224e+02] [-6.06966257e-01 7.94213322e-01 2.85860620e-02 4.65427372e+01] [ 4.48520520e-02 -1.67911016e-03 9.98992229e-01 1.30096810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.69, Y:46.51, Z:130.10 [[ 7.95671204e-01 6.04740067e-01 -3.45946016e-02 5.73689682e+02] [-6.04066431e-01 7.96420748e-01 2.85961423e-02 4.65054265e+01] [ 4.48450915e-02 -1.85568947e-03 9.98992229e-01 1.30099989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.810385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:573.74, Y:46.47, Z:130.10 [[ 7.97425152e-01 6.02425874e-01 -3.45860422e-02 5.73743644e+02] [-6.01749615e-01 7.98172330e-01 2.86064908e-02 4.64731678e+01] [ 4.48389121e-02 -1.99939762e-03 9.98992229e-01 1.30099430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.79, Y:46.43, Z:130.10 [[ 7.96073690e-01 6.04211082e-01 -3.45781600e-02 5.73793846e+02] [-6.03536087e-01 7.96822010e-01 2.86160153e-02 4.64348441e+01] [ 4.48427525e-02 -1.91128950e-03 9.98992229e-01 1.30104820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.85, Y:46.40, Z:130.11 [[ 7.95171857e-01 6.05397919e-01 -3.45698971e-02 5.73848190e+02] [-6.04723608e-01 7.95920794e-01 2.86259938e-02 4.64010879e+01] [ 4.48450171e-02 -1.85735175e-03 9.98992230e-01 1.30106063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.990385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:573.90, Y:46.37, Z:130.11 [[ 7.92489980e-01 6.08904864e-01 -3.45615128e-02 5.73899894e+02] [-6.08233428e-01 7.93241495e-01 2.86361130e-02 4.63656265e+01] [ 4.48522946e-02 -1.67236521e-03 9.98992230e-01 1.30112473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.95, Y:46.33, Z:130.11 [[ 7.89895514e-01 6.12267246e-01 -3.45528094e-02 5.73954247e+02] [-6.11598552e-01 7.90649469e-01 2.86466109e-02 4.63326737e+01] [ 4.48585420e-02 -1.49538122e-03 9.98992230e-01 1.30114232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.01, Y:46.30, Z:130.12 [[ 7.88058554e-01 6.14630312e-01 -3.45441211e-02 5.74006056e+02] [-6.13963420e-01 7.88814104e-01 2.86570841e-02 4.62988081e+01] [ 4.48624024e-02 -1.37463352e-03 9.98992230e-01 1.30117720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.06, Y:46.26, Z:130.12 [[ 7.88245969e-01 6.14390358e-01 -3.45366513e-02 5.74058967e+02] [-6.13722843e-01 7.89000968e-01 2.86660836e-02 4.62645232e+01] [ 4.48616167e-02 -1.39999301e-03 9.98992230e-01 1.30121066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.230385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:574.11, Y:46.23, Z:130.12 [[ 7.87247067e-01 6.15670243e-01 -3.45283514e-02 5.74111285e+02] [-6.15003518e-01 7.88002764e-01 2.86760774e-02 4.62298550e+01] [ 4.48634439e-02 -1.34010023e-03 9.98992230e-01 1.30123845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.16, Y:46.20, Z:130.13 [[ 7.86434762e-01 6.16707980e-01 -3.45200296e-02 5.74163063e+02] [-6.16041813e-01 7.87190951e-01 2.86860916e-02 4.61972952e+01] [ 4.48647965e-02 -1.29395806e-03 9.98992230e-01 1.30126372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.22, Y:46.16, Z:130.13 [[ 7.85523783e-01 6.17868281e-01 -3.45133836e-02 5.74216442e+02] [-6.17202880e-01 7.86280646e-01 2.86940855e-02 4.61631805e+01] [ 4.48663708e-02 -1.23812683e-03 9.98992230e-01 1.30129260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.27, Y:46.13, Z:130.13 [[ 7.85795059e-01 6.17523699e-01 -3.45051814e-02 5.74265183e+02] [-6.16857533e-01 7.86551249e-01 2.87039454e-02 4.61261733e+01] [ 4.48654600e-02 -1.27063734e-03 9.98992230e-01 1.30128410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.32, Y:46.09, Z:130.13 [[ 7.86184591e-01 6.17027922e-01 -3.45011983e-02 5.74317708e+02] [-6.16361070e-01 7.86940175e-01 2.87087321e-02 4.60914099e+01] [ 4.48644684e-02 -1.30516723e-03 9.98992230e-01 1.30133581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.37, Y:46.06, Z:130.14 [[ 7.85991863e-01 6.17273858e-01 -3.44931369e-02 5.74369728e+02] [-6.16606818e-01 7.86747282e-01 2.87184145e-02 4.60569474e+01] [ 4.48645082e-02 -1.30373674e-03 9.98992230e-01 1.30136503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5903857229999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:574.42, Y:46.02, Z:130.14 [[ 7.85468078e-01 6.17940503e-01 -3.44881633e-02 5.74422228e+02] [-6.17273842e-01 7.86223832e-01 2.87243861e-02 4.60218615e+01] [ 4.48653775e-02 -1.27344731e-03 9.98992230e-01 1.30136878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.650385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:574.47, Y:45.99, Z:130.14 [[ 7.83278577e-01 6.20713923e-01 -3.44803689e-02 5.74472824e+02] [-6.20049528e-01 7.84036323e-01 2.87337394e-02 4.59856214e+01] [ 4.48692937e-02 -1.12698601e-03 9.98992230e-01 1.30141750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.52, Y:45.95, Z:130.15 [[ 7.79950870e-01 6.24890556e-01 -3.44736523e-02 5.74524577e+02] [-6.24229863e-01 7.80711846e-01 2.87417955e-02 4.59491580e+01] [ 4.48744653e-02 -8.97705141e-04 9.98992230e-01 1.30145910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.57, Y:45.91, Z:130.15 [[ 7.76055612e-01 6.29722004e-01 -3.44656968e-02 5.74574539e+02] [-6.29065626e-01 7.76820313e-01 2.87513321e-02 4.59113953e+01] [ 4.48789999e-02 -6.31447453e-04 9.98992231e-01 1.30148700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.62, Y:45.87, Z:130.15 [[ 7.74261107e-01 6.31927532e-01 -3.44577004e-02 5.74624110e+02] [-6.31272906e-01 7.75027308e-01 2.87609124e-02 4.58724644e+01] [ 4.48804712e-02 -5.16243257e-04 9.98992231e-01 1.30151003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.67, Y:45.83, Z:130.15 [[ 7.73533829e-01 6.32818007e-01 -3.44497606e-02 5.74672366e+02] [-6.32163840e-01 7.74300422e-01 2.87704195e-02 4.58322877e+01] [ 4.48809037e-02 -4.76999856e-04 9.98992231e-01 1.30153252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.72, Y:45.79, Z:130.15 [[ 7.75574846e-01 6.30315331e-01 -3.44418475e-02 5.74718809e+02] [-6.29658270e-01 7.76338960e-01 2.87798893e-02 4.57917084e+01] [ 4.48789536e-02 -6.34364102e-04 9.98992231e-01 1.30154626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.010385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:574.77, Y:45.75, Z:130.16 [[ 7.78960430e-01 6.26126896e-01 -3.44348450e-02 5.74765306e+02] [-6.25465357e-01 7.79720670e-01 2.87882654e-02 4.57496425e+01] [ 4.48746677e-02 -8.87116981e-04 9.98992231e-01 1.30155904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.81, Y:45.71, Z:130.16 [[ 7.81477153e-01 6.22983046e-01 -3.44323153e-02 5.74811539e+02] [-6.22318315e-01 7.82234604e-01 2.87912908e-02 4.57064945e+01] [ 4.48706345e-02 -1.07187549e-03 9.98992231e-01 1.30160244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.85, Y:45.66, Z:130.17 [[ 7.80987857e-01 6.23596777e-01 -3.44242307e-02 5.74854337e+02] [-6.22932216e-01 7.81745457e-01 2.88009539e-02 4.56615690e+01] [ 4.48711679e-02 -1.04923294e-03 9.98992231e-01 1.30169276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.90, Y:45.62, Z:130.17 [[ 7.80459936e-01 6.24257782e-01 -3.44167127e-02 5.74900748e+02] [-6.23593467e-01 7.81217752e-01 2.88099349e-02 4.56211639e+01] [ 4.48717730e-02 -1.02296270e-03 9.98992231e-01 1.30168009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.95, Y:45.58, Z:130.17 [[ 7.78110478e-01 6.27184220e-01 -3.44098499e-02 5.74948233e+02] [-6.26522394e-01 7.78870468e-01 2.88181293e-02 4.55792815e+01] [ 4.48750919e-02 -8.65146870e-04 9.98992231e-01 1.30170459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.99, Y:45.53, Z:130.17 [[ 7.73184638e-01 6.33247217e-01 -3.44017162e-02 5.74991752e+02] [-6.32590919e-01 7.73949407e-01 2.88278357e-02 4.55336887e+01] [ 4.48803346e-02 -5.27026462e-04 9.98992231e-01 1.30174512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.04, Y:45.49, Z:130.18 [[ 7.72397622e-01 6.34207375e-01 -3.43935996e-02 5.75036625e+02] [-6.33551597e-01 7.73162836e-01 2.88375162e-02 4.54897145e+01] [ 4.48808184e-02 -4.83908952e-04 9.98992231e-01 1.30176347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.08, Y:45.44, Z:130.18 [[ 7.73230014e-01 6.33192387e-01 -3.43910702e-02 5.75078950e+02] [-6.32535471e-01 7.73994252e-01 2.88405323e-02 4.54430129e+01] [ 4.48800962e-02 -5.46793374e-04 9.98992231e-01 1.30179598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.12, Y:45.40, Z:130.18 [[ 7.75315827e-01 6.30637119e-01 -3.43830451e-02 5.75120612e+02] [-6.29977260e-01 7.76077525e-01 2.88500965e-02 4.53967266e+01] [ 4.48778503e-02 -7.07399899e-04 9.98992231e-01 1.30182002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.16, Y:45.35, Z:130.19 [[ 7.78138614e-01 6.27151188e-01 -3.43756502e-02 5.75162829e+02] [-6.26487529e-01 7.78897002e-01 2.88589051e-02 4.53497333e+01] [ 4.48739875e-02 -9.20312263e-04 9.98992231e-01 1.30185017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.21, Y:45.30, Z:130.19 [[ 7.79836010e-01 6.25039723e-01 -3.43677477e-02 5.75206529e+02] [-6.24373596e-01 7.80592232e-01 2.88683130e-02 4.53035466e+01] [ 4.48710393e-02 -1.05423577e-03 9.98992231e-01 1.30187611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.25, Y:45.26, Z:130.19 [[ 7.80738342e-01 6.23912689e-01 -3.43598446e-02 5.75249291e+02] [-6.23245057e-01 7.81493235e-01 2.88777165e-02 4.52566752e+01] [ 4.48691598e-02 -1.13133719e-03 9.98992231e-01 1.30188970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.29, Y:45.22, Z:130.19 [[ 7.83912639e-01 6.19919988e-01 -3.43537814e-02 5.75294244e+02] [-6.19248197e-01 7.84663834e-01 2.88849276e-02 4.52156154e+01] [ 4.48625138e-02 -1.36974264e-03 9.98992232e-01 1.30192145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.34, Y:45.17, Z:130.20 [[ 7.86348822e-01 6.16827082e-01 -3.43494127e-02 5.75339612e+02] [-6.16152110e-01 7.87097160e-01 2.88901219e-02 4.51722744e+01] [ 4.48565347e-02 -1.55325021e-03 9.98992232e-01 1.30195266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.38, Y:45.13, Z:130.20 [[ 7.87889682e-01 6.14858115e-01 -3.43416282e-02 5.75384608e+02] [-6.14180871e-01 7.88635964e-01 2.88993722e-02 4.51300619e+01] [ 4.48520566e-02 -1.67754605e-03 9.98992232e-01 1.30197168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.43, Y:45.09, Z:130.20 [[ 7.86938912e-01 6.16074911e-01 -3.43344380e-02 5.75430173e+02] [-6.15398449e-01 7.87685903e-01 2.89079122e-02 4.50883204e+01] [ 4.48541922e-02 -1.61940106e-03 9.98992232e-01 1.30201100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9703857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:575.48, Y:45.05, Z:130.20 [[ 7.85057157e-01 6.18471411e-01 -3.43274599e-02 5.75476534e+02] [-6.17796868e-01 7.85805882e-01 2.89161962e-02 4.50464083e+01] [ 4.48585605e-02 -1.49346960e-03 9.98992232e-01 1.30204936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:575.52, Y:45.00, Z:130.21 [[ 7.79969175e-01 6.24876195e-01 -3.43194811e-02 5.75522562e+02] [-6.24207387e-01 7.80723027e-01 2.89256628e-02 4.50041644e+01] [ 4.48689673e-02 -1.13865175e-03 9.98992232e-01 1.30209361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.57, Y:44.96, Z:130.21 [[ 7.73540799e-01 6.32816996e-01 -3.43115481e-02 5.75568659e+02] [-6.32155512e-01 7.74301085e-01 2.89350699e-02 4.49608658e+01] [ 4.48780729e-02 -6.92222816e-04 9.98992232e-01 1.30214832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.150385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:575.61, Y:44.92, Z:130.22 [[ 7.67591254e-01 6.40021064e-01 -3.43031235e-02 5.75613812e+02] [-6.39366271e-01 7.68357310e-01 2.89450539e-02 4.49194491e+01] [ 4.48824999e-02 -2.85710036e-04 9.98992232e-01 1.30216553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.66, Y:44.88, Z:130.22 [[ 7.63037298e-01 6.45443910e-01 -3.42963837e-02 5.75658361e+02] [-6.44794202e-01 7.63807671e-01 2.89530375e-02 4.48760211e+01] [ 4.48834028e-02 2.18618547e-05 9.98992232e-01 1.30217979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.70, Y:44.83, Z:130.22 [[ 7.61078679e-01 6.47752644e-01 -3.42892952e-02 5.75702974e+02] [-6.47104895e-01 7.61850701e-01 2.89614301e-02 4.48329660e+01] [ 4.48831665e-02 1.46843800e-04 9.98992232e-01 1.30219288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.75, Y:44.79, Z:130.22 [[ 7.59485572e-01 6.49620189e-01 -3.42822919e-02 5.75746673e+02] [-6.48973965e-01 7.60258870e-01 2.89697178e-02 4.47884824e+01] [ 4.48827300e-02 2.46232207e-04 9.98992232e-01 1.30223021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.79, Y:44.74, Z:130.23 [[ 7.58554862e-01 6.50707094e-01 -3.42753521e-02 5.75787169e+02] [-6.50061606e-01 7.59328775e-01 2.89779262e-02 4.47393185e+01] [ 4.48824032e-02 2.99743597e-04 9.98992232e-01 1.30225929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.83, Y:44.69, Z:130.23 [[ 7.58526310e-01 6.50740796e-01 -3.42673668e-02 5.75827638e+02] [-6.50094917e-01 7.59299896e-01 2.89873660e-02 4.46915472e+01] [ 4.48824697e-02 2.89361173e-04 9.98992232e-01 1.30226673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.87, Y:44.65, Z:130.23 [[ 7.58595907e-01 6.50660024e-01 -3.42605005e-02 5.75869637e+02] [-6.50013696e-01 7.59369118e-01 2.89954791e-02 4.46455462e+01] [ 4.48825652e-02 2.73942783e-04 9.98992232e-01 1.30229121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.92, Y:44.60, Z:130.23 [[ 7.55524290e-01 6.54224537e-01 -3.42535104e-02 5.75915023e+02] [-6.53581481e-01 7.56300225e-01 2.90037344e-02 4.46039127e+01] [ 4.48808923e-02 4.74434234e-04 9.98992232e-01 1.30228917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.630385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:575.96, Y:44.56, Z:130.23 [[ 7.53221586e-01 6.56874705e-01 -3.42471141e-02 5.75963359e+02] [-6.56234037e-01 7.53999493e-01 2.90112851e-02 4.45648749e+01] [ 4.48790860e-02 6.22195758e-04 9.98992232e-01 1.30228440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.01, Y:44.53, Z:130.23 [[ 7.55396736e-01 6.54372495e-01 -3.42404737e-02 5.76011377e+02] [-6.53728894e-01 7.56172219e-01 2.90191203e-02 4.45251930e+01] [ 4.48810091e-02 4.63038210e-04 9.98992233e-01 1.30233609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:576.06, Y:44.49, Z:130.23 [[ 7.60293299e-01 6.48677255e-01 -3.42332874e-02 5.76058125e+02] [-6.48027463e-01 7.61063602e-01 2.90275953e-02 4.44857063e+01] [ 4.48832499e-02 1.14624184e-04 9.98992233e-01 1.30234930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.11, Y:44.45, Z:130.24 [[ 7.64578375e-01 6.43621207e-01 -3.42293818e-02 5.76106563e+02] [-6.42966115e-01 7.65344175e-01 2.90322001e-02 4.44463828e+01] [ 4.48829977e-02 -1.89059741e-04 9.98992233e-01 1.30238589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.870385723 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:576.16, Y:44.41, Z:130.24 [[ 7.67973443e-01 6.39566799e-01 -3.42213499e-02 5.76155043e+02] [-6.38907243e-01 7.68735401e-01 2.90416646e-02 4.44064285e+01] [ 4.48812476e-02 -4.38958803e-04 9.98992233e-01 1.30238413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:576.20, Y:44.37, Z:130.25 [[ 7.68107502e-01 6.39406217e-01 -3.42133708e-02 5.76202117e+02] [-6.38746083e-01 7.68868960e-01 2.90510615e-02 4.43657724e+01] [ 4.48810282e-02 -4.60681639e-04 9.98992233e-01 1.30245980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:576.25, Y:44.33, Z:130.25 [[ 7.66148665e-01 6.41752397e-01 -3.42064924e-02 5.76249263e+02] [-6.41094233e-01 7.66911826e-01 2.90591583e-02 4.43257923e+01] [ 4.48821481e-02 -3.34050312e-04 9.98992233e-01 1.30249877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.30, Y:44.29, Z:130.25 [[ 7.64128706e-01 6.44156584e-01 -3.41996445e-02 5.76296504e+02] [-6.43500461e-01 7.64893623e-01 2.90672154e-02 4.42863358e+01] [ 4.48829281e-02 -2.03606671e-04 9.98992233e-01 1.30253040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.35, Y:44.25, Z:130.25 [[ 7.66424440e-01 6.41423765e-01 -3.41925674e-02 5.76345882e+02] [-6.40764543e-01 7.67186687e-01 2.90755380e-02 4.42482857e+01] [ 4.48818236e-02 -3.74818079e-04 9.98992233e-01 1.30252161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.39, Y:44.20, Z:130.26 [[ 7.65500276e-01 6.42526795e-01 -3.41854394e-02 5.76389116e+02] [-6.41868298e-01 7.66263149e-01 2.90839163e-02 4.42036376e+01] [ 4.48822380e-02 -3.21196179e-04 9.98992233e-01 1.30259658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.230385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.43, Y:44.16, Z:130.26 [[ 7.66899422e-01 6.40856554e-01 -3.41782549e-02 5.76433826e+02] [-6.40196019e-01 7.67660532e-01 2.90923568e-02 4.41623128e+01] [ 4.48813248e-02 -4.30128909e-04 9.98992233e-01 1.30262605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.48, Y:44.12, Z:130.27 [[ 7.65912240e-01 6.42036396e-01 -3.41717305e-02 5.76481252e+02] [-6.41376692e-01 7.66674069e-01 2.91000182e-02 4.41207193e+01] [ 4.48818505e-02 -3.71108681e-04 9.98992233e-01 1.30265020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.53, Y:44.08, Z:130.27 [[ 7.62766117e-01 6.45771389e-01 -3.41637668e-02 5.76530351e+02] [-6.45114997e-01 7.63530802e-01 2.91093648e-02 4.40818599e+01] [ 4.48830832e-02 -1.64078895e-04 9.98992233e-01 1.30266372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.58, Y:44.04, Z:130.27 [[ 7.59890428e-01 6.49153238e-01 -3.41556863e-02 5.76578593e+02] [-6.48499822e-01 7.60657659e-01 2.91188430e-02 4.40428881e+01] [ 4.48833756e-02 2.28264611e-05 9.98992233e-01 1.30267313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.63, Y:44.00, Z:130.27 [[ 7.58136493e-01 6.51201165e-01 -3.41482226e-02 5.76626501e+02] [-6.50549428e-01 7.58905149e-01 2.91275932e-02 4.40018106e+01] [ 4.48831846e-02 1.32415245e-04 9.98992233e-01 1.30271441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.68, Y:43.96, Z:130.27 [[ 7.56312304e-01 6.53319327e-01 -3.41402427e-02 5.76675836e+02] [-6.52669320e-01 7.57082424e-01 2.91369433e-02 4.39630664e+01] [ 4.48827059e-02 2.45660288e-04 9.98992233e-01 1.30272799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.72, Y:43.92, Z:130.28 [[ 7.55566994e-01 6.54181553e-01 -3.41322915e-02 5.76722883e+02] [-6.53532004e-01 7.56337501e-01 2.91462548e-02 4.39208517e+01] [ 4.48824743e-02 2.84596798e-04 9.98992233e-01 1.30276091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.77, Y:43.88, Z:130.28 [[ 7.56142973e-01 6.53516136e-01 -3.41242416e-02 5.76770278e+02] [-6.52865484e-01 7.56912548e-01 2.91556766e-02 4.38798432e+01] [ 4.48827717e-02 2.32679507e-04 9.98992234e-01 1.30278244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.82, Y:43.84, Z:130.28 [[ 7.59014431e-01 6.50179345e-01 -3.41161648e-02 5.76816239e+02] [-6.49524885e-01 7.59780770e-01 2.91651244e-02 4.38373430e+01] [ 4.48833675e-02 2.25477578e-05 9.98992234e-01 1.30281988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.86, Y:43.80, Z:130.29 [[ 7.62689950e-01 6.45864282e-01 -3.41082097e-02 5.76861311e+02] [-6.45205071e-01 7.63452205e-01 2.91744248e-02 4.37950560e+01] [ 4.48827069e-02 -2.44250699e-04 9.98992234e-01 1.30286848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.91, Y:43.75, Z:130.29 [[ 7.64973567e-01 6.43158255e-01 -3.41013288e-02 5.76907969e+02] [-6.42495989e-01 7.65733170e-01 2.91824656e-02 4.37537619e+01] [ 4.48814622e-02 -4.13847856e-04 9.98992234e-01 1.30291023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.95, Y:43.71, Z:130.29 [[ 7.69012474e-01 6.38323924e-01 -3.40937250e-02 5.76954303e+02] [-6.37656490e-01 7.69767540e-01 2.91913464e-02 4.37130118e+01] [ 4.48777776e-02 -7.08424486e-04 9.98992234e-01 1.30293878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.00, Y:43.67, Z:130.30 [[ 7.69999722e-01 6.37132942e-01 -3.40887355e-02 5.77002110e+02] [-6.36464083e-01 7.70753525e-01 2.91971718e-02 4.36721445e+01] [ 4.48764930e-02 -7.85558456e-04 9.98992234e-01 1.30297068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:577.05, Y:43.63, Z:130.30 [[ 7.70465384e-01 6.36570185e-01 -3.40806714e-02 5.77050167e+02] [-6.35900359e-01 7.71218328e-01 2.92065816e-02 4.36332555e+01] [ 4.48756775e-02 -8.30748938e-04 9.98992234e-01 1.30303056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.10, Y:43.60, Z:130.30 [[ 7.68898299e-01 6.38462546e-01 -3.40732035e-02 5.77097512e+02] [-6.37794187e-01 7.69652546e-01 2.92152913e-02 4.35950571e+01] [ 4.48773971e-02 -7.31896590e-04 9.98992234e-01 1.30301301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.15, Y:43.56, Z:130.31 [[ 7.66094332e-01 6.41824706e-01 -3.40664180e-02 5.77146789e+02] [-6.41159306e-01 7.66851191e-01 2.92232014e-02 4.35572110e+01] [ 4.48800459e-02 -5.45728069e-04 9.98992234e-01 1.30309512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.20, Y:43.52, Z:130.31 [[ 7.66622693e-01 6.41193928e-01 -3.40586798e-02 5.77196747e+02] [-6.40527504e-01 7.67378651e-01 2.92322173e-02 4.35199054e+01] [ 4.48794239e-02 -5.94559991e-04 9.98992234e-01 1.30308461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.25, Y:43.48, Z:130.31 [[ 7.62537636e-01 6.46047115e-01 -3.40511228e-02 5.77245257e+02] [-6.45385110e-01 7.63297467e-01 2.92410173e-02 4.34824297e+01] [ 4.48822107e-02 -3.21288593e-04 9.98992234e-01 1.30314869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.29, Y:43.45, Z:130.32 [[ 7.61432063e-01 6.47350141e-01 -3.40442183e-02 5.77294424e+02] [-6.46689077e-01 7.62192712e-01 2.92490538e-02 4.34457424e+01] [ 4.48826342e-02 -2.55143272e-04 9.98992234e-01 1.30317125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.34, Y:43.41, Z:130.32 [[ 7.60266779e-01 6.48718641e-01 -3.40374631e-02 5.77340937e+02] [-6.48058595e-01 7.61028311e-01 2.92569128e-02 4.34055537e+01] [ 4.48829778e-02 -1.84788296e-04 9.98992234e-01 1.30323580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.39, Y:43.37, Z:130.32 [[ 7.61166901e-01 6.47662641e-01 -3.40301704e-02 5.77391829e+02] [-6.47001160e-01 7.61927186e-01 2.92653928e-02 4.33715858e+01] [ 4.48826136e-02 -2.58288601e-04 9.98992234e-01 1.30322201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.44, Y:43.33, Z:130.32 [[ 7.60934665e-01 6.47935776e-01 -3.40244973e-02 5.77440005e+02] [-6.47274272e-01 7.61694931e-01 2.92719870e-02 4.33315152e+01] [ 4.48826547e-02 -2.50887834e-04 9.98992234e-01 1.30324421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.49, Y:43.29, Z:130.33 [[ 7.61443186e-01 6.47338524e-01 -3.40163156e-02 5.77486791e+02] [-6.46675999e-01 7.62202563e-01 2.92814917e-02 4.32913332e+01] [ 4.48823605e-02 -2.98657412e-04 9.98992234e-01 1.30329453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.53, Y:43.25, Z:130.33 [[ 7.64417241e-01 6.43824276e-01 -3.40085843e-02 5.77534674e+02] [-6.43157861e-01 7.65173206e-01 2.92904683e-02 4.32516029e+01] [ 4.48803720e-02 -5.17250640e-04 9.98992235e-01 1.30330721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.58, Y:43.21, Z:130.34 [[ 7.69062562e-01 6.38268409e-01 -3.40031450e-02 5.77580415e+02] [-6.37596255e-01 7.69813429e-01 2.92967814e-02 4.32112050e+01] [ 4.48752877e-02 -8.50779897e-04 9.98992235e-01 1.30335331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.63, Y:43.17, Z:130.34 [[ 7.72807159e-01 6.33729711e-01 -3.39963046e-02 5.77631030e+02] [-6.33052799e-01 7.73553739e-01 2.93047169e-02 4.31738180e+01] [ 4.48692384e-02 -1.12543920e-03 9.98992235e-01 1.30337433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:577.68, Y:43.14, Z:130.34 [[ 7.74202739e-01 6.32024486e-01 -3.39877488e-02 5.77682286e+02] [-6.31345496e-01 7.74947429e-01 2.93146367e-02 4.31398863e+01] [ 4.48662867e-02 -1.23745997e-03 9.98992235e-01 1.30335559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:577.73, Y:43.10, Z:130.34 [[ 7.72505520e-01 6.34098198e-01 -3.39808335e-02 5.77734146e+02] [-6.33420855e-01 7.73251707e-01 2.93226506e-02 4.31033957e+01] [ 4.48691774e-02 -1.12774085e-03 9.98992235e-01 1.30339522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.78, Y:43.07, Z:130.34 [[ 7.69857016e-01 6.37311567e-01 -3.39726614e-02 5.77784962e+02] [-6.36636921e-01 7.70605643e-01 2.93321155e-02 4.30665049e+01] [ 4.48732211e-02 -9.53284352e-04 9.98992235e-01 1.30342432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.84, Y:43.03, Z:130.35 [[ 7.66936390e-01 6.40823678e-01 -3.39645015e-02 5.77836429e+02] [-6.40152042e-01 7.67687720e-01 2.93415611e-02 4.30302145e+01] [ 4.48768978e-02 -7.60665897e-04 9.98992235e-01 1.30345599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.89, Y:42.99, Z:130.35 [[ 7.64986551e-01 6.43150479e-01 -3.39564189e-02 5.77886289e+02] [-6.42480714e-01 7.65739548e-01 2.93509119e-02 4.29919124e+01] [ 4.48788260e-02 -6.36708557e-04 9.98992235e-01 1.30348075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0903857229999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:577.94, Y:42.95, Z:130.35 [[ 7.62558848e-01 6.46027486e-01 -3.39483444e-02 5.77935380e+02] [-6.45360147e-01 7.63313996e-01 2.93602483e-02 4.29546733e+01] [ 4.48807738e-02 -4.80008574e-04 9.98992235e-01 1.30351352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.98, Y:42.92, Z:130.35 [[ 7.61866652e-01 6.46843920e-01 -3.39433129e-02 5.77984075e+02] [-6.46177131e-01 7.62622285e-01 2.93660641e-02 4.29169580e+01] [ 4.48811868e-02 -4.39632390e-04 9.98992235e-01 1.30353247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.210385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:578.03, Y:42.88, Z:130.36 [[ 7.61340045e-01 6.47464041e-01 -3.39359957e-02 5.78032401e+02] [-6.46797491e-01 7.62095889e-01 2.93745175e-02 4.28769934e+01] [ 4.48814266e-02 -4.14279585e-04 9.98992235e-01 1.30355389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.08, Y:42.84, Z:130.36 [[ 7.59607865e-01 6.49495789e-01 -3.39280315e-02 5.78081468e+02] [-6.48830850e-01 7.60365126e-01 2.93837133e-02 4.28370484e+01] [ 4.48822901e-02 -3.06546217e-04 9.98992235e-01 1.30360247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.13, Y:42.80, Z:130.36 [[ 7.58891691e-01 6.50332865e-01 -3.39200006e-02 5.78128978e+02] [-6.49668347e-01 7.59649322e-01 2.93929811e-02 4.27963030e+01] [ 4.48825271e-02 -2.69338406e-04 9.98992235e-01 1.30362063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.390385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:578.18, Y:42.75, Z:130.36 [[ 7.58274476e-01 6.51052833e-01 -3.39120577e-02 5.78175381e+02] [-6.50388624e-01 7.59032379e-01 2.94021425e-02 4.27549073e+01] [ 4.48826979e-02 -2.38877664e-04 9.98992235e-01 1.30362459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.22, Y:42.72, Z:130.36 [[ 7.60262314e-01 6.48730826e-01 -3.39047222e-02 5.78223536e+02] [-6.48063925e-01 7.61017849e-01 2.94105988e-02 4.27153555e+01] [ 4.48816608e-02 -3.87342555e-04 9.98992235e-01 1.30363247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.510385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:578.27, Y:42.67, Z:130.37 [[ 7.59852470e-01 6.49211215e-01 -3.38972214e-02 5.78269648e+02] [-6.48544407e-01 7.60608086e-01 2.94192414e-02 4.26719249e+01] [ 4.48818021e-02 -3.70429900e-04 9.98992236e-01 1.30366159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.570385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:578.31, Y:42.63, Z:130.37 [[ 7.57891166e-01 6.51500236e-01 -3.38884079e-02 5.78312622e+02] [-6.50835255e-01 7.58648391e-01 2.94293903e-02 4.26281072e+01] [ 4.48826408e-02 -2.48504312e-04 9.98992236e-01 1.30367498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.35, Y:42.58, Z:130.37 [[ 7.57489419e-01 6.51967523e-01 -3.38840614e-02 5.78354600e+02] [-6.51302786e-01 7.58246858e-01 2.94343939e-02 4.25820982e+01] [ 4.48827519e-02 -2.27458312e-04 9.98992236e-01 1.30371827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.40, Y:42.54, Z:130.38 [[ 7.56390402e-01 6.53242472e-01 -3.38796900e-02 5.78397105e+02] [-6.52578786e-01 7.57148762e-01 2.94394246e-02 4.25380769e+01] [ 4.48830478e-02 -1.58531189e-04 9.98992236e-01 1.30375124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.44, Y:42.49, Z:130.38 [[ 7.55467613e-01 6.54309686e-01 -3.38750725e-02 5.78439431e+02] [-6.53646833e-01 7.56226702e-01 2.94447368e-02 4.24928415e+01] [ 4.48832108e-02 -1.02211182e-04 9.98992236e-01 1.30380686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.48, Y:42.45, Z:130.39 [[ 7.53648433e-01 6.56404599e-01 -3.38680113e-02 5.78481624e+02] [-6.55743492e-01 7.54409042e-01 2.94528566e-02 4.24468843e+01] [ 4.48833244e-02 1.16287970e-05 9.98992236e-01 1.30385188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.870385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:578.52, Y:42.40, Z:130.39 [[ 7.51360524e-01 6.59022609e-01 -3.38609481e-02 5.78524602e+02] [-6.58363786e-01 7.52123112e-01 2.94609746e-02 4.24010547e+01] [ 4.48830500e-02 1.57008699e-04 9.98992236e-01 1.30386601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.930385723 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:578.57, Y:42.35, Z:130.39 [[ 7.48859810e-01 6.61863209e-01 -3.38537497e-02 5.78566945e+02] [-6.61206905e-01 7.49624568e-01 2.94692440e-02 4.23545346e+01] [ 4.48822109e-02 3.16000552e-04 9.98992236e-01 1.30386782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.990385723 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:578.61, Y:42.31, Z:130.39 [[ 7.47354752e-01 6.63562568e-01 -3.38466063e-02 5.78607573e+02] [-6.62907631e-01 7.48120681e-01 2.94774462e-02 4.23073382e+01] [ 4.48814761e-02 4.07064128e-04 9.98992236e-01 1.30393085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.050385723 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:578.65, Y:42.26, Z:130.40 [[ 7.47858374e-01 6.62995279e-01 -3.38395265e-02 5.78648606e+02] [-6.62339393e-01 7.48623490e-01 2.94855715e-02 4.22589508e+01] [ 4.48818591e-02 3.62219892e-04 9.98992236e-01 1.30396998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.110385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:578.69, Y:42.22, Z:130.40 [[ 7.48034163e-01 6.62797354e-01 -3.38313308e-02 5.78693632e+02] [-6.62140841e-01 7.48798740e-01 2.94949721e-02 4.22159932e+01] [ 4.48820473e-02 3.37859119e-04 9.98992236e-01 1.30398843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.170385723 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:578.73, Y:42.17, Z:130.40 [[ 7.48796739e-01 6.61936097e-01 -3.38237660e-02 5.78734503e+02] [-6.61278313e-01 7.49560223e-01 2.95036446e-02 4.21690013e+01] [ 4.48824769e-02 2.74690078e-04 9.98992236e-01 1.30401718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.230385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:578.78, Y:42.13, Z:130.40 [[ 7.47093102e-01 6.63858672e-01 -3.38165667e-02 5.78781213e+02] [-6.63202479e-01 7.47857954e-01 2.95118940e-02 4.21271080e+01] [ 4.48817152e-02 3.79098483e-04 9.98992236e-01 1.30404766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.290385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:578.83, Y:42.09, Z:130.41 [[ 7.47784967e-01 6.63079658e-01 -3.38084451e-02 5.78831213e+02] [-6.62422248e-01 7.48548773e-01 2.95211951e-02 4.20894803e+01] [ 4.48821740e-02 3.19960275e-04 9.98992236e-01 1.30405260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:578.88, Y:42.05, Z:130.41 [[ 7.51155025e-01 6.59259888e-01 -3.38013033e-02 5.78879180e+02] [-6.58598225e-01 7.51915151e-01 2.95293701e-02 4.20501609e+01] [ 4.48832413e-02 8.03436613e-05 9.98992236e-01 1.30408178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.92, Y:42.01, Z:130.41 [[ 7.53616886e-01 6.56444646e-01 -3.37937297e-02 5.78924638e+02] [-6.55779755e-01 7.54374189e-01 2.95380349e-02 4.20087274e+01] [ 4.48832023e-02 -9.91180875e-05 9.98992236e-01 1.30413601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.97, Y:41.97, Z:130.41 [[ 7.57846093e-01 6.51557947e-01 -3.37866967e-02 5.78972246e+02] [-6.50887815e-01 7.58598762e-01 2.95460773e-02 4.19693901e+01] [ 4.48815277e-02 -4.00030050e-04 9.98992236e-01 1.30414044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:579.02, Y:41.93, Z:130.42 [[ 7.58701352e-01 6.50562213e-01 -3.37796648e-02 5.79019876e+02] [-6.49890736e-01 7.59452820e-01 2.95541146e-02 4.19296701e+01] [ 4.48808519e-02 -4.69655439e-04 9.98992236e-01 1.30415640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5903857229999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:579.07, Y:41.89, Z:130.42 [[ 7.58373119e-01 6.50945177e-01 -3.37726142e-02 5.79065557e+02] [-6.50273720e-01 7.59124606e-01 2.95621693e-02 4.18884216e+01] [ 4.48809740e-02 -4.57711032e-04 9.98992237e-01 1.30421079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.650385723 meters Centerline goodness : 0.999776 with order 1 Centerline is valid? [True, True] Translation: X:579.11, Y:41.85, Z:130.43 [[ 7.56614661e-01 6.52988617e-01 -3.37656657e-02 5.79112433e+02] [-6.52318836e-01 7.57367642e-01 2.95701038e-02 4.18477316e+01] [ 4.48819638e-02 -3.47194303e-04 9.98992237e-01 1.30425338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.710385723 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:579.16, Y:41.81, Z:130.42 [[ 7.55155236e-01 6.54676207e-01 -3.37584646e-02 5.79159511e+02] [-6.54007741e-01 7.55909385e-01 2.95783225e-02 4.18068720e+01] [ 4.48825642e-02 -2.57927956e-04 9.98992237e-01 1.30424003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.770385723 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:579.20, Y:41.77, Z:130.43 [[ 7.55074179e-01 6.54770062e-01 -3.37512917e-02 5.79204678e+02] [-6.54101324e-01 7.55828087e-01 2.95865052e-02 4.17652558e+01] [ 4.48825320e-02 -2.63241513e-04 9.98992237e-01 1.30428995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.830385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:579.25, Y:41.72, Z:130.43 [[ 7.56123464e-01 6.53558418e-01 -3.37446525e-02 5.79249569e+02] [-6.52888134e-01 7.56875997e-01 2.95940755e-02 4.17226465e+01] [ 4.48819747e-02 -3.45291663e-04 9.98992237e-01 1.30434831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.30, Y:41.68, Z:130.44 [[ 7.57307260e-01 6.52186701e-01 -3.37375307e-02 5.79296033e+02] [-6.51514693e-01 7.58058253e-01 2.96021922e-02 4.16800095e+01] [ 4.48811697e-02 -4.37458133e-04 9.98992237e-01 1.30436974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.950385723 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:579.34, Y:41.64, Z:130.43 [[ 7.59518114e-01 6.49611085e-01 -3.37294209e-02 5.79342315e+02] [-6.48936119e-01 7.60266451e-01 2.96114298e-02 4.16380947e+01] [ 4.48792602e-02 -6.02177774e-04 9.98992237e-01 1.30432870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.010385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:579.89, Y:42.29, Z:131.39 [[ 7.90827965e-01 6.11108546e-01 -3.37264662e-02 5.79890718e+02] [-6.10397124e-01 7.91541733e-01 2.96147948e-02 4.22863612e+01] [ 4.47937597e-02 -2.83366997e-03 9.98992237e-01 1.31392490e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 798.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.94, Y:42.25, Z:131.40 [[ 7.90292080e-01 6.11725733e-01 -3.50721583e-02 5.79940280e+02] [-6.11088358e-01 7.91069669e-01 2.79248431e-02 4.22480861e+01] [ 4.48268658e-02 -6.36594724e-04 9.98994568e-01 1.31395421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.99, Y:42.21, Z:131.40 [[ 7.89346923e-01 6.12945269e-01 -3.50646758e-02 5.79989735e+02] [-6.12308678e-01 7.90125155e-01 2.79342355e-02 4.22105493e+01] [ 4.48276399e-02 -5.79397558e-04 9.98994568e-01 1.31397559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.04, Y:42.17, Z:131.40 [[ 7.86993090e-01 6.15964711e-01 -3.50621013e-02 5.80039988e+02] [-6.15330962e-01 7.87773638e-01 2.79374665e-02 4.21733116e+01] [ 4.48294926e-02 -4.11796560e-04 9.98994568e-01 1.31402230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.09, Y:42.13, Z:131.40 [[ 7.85237559e-01 6.18201593e-01 -3.50537613e-02 5.80090419e+02] [-6.17569601e-01 7.86019530e-01 2.79479270e-02 4.21349032e+01] [ 4.48303940e-02 -2.97624608e-04 9.98994568e-01 1.31403253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:580.14, Y:42.10, Z:131.41 [[ 7.83979774e-01 6.19796224e-01 -3.50478856e-02 5.80140316e+02] [-6.19165493e-01 7.84762763e-01 2.79552934e-02 4.20963598e+01] [ 4.48308609e-02 -2.15943261e-04 9.98994568e-01 1.31408791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.19, Y:42.06, Z:131.41 [[ 7.83562970e-01 6.20323576e-01 -3.50390331e-02 5.80189943e+02] [-6.19692876e-01 7.84345983e-01 2.79663848e-02 4.20591378e+01] [ 4.48309327e-02 -1.99984323e-04 9.98994568e-01 1.31409995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.24, Y:42.02, Z:131.41 [[ 7.84507000e-01 6.19129725e-01 -3.50307194e-02 5.80239604e+02] [-6.18497368e-01 7.85288676e-01 2.79767947e-02 4.20213019e+01] [ 4.48304924e-02 -2.81583539e-04 9.98994568e-01 1.31413670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.29, Y:41.98, Z:131.42 [[ 7.85744162e-01 6.17559348e-01 -3.50223409e-02 5.80289815e+02] [-6.16924961e-01 7.86524192e-01 2.79872792e-02 4.19830097e+01] [ 4.48297243e-02 -3.84684873e-04 9.98994568e-01 1.31417155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.34, Y:41.95, Z:131.42 [[ 7.86961462e-01 6.16007832e-01 -3.50144017e-02 5.80340857e+02] [-6.15371466e-01 7.87739878e-01 2.79972083e-02 4.19456687e+01] [ 4.48287401e-02 -4.85860244e-04 9.98994569e-01 1.31420183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.39, Y:41.91, Z:131.43 [[ 7.87592607e-01 6.15201120e-01 -3.50066764e-02 5.80390918e+02] [-6.14563528e-01 7.88370019e-01 2.80068644e-02 4.19078966e+01] [ 4.48280685e-02 -5.44172820e-04 9.98994569e-01 1.31425021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.44, Y:41.87, Z:131.43 [[ 7.88220336e-01 6.14397092e-01 -3.49987889e-02 5.80440461e+02] [-6.13758269e-01 7.88996737e-01 2.80167176e-02 4.18712392e+01] [ 4.48273200e-02 -6.02550446e-04 9.98994569e-01 1.31425276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.730385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.49, Y:41.84, Z:131.42 [[ 7.89689383e-01 6.12508211e-01 -3.49909863e-02 5.80492482e+02] [-6.11867100e-01 7.90463895e-01 2.80264591e-02 4.18361229e+01] [ 4.48255477e-02 -7.22363876e-04 9.98994569e-01 1.31422601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:580.54, Y:41.80, Z:131.43 [[ 7.90939614e-01 6.10893358e-01 -3.49833043e-02 5.80542453e+02] [-6.10250242e-01 7.91712462e-01 2.80360447e-02 4.17987217e+01] [ 4.48237515e-02 -8.26248486e-04 9.98994569e-01 1.31425793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.59, Y:41.76, Z:131.43 [[ 7.92939468e-01 6.08295790e-01 -3.49747209e-02 5.80593597e+02] [-6.07649671e-01 7.93709807e-01 2.80467483e-02 4.17631120e+01] [ 4.48204979e-02 -9.86996015e-04 9.98994569e-01 1.31426689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.910385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:580.64, Y:41.73, Z:131.43 [[ 7.94667876e-01 6.06036548e-01 -3.49667005e-02 5.80643610e+02] [-6.05387799e-01 7.95436001e-01 2.80567440e-02 4.17259322e+01] [ 4.48171847e-02 -1.12737933e-03 9.98994569e-01 1.31431224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.69, Y:41.69, Z:131.44 [[ 7.93136034e-01 6.08040404e-01 -3.49585315e-02 5.80691447e+02] [-6.07393148e-01 7.93905417e-01 2.80669188e-02 4.16877499e+01] [ 4.48195882e-02 -1.02731214e-03 9.98994569e-01 1.31439921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.74, Y:41.65, Z:131.44 [[ 7.95601078e-01 6.04811900e-01 -3.49498148e-02 5.80744302e+02] [-6.04161046e-01 7.96367421e-01 2.80777689e-02 4.16533508e+01] [ 4.48146627e-02 -1.22338653e-03 9.98994569e-01 1.31438203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.80, Y:41.62, Z:131.44 [[ 7.96328794e-01 6.03853973e-01 -3.49404082e-02 5.80795211e+02] [-6.03201684e-01 7.97093915e-01 2.80894698e-02 4.16177426e+01] [ 4.48127247e-02 -1.29234051e-03 9.98994569e-01 1.31444604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.84, Y:41.58, Z:131.45 [[ 7.94553699e-01 6.06188199e-01 -3.49326137e-02 5.80844111e+02] [-6.05537733e-01 7.95320370e-01 2.80991598e-02 4.15801632e+01] [ 4.48159984e-02 -1.17327564e-03 9.98994569e-01 1.31453011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.90, Y:41.55, Z:131.45 [[ 7.97732364e-01 6.01999432e-01 -3.49250479e-02 5.80901718e+02] [-6.01344531e-01 7.98495250e-01 2.81085605e-02 4.15506859e+01] [ 4.48088223e-02 -1.42112190e-03 9.98994569e-01 1.31447625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.96, Y:41.52, Z:131.45 [[ 7.98279117e-01 6.01274701e-01 -3.49168265e-02 5.80955013e+02] [-6.00618661e-01 7.99041024e-01 2.81187694e-02 4.15158630e+01] [ 4.48070815e-02 -1.47492884e-03 9.98994570e-01 1.31447465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.330385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:581.01, Y:41.48, Z:131.45 [[ 7.95993159e-01 6.04298164e-01 -3.49087376e-02 5.81009581e+02] [-6.03644579e-01 7.96757173e-01 2.81288080e-02 4.14839289e+01] [ 4.48119741e-02 -1.31786853e-03 9.98994570e-01 1.31450221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.06, Y:41.45, Z:131.45 [[ 7.94274527e-01 6.06555790e-01 -3.49005653e-02 5.81061744e+02] [-6.05903932e-01 7.95040014e-01 2.81389441e-02 4.14483648e+01] [ 4.48151854e-02 -1.20365676e-03 9.98994570e-01 1.31454551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.11, Y:41.41, Z:131.46 [[ 7.90142379e-01 6.11929361e-01 -3.48923745e-02 5.81111794e+02] [-6.11282262e-01 7.90911894e-01 2.81490971e-02 4.14127577e+01] [ 4.48220530e-02 -9.12704906e-04 9.98994570e-01 1.31463903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.510385723 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:581.17, Y:41.38, Z:131.46 [[ 7.90977679e-01 6.10849704e-01 -3.48848195e-02 5.81167398e+02] [-6.10201142e-01 7.91745962e-01 2.81584568e-02 4.13822931e+01] [ 4.48204999e-02 -9.85954082e-04 9.98994570e-01 1.31461113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.570385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:581.22, Y:41.34, Z:131.47 [[ 7.85740979e-01 6.17571592e-01 -3.48775366e-02 5.81215453e+02] [-6.16929204e-01 7.86514431e-01 2.81674746e-02 4.13449333e+01] [ 4.48271180e-02 -6.15368157e-04 9.98994570e-01 1.31467391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.630385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:581.27, Y:41.31, Z:131.47 [[ 7.82570378e-01 6.21584763e-01 -3.48709750e-02 5.81267479e+02] [-6.20945981e-01 7.83346810e-01 2.81755954e-02 4.13090842e+01] [ 4.48295879e-02 -3.96394582e-04 9.98994570e-01 1.31470467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.32, Y:41.27, Z:131.47 [[ 7.82209728e-01 6.22038979e-01 -3.48633042e-02 5.81320252e+02] [-6.21400224e-01 7.82986183e-01 2.81850838e-02 4.12748131e+01] [ 4.48297062e-02 -3.82581722e-04 9.98994570e-01 1.31470595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.37, Y:41.24, Z:131.47 [[ 7.80166371e-01 6.24600323e-01 -3.48549749e-02 5.81369654e+02] [-6.23963658e-01 7.80944540e-01 2.81953805e-02 4.12376079e+01] [ 4.48306461e-02 -2.48850051e-04 9.98994570e-01 1.31470051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.42, Y:41.20, Z:131.47 [[ 7.78990445e-01 6.26066731e-01 -3.48473114e-02 5.81418435e+02] [-6.25431107e-01 7.79769464e-01 2.82048487e-02 4.11992527e+01] [ 4.48309868e-02 -1.76715073e-04 9.98994570e-01 1.31471442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.47, Y:41.16, Z:131.47 [[ 7.78635817e-01 6.26508122e-01 -3.48401742e-02 5.81465866e+02] [-6.25872545e-01 7.79414875e-01 2.82136623e-02 4.11585852e+01] [ 4.48310386e-02 -1.62659516e-04 9.98994570e-01 1.31472256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.51, Y:41.12, Z:131.48 [[ 7.77539220e-01 6.27868960e-01 -3.48328890e-02 5.81511192e+02] [-6.27234343e-01 7.78319061e-01 2.82226538e-02 4.11158939e+01] [ 4.48312297e-02 -9.58359660e-05 9.98994570e-01 1.31477471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.55, Y:41.07, Z:131.48 [[ 7.77001750e-01 6.28534373e-01 -3.48255998e-02 5.81553791e+02] [-6.27900022e-01 7.77781805e-01 2.82316455e-02 4.10706879e+01] [ 4.48312775e-02 -6.90430915e-05 9.98994570e-01 1.31479520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.60, Y:41.02, Z:131.49 [[ 7.73538139e-01 6.32792590e-01 -3.48178945e-02 5.81595005e+02] [-6.32162105e-01 7.74321322e-01 2.82411452e-02 4.10243088e+01] [ 4.48310256e-02 1.64950653e-04 9.98994571e-01 1.31489490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.110385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:581.64, Y:40.98, Z:131.49 [[ 7.69574898e-01 6.37606967e-01 -3.48113856e-02 5.81638916e+02] [-6.36981018e-01 7.70361712e-01 2.82491661e-02 4.09797657e+01] [ 4.48292237e-02 4.34342756e-04 9.98994571e-01 1.31489141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.68, Y:40.93, Z:131.49 [[ 7.66946671e-01 6.40766073e-01 -3.48086610e-02 5.81681672e+02] [-6.40143213e-01 7.67735932e-01 2.82525230e-02 4.09345026e+01] [ 4.48271180e-02 6.14349570e-04 9.98994571e-01 1.31491815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2303857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:581.72, Y:40.89, Z:131.49 [[ 7.65570899e-01 6.42409624e-01 -3.48004824e-02 5.81722816e+02] [-6.41788000e-01 7.66361135e-01 2.82625936e-02 4.08858863e+01] [ 4.48258993e-02 6.97512810e-04 9.98994571e-01 1.31494395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:581.76, Y:40.84, Z:131.50 [[ 7.65883809e-01 6.42036989e-01 -3.47921675e-02 5.81764116e+02] [-6.41414516e-01 7.66673376e-01 2.82728258e-02 4.08371502e+01] [ 4.48264284e-02 6.62501774e-04 9.98994571e-01 1.31499251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.80, Y:40.79, Z:131.50 [[ 7.66635128e-01 6.41140129e-01 -3.47838262e-02 5.81804127e+02] [-6.40516267e-01 7.67423598e-01 2.82830843e-02 4.07880171e+01] [ 4.48273493e-02 5.96800534e-04 9.98994571e-01 1.31501421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.410385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:581.85, Y:40.74, Z:131.51 [[ 7.66987123e-01 6.40719419e-01 -3.47761370e-02 5.81849293e+02] [-6.40094696e-01 7.67774910e-01 2.82925355e-02 4.07437146e+01] [ 4.48278224e-02 5.60010483e-04 9.98994571e-01 1.31505193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.89, Y:40.70, Z:131.51 [[ 7.66457688e-01 6.41353077e-01 -3.47684180e-02 5.81892337e+02] [-6.40728576e-01 7.67245650e-01 2.83020182e-02 4.06962530e+01] [ 4.48275039e-02 5.84819540e-04 9.98994571e-01 1.31507747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.93, Y:40.64, Z:131.52 [[ 7.65401082e-01 6.42614106e-01 -3.47605302e-02 5.81930229e+02] [-6.41990463e-01 7.66189724e-01 2.83117026e-02 4.06446647e+01] [ 4.48266605e-02 6.46121109e-04 9.98994571e-01 1.31515544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.97, Y:40.60, Z:131.51 [[ 7.68827362e-01 6.38511309e-01 -3.47533528e-02 5.81972960e+02] [-6.37883059e-01 7.69612339e-01 2.83205104e-02 4.05997300e+01] [ 4.48295753e-02 3.94991700e-04 9.98994571e-01 1.31514909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:582.02, Y:40.56, Z:131.53 [[ 7.67771614e-01 6.39780752e-01 -3.47467736e-02 5.82018753e+02] [-6.39153434e-01 7.68557336e-01 2.83285802e-02 4.05592166e+01] [ 4.48289681e-02 4.58639906e-04 9.98994571e-01 1.31527266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.710385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:582.07, Y:40.53, Z:131.52 [[ 7.72265227e-01 6.34349667e-01 -3.47407541e-02 5.82071428e+02] [-6.33716491e-01 7.73046236e-01 2.83359602e-02 4.05262877e+01] [ 4.48311161e-02 1.32912041e-04 9.98994571e-01 1.31517318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.770385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:582.12, Y:40.49, Z:131.52 [[ 7.75402839e-01 6.30510891e-01 -3.47340403e-02 5.82119173e+02] [-6.29873480e-01 7.76180396e-01 2.83441876e-02 4.04874565e+01] [ 4.48312001e-02 -1.00112735e-04 9.98994571e-01 1.31524478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:582.17, Y:40.45, Z:131.53 [[ 7.77451943e-01 6.27982877e-01 -3.47272577e-02 5.82168918e+02] [-6.27342567e-01 7.78227113e-01 2.83524952e-02 4.04485033e+01] [ 4.48305750e-02 -2.56815530e-04 9.98994571e-01 1.31528749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.22, Y:40.41, Z:131.53 [[ 7.78480731e-01 6.26707521e-01 -3.47193702e-02 5.82219236e+02] [-6.26065510e-01 7.79254493e-01 2.83621507e-02 4.04101639e+01] [ 4.48299984e-02 -3.42787556e-04 9.98994571e-01 1.31529516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.27, Y:40.37, Z:131.53 [[ 7.79369184e-01 6.25602739e-01 -3.47114990e-02 5.82267755e+02] [-6.24959202e-01 7.80141678e-01 2.83717807e-02 4.03717160e+01] [ 4.48293508e-02 -4.18820861e-04 9.98994572e-01 1.31530821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.31, Y:40.33, Z:131.54 [[ 7.79000226e-01 6.26062486e-01 -3.47046306e-02 5.82313196e+02] [-6.25419031e-01 7.79772788e-01 2.83801797e-02 4.03307015e+01] [ 4.48294924e-02 -4.03229932e-04 9.98994572e-01 1.31535147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.36, Y:40.29, Z:131.54 [[ 7.77107955e-01 6.28409963e-01 -3.47007963e-02 5.82362408e+02] [-6.27768633e-01 7.77882281e-01 2.83848672e-02 4.02925229e+01] [ 4.48304679e-02 -2.74034619e-04 9.98994572e-01 1.31537041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.41, Y:40.25, Z:131.54 [[ 7.74220084e-01 6.31964863e-01 -3.46939847e-02 5.82412389e+02] [-6.31326715e-01 7.74997036e-01 2.83931903e-02 4.02538235e+01] [ 4.48312340e-02 -7.93388009e-05 9.98994572e-01 1.31537601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.46, Y:40.21, Z:131.54 [[ 7.72632964e-01 6.33904698e-01 -3.46862583e-02 5.82458329e+02] [-6.33268077e-01 7.73411167e-01 2.84026261e-02 4.02129493e+01] [ 4.48312976e-02 2.08949847e-05 9.98994572e-01 1.31539786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.250385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:582.51, Y:40.17, Z:131.55 [[ 7.71017397e-01 6.35869063e-01 -3.46800813e-02 5.82505536e+02] [-6.35234086e-01 7.71796941e-01 2.84101663e-02 4.01718952e+01] [ 4.48311265e-02 1.25237239e-04 9.98994572e-01 1.31546030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.310385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:582.55, Y:40.13, Z:131.55 [[ 7.68846325e-01 6.38492878e-01 -3.46723603e-02 5.82554213e+02] [-6.37860136e-01 7.69627685e-01 2.84195860e-02 4.01340497e+01] [ 4.48305117e-02 2.65822185e-04 9.98994572e-01 1.31548907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.60, Y:40.09, Z:131.56 [[ 7.68054541e-01 6.39445479e-01 -3.46655626e-02 5.82601385e+02] [-6.38813332e-01 7.68836383e-01 2.84278753e-02 4.00932435e+01] [ 4.48302221e-02 3.10664817e-04 9.98994572e-01 1.31557735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.430385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:582.65, Y:40.05, Z:131.56 [[ 7.68900082e-01 6.38428725e-01 -3.46616006e-02 5.82647750e+02] [-6.37795326e-01 7.69680910e-01 2.84327054e-02 4.00520961e+01] [ 4.48306281e-02 2.45097335e-04 9.98994572e-01 1.31563218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.70, Y:40.02, Z:131.56 [[ 7.72219406e-01 6.34410168e-01 -3.46544024e-02 5.82697274e+02] [-6.33772313e-01 7.72996597e-01 2.84414760e-02 4.00161826e+01] [ 4.48312967e-02 -5.89354085e-08 9.98994572e-01 1.31557499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.75, Y:39.98, Z:131.56 [[ 7.75722747e-01 6.30121995e-01 -3.46481158e-02 5.82746297e+02] [-6.29479501e-01 7.76496108e-01 2.84491323e-02 3.99762798e+01] [ 4.48305511e-02 -2.58360410e-04 9.98994572e-01 1.31560056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.80, Y:39.94, Z:131.56 [[ 7.79093728e-01 6.25949687e-01 -3.46403256e-02 5.82795493e+02] [-6.25302630e-01 7.79863275e-01 2.84586148e-02 3.99368667e+01] [ 4.48283788e-02 -5.11241632e-04 9.98994572e-01 1.31561525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.85, Y:39.90, Z:131.56 [[ 7.81832184e-01 6.22526320e-01 -3.46326014e-02 5.82845159e+02] [-6.21875477e-01 7.82598533e-01 2.84680116e-02 3.98991244e+01] [ 4.48255095e-02 -7.20042108e-04 9.98994572e-01 1.31564985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.89, Y:39.86, Z:131.57 [[ 7.83311792e-01 6.20663919e-01 -3.46256655e-02 5.82894992e+02] [-6.20010882e-01 7.84076271e-01 2.84764452e-02 3.98601801e+01] [ 4.48234648e-02 -8.37645885e-04 9.98994572e-01 1.31568022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.94, Y:39.82, Z:131.57 [[ 7.84060233e-01 6.19718610e-01 -3.46178519e-02 5.82942716e+02] [-6.19064232e-01 7.84823565e-01 2.84859408e-02 3.98213995e+01] [ 4.48221736e-02 -9.04019412e-04 9.98994572e-01 1.31574065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.99, Y:39.78, Z:131.58 [[ 7.84061176e-01 6.19717571e-01 -3.46150988e-02 5.82992006e+02] [-6.19063045e-01 7.84824380e-01 2.84892859e-02 3.97847657e+01] [ 4.48220845e-02 -9.08414474e-04 9.98994572e-01 1.31575792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.04, Y:39.75, Z:131.58 [[ 7.84347447e-01 6.19355645e-01 -3.46073306e-02 5.83043580e+02] [-6.18700351e-01 7.85109992e-01 2.84987192e-02 3.97505343e+01] [ 4.48214036e-02 -9.41330055e-04 9.98994572e-01 1.31576197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.09, Y:39.71, Z:131.58 [[ 7.84564361e-01 6.19081312e-01 -3.45990248e-02 5.83092717e+02] [-6.18425307e-01 7.85326294e-01 2.85087993e-02 3.97129205e+01] [ 4.48207888e-02 -9.70075375e-04 9.98994572e-01 1.31579026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.030385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:583.14, Y:39.68, Z:131.58 [[ 7.84706446e-01 6.18901604e-01 -3.45918866e-02 5.83142968e+02] [-6.18245043e-01 7.85467899e-01 2.85174581e-02 3.96750093e+01] [ 4.48203170e-02 -9.91570747e-04 9.98994573e-01 1.31582654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.19, Y:39.64, Z:131.58 [[ 7.84003801e-01 6.19791890e-01 -3.45839951e-02 5.83191915e+02] [-6.19135772e-01 7.84765637e-01 2.85270251e-02 3.96373279e+01] [ 4.48211497e-02 -9.53107598e-04 9.98994573e-01 1.31583463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.150385723 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:583.24, Y:39.60, Z:131.59 [[ 7.85258439e-01 6.18201689e-01 -3.45811324e-02 5.83242345e+02] [-6.17543876e-01 7.86018812e-01 2.85304949e-02 3.95995064e+01] [ 4.48190207e-02 -1.04844531e-03 9.98994573e-01 1.31585930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.29, Y:39.56, Z:131.59 [[ 7.86711074e-01 6.16352266e-01 -3.45770089e-02 5.83292388e+02] [-6.15692446e-01 7.87469706e-01 2.85354914e-02 3.95630107e+01] [ 4.48162618e-02 -1.16038389e-03 9.98994573e-01 1.31591585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:583.34, Y:39.53, Z:131.59 [[ 7.88180082e-01 6.14473106e-01 -3.45681947e-02 5.83343166e+02] [-6.13811010e-01 7.88936728e-01 2.85461650e-02 3.95274150e+01] [ 4.48129691e-02 -1.28118016e-03 9.98994573e-01 1.31593179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.39, Y:39.49, Z:131.60 [[ 7.85859017e-01 6.17439179e-01 -3.45610386e-02 5.83392245e+02] [-6.16779559e-01 7.86617822e-01 2.85548263e-02 3.94912124e+01] [ 4.48171975e-02 -1.12352560e-03 9.98994573e-01 1.31600176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.44, Y:39.46, Z:131.60 [[ 7.84113722e-01 6.19654325e-01 -3.45570334e-02 5.83443384e+02] [-6.18996635e-01 7.84874201e-01 2.85596726e-02 3.94561580e+01] [ 4.48200486e-02 -1.00334382e-03 9.98994573e-01 1.31601412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.49, Y:39.42, Z:131.60 [[ 7.84475459e-01 6.19196688e-01 -3.45501874e-02 5.83493464e+02] [-6.18538190e-01 7.85235238e-01 2.85679523e-02 3.94180211e+01] [ 4.48192060e-02 -1.04024710e-03 9.98994573e-01 1.31602448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.54, Y:39.38, Z:131.61 [[ 7.84828905e-01 6.18748849e-01 -3.45463711e-02 5.83542277e+02] [-6.18089715e-01 7.85588132e-01 2.85725664e-02 3.93808153e+01] [ 4.48184617e-02 -1.07181928e-03 9.98994573e-01 1.31608564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.570385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:583.59, Y:39.35, Z:131.61 [[ 7.85158532e-01 6.18330972e-01 -3.45382123e-02 5.83593217e+02] [-6.17671001e-01 7.85917031e-01 2.85824253e-02 3.93453413e+01] [ 4.48175681e-02 -1.10848293e-03 9.98994573e-01 1.31611357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.64, Y:39.31, Z:131.61 [[ 7.84740874e-01 6.18861362e-01 -3.45307926e-02 5.83642576e+02] [-6.18201509e-01 7.85499476e-01 2.85913863e-02 3.93070558e+01] [ 4.48180238e-02 -1.08984138e-03 9.98994573e-01 1.31614183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.69, Y:39.27, Z:131.62 [[ 7.84550452e-01 6.19103188e-01 -3.45229034e-02 5.83692850e+02] [-6.18443150e-01 7.85308893e-01 2.86009090e-02 3.92699851e+01] [ 4.48180570e-02 -1.08840295e-03 9.98994573e-01 1.31617262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.74, Y:39.23, Z:131.62 [[ 7.83499446e-01 6.20433018e-01 -3.45179436e-02 5.83742335e+02] [-6.19774004e-01 7.84258777e-01 2.86068937e-02 3.92335417e+01] [ 4.48196616e-02 -1.02016120e-03 9.98994573e-01 1.31618350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.79, Y:39.19, Z:131.62 [[ 7.82867016e-01 6.21231184e-01 -3.45116115e-02 5.83791257e+02] [-6.20572608e-01 7.83626727e-01 2.86145308e-02 3.91936581e+01] [ 4.48204600e-02 -9.84411610e-04 9.98994573e-01 1.31620936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.84, Y:39.16, Z:131.62 [[ 7.80575609e-01 6.24108326e-01 -3.45038588e-02 5.83841191e+02] [-6.23452138e-01 7.81337383e-01 2.86238761e-02 3.91552079e+01] [ 4.48235541e-02 -8.31594972e-04 9.98994573e-01 1.31623794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.89, Y:39.12, Z:131.63 [[ 7.78149435e-01 6.27131156e-01 -3.44959293e-02 5.83890281e+02] [-6.26477504e-01 7.78913387e-01 2.86334290e-02 3.91154520e+01] [ 4.48262566e-02 -6.70162921e-04 9.98994573e-01 1.31625611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.94, Y:39.08, Z:131.63 [[ 7.74483291e-01 6.31653547e-01 -3.44881034e-02 5.83937986e+02] [-6.31003936e-01 7.75250682e-01 2.86428520e-02 3.90752745e+01] [ 4.48292847e-02 -4.21281259e-04 9.98994573e-01 1.31628491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.99, Y:39.04, Z:131.63 [[ 7.71079834e-01 6.35804217e-01 -3.44802396e-02 5.83986038e+02] [-6.35158314e-01 7.71850349e-01 2.86523154e-02 3.90360250e+01] [ 4.48308479e-02 -1.92811764e-04 9.98994574e-01 1.31627035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.03, Y:38.99, Z:131.63 [[ 7.64781759e-01 6.43366519e-01 -3.44729337e-02 5.84031446e+02] [-6.42727839e-01 7.65558271e-01 2.86611027e-02 3.89931214e+01] [ 4.48306334e-02 2.37225686e-04 9.98994574e-01 1.31631800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.08, Y:38.95, Z:131.63 [[ 7.58448482e-01 6.50821038e-01 -3.44655933e-02 5.84075401e+02] [-6.50189588e-01 7.59230884e-01 2.86699269e-02 3.89487064e+01] [ 4.48263345e-02 6.64507383e-04 9.98994574e-01 1.31633509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.12, Y:38.91, Z:131.64 [[ 7.58038660e-01 6.51298489e-01 -3.44625714e-02 5.84122057e+02] [-6.50667366e-01 7.58821326e-01 2.86735589e-02 3.89097665e+01] [ 4.48259798e-02 6.88004386e-04 9.98994574e-01 1.31636603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.290385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:584.17, Y:38.87, Z:131.64 [[ 7.57430363e-01 6.52006225e-01 -3.44547238e-02 5.84167718e+02] [-6.51375405e-01 7.58213274e-01 2.86829857e-02 3.88671561e+01] [ 4.48255141e-02 7.17595376e-04 9.98994574e-01 1.31637476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.21, Y:38.82, Z:131.64 [[ 7.57994067e-01 6.51351238e-01 -3.44464726e-02 5.84210348e+02] [-6.50719292e-01 7.58776068e-01 2.86928915e-02 3.88214864e+01] [ 4.48263094e-02 6.65942731e-04 9.98994574e-01 1.31640917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.25, Y:38.78, Z:131.64 [[ 7.58574060e-01 6.50675895e-01 -3.44423325e-02 5.84254345e+02] [-6.50043027e-01 7.59355316e-01 2.86978603e-02 3.87778836e+01] [ 4.48269742e-02 6.19545705e-04 9.98994574e-01 1.31643443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.30, Y:38.73, Z:131.64 [[ 7.59110506e-01 6.50050392e-01 -3.44343914e-02 5.84298317e+02] [-6.49416448e-01 7.59890889e-01 2.87073857e-02 3.87334370e+01] [ 4.48276276e-02 5.70182066e-04 9.98994574e-01 1.31644225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.34, Y:38.69, Z:131.65 [[ 7.61273619e-01 6.47516242e-01 -3.44266512e-02 5.84339934e+02] [-6.46879281e-01 7.62051540e-01 2.87166649e-02 3.86872890e+01] [ 4.48293895e-02 4.08647946e-04 9.98994574e-01 1.31645679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.38, Y:38.64, Z:131.65 [[ 7.62975923e-01 6.45509919e-01 -3.44192570e-02 5.84383901e+02] [-6.44870512e-01 7.63751836e-01 2.87255248e-02 3.86422292e+01] [ 4.48303818e-02 2.79080085e-04 9.98994574e-01 1.31649945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.42, Y:38.59, Z:131.65 [[ 7.66798309e-01 6.40965069e-01 -3.44112319e-02 5.84424165e+02] [-6.40320632e-01 7.67570049e-01 2.87351351e-02 3.85942008e+01] [ 4.48312488e-02 1.68752652e-07 9.98994574e-01 1.31651211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.47, Y:38.55, Z:131.66 [[ 7.67025514e-01 6.40693595e-01 -3.44031650e-02 5.84468046e+02] [-6.40048452e-01 7.67796663e-01 2.87447899e-02 3.85500467e+01] [ 4.48312381e-02 -2.82947179e-05 9.98994574e-01 1.31657344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.51, Y:38.51, Z:131.66 [[ 7.64905689e-01 6.43223297e-01 -3.43959046e-02 5.84514170e+02] [-6.42580313e-01 7.65678639e-01 2.87534750e-02 3.85102075e+01] [ 4.48311144e-02 1.08434505e-04 9.98994574e-01 1.31660145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.56, Y:38.47, Z:131.66 [[ 7.62142718e-01 6.46495042e-01 -3.43895138e-02 5.84562068e+02] [-6.45855032e-01 7.62918132e-01 2.87611165e-02 3.84709968e+01] [ 4.48303028e-02 2.90565057e-04 9.98994574e-01 1.31662814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:584.61, Y:38.43, Z:131.66 [[ 7.61912903e-01 6.46766235e-01 -3.43826345e-02 5.84609924e+02] [-6.46126130e-01 7.62688239e-01 2.87693381e-02 3.84320336e+01] [ 4.48302674e-02 2.95788664e-04 9.98994574e-01 1.31664711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.66, Y:38.40, Z:131.67 [[ 7.62005231e-01 6.46657821e-01 -3.43757336e-02 5.84658744e+02] [-6.46017233e-01 7.62780168e-01 2.87775813e-02 3.83960927e+01] [ 4.48303759e-02 2.78648842e-04 9.98994574e-01 1.31668398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.71, Y:38.36, Z:131.67 [[ 7.63239151e-01 6.45201165e-01 -3.43723011e-02 5.84707582e+02] [-6.44558914e-01 7.64012710e-01 2.87816806e-02 3.83564211e+01] [ 4.48308488e-02 1.87667670e-04 9.98994574e-01 1.31670716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.75, Y:38.31, Z:131.67 [[ 7.65812297e-01 6.42145313e-01 -3.43645460e-02 5.84754251e+02] [-6.41499560e-01 7.66582935e-01 2.87909371e-02 3.83148951e+01] [ 4.48312398e-02 -3.61255260e-06 9.98994575e-01 1.31674087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.80, Y:38.28, Z:131.68 [[ 7.67434005e-01 6.40206743e-01 -3.43565855e-02 5.84800555e+02] [-6.39558618e-01 7.68202649e-01 2.88004332e-02 3.82753367e+01] [ 4.48310516e-02 -1.29381475e-04 9.98994575e-01 1.31677953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.85, Y:38.24, Z:131.68 [[ 7.67363380e-01 6.40291736e-01 -3.43502023e-02 5.84848474e+02] [-6.39643355e-01 7.68131808e-01 2.88080445e-02 3.82354845e+01] [ 4.48310358e-02 -1.34359767e-04 9.98994575e-01 1.31681658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.89, Y:38.19, Z:131.69 [[ 7.65153597e-01 6.42931245e-01 -3.43422007e-02 5.84893339e+02] [-6.42285087e-01 7.65923896e-01 2.88175801e-02 3.81925718e+01] [ 4.48312348e-02 7.60829350e-06 9.98994575e-01 1.31689894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.94, Y:38.16, Z:131.69 [[ 7.66501832e-01 6.41323670e-01 -3.43349848e-02 5.84942800e+02] [-6.40675512e-01 7.67270448e-01 2.88261750e-02 3.81559452e+01] [ 4.48311275e-02 -9.77319686e-05 9.98994575e-01 1.31686986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.99, Y:38.12, Z:131.69 [[ 7.66408234e-01 6.41435876e-01 -3.43283632e-02 5.84989865e+02] [-6.40787477e-01 7.67176646e-01 2.88340583e-02 3.81164820e+01] [ 4.48311180e-02 -1.01474458e-04 9.98994575e-01 1.31689156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.430385723 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:585.04, Y:38.08, Z:131.69 [[ 7.66078315e-01 6.41830200e-01 -3.43221570e-02 5.85037019e+02] [-6.41181865e-01 7.66846782e-01 2.88414439e-02 3.80765153e+01] [ 4.48311453e-02 -8.80601053e-05 9.98994575e-01 1.31690171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.08, Y:38.04, Z:131.69 [[ 7.66614022e-01 6.41190668e-01 -3.43142654e-02 5.85084019e+02] [-6.40541272e-01 7.67381593e-01 2.88508299e-02 3.80364322e+01] [ 4.48310185e-02 -1.37747495e-04 9.98994575e-01 1.31693638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.13, Y:38.00, Z:131.70 [[ 7.66468004e-01 6.41365661e-01 -3.43057889e-02 5.85131536e+02] [-6.40715989e-01 7.67235341e-01 2.88609056e-02 3.79966706e+01] [ 4.48310074e-02 -1.40693255e-04 9.98994575e-01 1.31700353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.18, Y:37.96, Z:131.70 [[ 7.66258148e-01 6.41616784e-01 -3.42980004e-02 5.85178964e+02] [-6.40966950e-01 7.67025347e-01 2.88701584e-02 3.79569898e+01] [ 4.48310138e-02 -1.38109345e-04 9.98994575e-01 1.31703463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.670385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:585.22, Y:37.92, Z:131.71 [[ 7.66151192e-01 6.41744900e-01 -3.42904580e-02 5.85224898e+02] [-6.41094793e-01 7.66918160e-01 2.88791141e-02 3.79160459e+01] [ 4.48309991e-02 -1.42333616e-04 9.98994575e-01 1.31708603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.27, Y:37.87, Z:131.71 [[ 7.66413486e-01 6.41431999e-01 -3.42835036e-02 5.85272748e+02] [-6.40781210e-01 7.67179875e-01 2.88873676e-02 3.78746541e+01] [ 4.48308959e-02 -1.71443171e-04 9.98994575e-01 1.31712222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.790385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:585.32, Y:37.83, Z:131.71 [[ 7.65712357e-01 6.42269231e-01 -3.42756669e-02 5.85320642e+02] [-6.41618864e-01 7.66479104e-01 2.88966631e-02 3.78343691e+01] [ 4.48310200e-02 -1.34617527e-04 9.98994575e-01 1.31714148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8503857229999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:585.37, Y:37.80, Z:131.72 [[ 7.64310497e-01 6.43936960e-01 -3.42732508e-02 5.85367228e+02] [-6.43288137e-01 7.65078551e-01 2.88995284e-02 3.77954914e+01] [ 4.48312035e-02 -4.06372337e-05 9.98994575e-01 1.31718106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.910385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:585.42, Y:37.75, Z:131.72 [[ 7.64012850e-01 6.44290411e-01 -3.42670462e-02 5.85415394e+02] [-6.43641614e-01 7.64780926e-01 2.89068835e-02 3.77549528e+01] [ 4.48312112e-02 -2.95335702e-05 9.98994575e-01 1.31722581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9703857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:585.46, Y:37.72, Z:131.73 [[ 7.64216989e-01 6.44048681e-01 -3.42591634e-02 5.85463841e+02] [-6.43399222e-01 7.64984505e-01 2.89162229e-02 3.77156445e+01] [ 4.48311843e-02 -5.59496938e-05 9.98994575e-01 1.31725939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:585.51, Y:37.68, Z:131.73 [[ 7.64717567e-01 6.43454659e-01 -3.42512056e-02 5.85511742e+02] [-6.42804182e-01 7.65484220e-01 2.89256458e-02 3.76752112e+01] [ 4.48310989e-02 -1.03131296e-04 9.98994576e-01 1.31729427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.56, Y:37.64, Z:131.73 [[ 7.64712424e-01 6.43461190e-01 -3.42433198e-02 5.85560499e+02] [-6.42810302e-01 7.65478728e-01 2.89349783e-02 3.76359763e+01] [ 4.48310685e-02 -1.14978656e-04 9.98994576e-01 1.31732462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.61, Y:37.60, Z:131.73 [[ 7.64189368e-01 6.44082723e-01 -3.42353003e-02 5.85608542e+02] [-6.43432032e-01 7.64955841e-01 2.89444636e-02 3.75966807e+01] [ 4.48311219e-02 -9.09625250e-05 9.98994576e-01 1.31734513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.66, Y:37.56, Z:131.73 [[ 7.63132496e-01 6.45334986e-01 -3.42279119e-02 5.85656367e+02] [-6.44685161e-01 7.63899703e-01 2.89531982e-02 3.75571289e+01] [ 4.48312034e-02 -2.88995268e-05 9.98994576e-01 1.31734574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.270385723 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:585.70, Y:37.52, Z:131.74 [[ 7.63901789e-01 6.44424552e-01 -3.42206608e-02 5.85704296e+02] [-6.43773429e-01 7.64667894e-01 2.89617659e-02 3.75178098e+01] [ 4.48311136e-02 -9.35926713e-05 9.98994576e-01 1.31736710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.75, Y:37.48, Z:131.74 [[ 7.65122510e-01 6.42975100e-01 -3.42135193e-02 5.85750920e+02] [-6.42322149e-01 7.65887057e-01 2.89702000e-02 3.74788712e+01] [ 4.48308088e-02 -1.89650924e-04 9.98994576e-01 1.31740941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.80, Y:37.44, Z:131.74 [[ 7.69061925e-01 6.38258283e-01 -3.42070210e-02 5.85800098e+02] [-6.37600301e-01 7.69822148e-01 2.89778709e-02 3.74407138e+01] [ 4.48286885e-02 -4.75370282e-04 9.98994576e-01 1.31741635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.85, Y:37.40, Z:131.74 [[ 7.71523854e-01 6.35280516e-01 -3.41995596e-02 5.85849053e+02] [-6.34619210e-01 7.72281186e-01 2.89866741e-02 3.74016522e+01] [ 4.48263457e-02 -6.60213030e-04 9.98994576e-01 1.31741310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.90, Y:37.36, Z:131.75 [[ 7.71074540e-01 6.35826252e-01 -3.41911030e-02 5.85895349e+02] [-6.35165041e-01 7.71831954e-01 2.89966456e-02 3.73613160e+01] [ 4.48266144e-02 -6.41581834e-04 9.98994576e-01 1.31745784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.94, Y:37.32, Z:131.74 [[ 7.72539515e-01 6.34045841e-01 -3.41843469e-02 5.85944975e+02] [-6.33382532e-01 7.73295093e-01 2.90046082e-02 3.73238685e+01] [ 4.48248390e-02 -7.55437779e-04 9.98994576e-01 1.31744928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.99, Y:37.28, Z:131.75 [[ 7.71098304e-01 6.35798191e-01 -3.41769769e-02 5.85992663e+02] [-6.35136215e-01 7.71855050e-01 2.90132900e-02 3.72838390e+01] [ 4.48262695e-02 -6.65062943e-04 9.98994576e-01 1.31749871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.04, Y:37.24, Z:131.76 [[ 7.70253342e-01 6.36821976e-01 -3.41695842e-02 5.86039624e+02] [-6.36160619e-01 7.71010630e-01 2.90219939e-02 3.72429191e+01] [ 4.48269561e-02 -6.16943991e-04 9.98994576e-01 1.31755408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.09, Y:37.21, Z:131.76 [[ 7.69717663e-01 6.37469802e-01 -3.41609635e-02 5.86089148e+02] [-6.36808632e-01 7.70475114e-01 2.90321375e-02 3.72063780e+01] [ 4.48272832e-02 -5.92552540e-04 9.98994576e-01 1.31757992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.810385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.14, Y:37.17, Z:131.76 [[ 7.70489524e-01 6.36537089e-01 -3.41529976e-02 5.86137541e+02] [-6.35874588e-01 7.71245810e-01 2.90415055e-02 3.71662561e+01] [ 4.48263517e-02 -6.59152466e-04 9.98994576e-01 1.31761962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.19, Y:37.13, Z:131.76 [[ 7.72800348e-01 6.33730049e-01 -3.41445089e-02 5.86186252e+02] [-6.33064360e-01 7.73553830e-01 2.90514823e-02 3.71270083e+01] [ 4.48234130e-02 -8.35323975e-04 9.98994577e-01 1.31764256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.930385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:586.24, Y:37.09, Z:131.76 [[ 7.72864925e-01 6.33651762e-01 -3.41357964e-02 5.86235933e+02] [-6.32985545e-01 7.73617940e-01 2.90617160e-02 3.70892124e+01] [ 4.48230721e-02 -8.53315305e-04 9.98994577e-01 1.31763996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.29, Y:37.05, Z:131.76 [[ 7.72594478e-01 6.33981916e-01 -3.41277624e-02 5.86285653e+02] [-6.33315604e-01 7.73347408e-01 2.90711475e-02 3.70501645e+01] [ 4.48231984e-02 -8.46563597e-04 9.98994577e-01 1.31763360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.33, Y:37.01, Z:131.77 [[ 7.69845481e-01 6.37317665e-01 -3.41193398e-02 5.86334149e+02] [-6.36654179e-01 7.70600902e-01 2.90810293e-02 3.70110031e+01] [ 4.48262477e-02 -6.65678786e-04 9.98994577e-01 1.31767073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.110385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.38, Y:36.97, Z:131.77 [[ 7.67844020e-01 6.39728079e-01 -3.41107940e-02 5.86383833e+02] [-6.39066519e-01 7.68601129e-01 2.90910497e-02 3.69719088e+01] [ 4.48279561e-02 -5.38322100e-04 9.98994577e-01 1.31769426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.43, Y:36.93, Z:131.77 [[ 7.66690062e-01 6.41111053e-01 -3.41022952e-02 5.86433374e+02] [-6.40450416e-01 7.67447976e-01 2.91010091e-02 3.69328257e+01] [ 4.48287160e-02 -4.70625361e-04 9.98994577e-01 1.31771831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.48, Y:36.89, Z:131.78 [[ 7.65794418e-01 6.42181074e-01 -3.40936589e-02 5.86480766e+02] [-6.41521046e-01 7.66552862e-01 2.91111236e-02 3.68919874e+01] [ 4.48292044e-02 -4.21336269e-04 9.98994577e-01 1.31776232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.53, Y:36.85, Z:131.78 [[ 7.64167149e-01 6.44117054e-01 -3.40850240e-02 5.86529452e+02] [-6.43458497e-01 7.64926870e-01 2.91212303e-02 3.68515694e+01] [ 4.48300318e-02 -3.21189243e-04 9.98994577e-01 1.31777484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.58, Y:36.81, Z:131.78 [[ 7.60999341e-01 6.47857076e-01 -3.40765475e-02 5.86577157e+02] [-6.47201808e-01 7.61761902e-01 2.91311459e-02 3.68120361e+01] [ 4.48310346e-02 -1.14379680e-04 9.98994577e-01 1.31780494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.410385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:586.62, Y:36.77, Z:131.78 [[ 7.59396174e-01 6.49735926e-01 -3.40687127e-02 5.86624911e+02] [-6.49082134e-01 7.60160000e-01 2.91403057e-02 3.67721975e+01] [ 4.48311762e-02 -1.56439014e-05 9.98994577e-01 1.31783102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4703857229999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:586.67, Y:36.73, Z:131.78 [[ 7.58869727e-01 6.50351096e-01 -3.40615433e-02 5.86673540e+02] [-6.49697547e-01 7.59633762e-01 2.91486835e-02 3.67339168e+01] [ 4.48311765e-02 9.64761861e-06 9.98994577e-01 1.31783440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.530385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:586.72, Y:36.69, Z:131.79 [[ 7.57764083e-01 6.51639393e-01 -3.40543038e-02 5.86720085e+02] [-6.50986763e-01 7.58528903e-01 2.91571389e-02 3.66914727e+01] [ 4.48311140e-02 7.46683897e-05 9.98994577e-01 1.31789073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5903857229999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:586.77, Y:36.65, Z:131.79 [[ 7.59719197e-01 6.49359387e-01 -3.40459807e-02 5.86767238e+02] [-6.48704026e-01 7.60481677e-01 2.91668543e-02 3.66496393e+01] [ 4.48311152e-02 -7.28543203e-05 9.98994577e-01 1.31791524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.650385723 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:586.81, Y:36.61, Z:131.80 [[ 7.59275643e-01 6.49878415e-01 -3.40373857e-02 5.86812466e+02] [-6.49223125e-01 7.60038185e-01 2.91768811e-02 3.66088922e+01] [ 4.48311381e-02 -5.54372656e-05 9.98994578e-01 1.31796059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:586.86, Y:36.57, Z:131.80 [[ 7.60518761e-01 6.48423437e-01 -3.40332125e-02 5.86859756e+02] [-6.47766472e-01 7.61279859e-01 2.91817482e-02 3.65667942e+01] [ 4.48309287e-02 -1.47692999e-04 9.98994578e-01 1.31798930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.770385723 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:586.90, Y:36.52, Z:131.80 [[ 7.59786824e-01 6.49281377e-01 -3.40246448e-02 5.86903518e+02] [-6.48624823e-01 7.60548277e-01 2.91917343e-02 3.65239885e+01] [ 4.48310344e-02 -1.10265886e-04 9.98994578e-01 1.31801998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.830385723 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:586.95, Y:36.48, Z:131.81 [[ 7.57210973e-01 6.52283935e-01 -3.40177979e-02 5.86947889e+02] [-6.51630043e-01 7.57974712e-01 2.91997110e-02 3.64811205e+01] [ 4.48311330e-02 5.66775290e-05 9.98994578e-01 1.31806538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.890385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:586.99, Y:36.44, Z:131.81 [[ 7.56334109e-01 6.53300860e-01 -3.40103335e-02 5.86993474e+02] [-6.52647603e-01 7.57098392e-01 2.92084025e-02 3.64395019e+01] [ 4.48310433e-02 1.05451579e-04 9.98994578e-01 1.31808610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.950385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:587.04, Y:36.39, Z:131.81 [[ 7.54790486e-01 6.55084084e-01 -3.40024296e-02 5.87037209e+02] [-6.54432219e-01 7.55555956e-01 2.92176008e-02 3.63937127e+01] [ 4.48307235e-02 1.99118338e-04 9.98994578e-01 1.31814029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:587.08, Y:36.35, Z:131.82 [[ 7.55100149e-01 6.54727584e-01 -3.39934693e-02 5.87082483e+02] [-6.54074887e-01 7.55864911e-01 2.92280221e-02 3.63514138e+01] [ 4.48308629e-02 1.64190733e-04 9.98994578e-01 1.31815546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.13, Y:36.31, Z:131.82 [[ 7.54005054e-01 6.55988863e-01 -3.39851454e-02 5.87127243e+02] [-6.55337010e-01 7.54770535e-01 2.92376975e-02 3.63072714e+01] [ 4.48305904e-02 2.26351886e-04 9.98994578e-01 1.31818751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.17, Y:36.26, Z:131.82 [[ 7.52585151e-01 6.57617789e-01 -3.39769575e-02 5.87168914e+02] [-6.56967163e-01 7.53351676e-01 2.92472096e-02 3.62609242e+01] [ 4.48300832e-02 3.10729770e-04 9.98994578e-01 1.31820097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.190385723 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:587.21, Y:36.22, Z:131.82 [[ 7.51957885e-01 6.58335321e-01 -3.39697618e-02 5.87213291e+02] [-6.57685049e-01 7.52724709e-01 2.92555648e-02 3.62167724e+01] [ 4.48298507e-02 3.42451841e-04 9.98994578e-01 1.31822438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.250385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:587.26, Y:36.17, Z:131.83 [[ 7.50993668e-01 6.59435452e-01 -3.39616642e-02 5.87257295e+02] [-6.58785879e-01 7.51761084e-01 2.92649619e-02 3.61723199e+01] [ 4.48294109e-02 3.95663720e-04 9.98994578e-01 1.31825204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.310385723 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:587.30, Y:36.13, Z:131.83 [[ 7.50114966e-01 6.60435174e-01 -3.39546599e-02 5.87299973e+02] [-6.59786256e-01 7.50882936e-01 2.92730865e-02 3.61276441e+01] [ 4.48289507e-02 4.44637652e-04 9.98994578e-01 1.31825813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.35, Y:36.09, Z:131.83 [[ 7.50148153e-01 6.60397810e-01 -3.39482113e-02 5.87347284e+02] [-6.59748515e-01 7.50915804e-01 2.92805631e-02 3.60857975e+01] [ 4.48290681e-02 4.32521713e-04 9.98994578e-01 1.31829984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.39, Y:36.05, Z:131.84 [[ 7.50771280e-01 6.59689732e-01 -3.39402885e-02 5.87394812e+02] [-6.59039298e-01 7.51537966e-01 2.92897438e-02 3.60460223e+01] [ 4.48295586e-02 3.78085416e-04 9.98994578e-01 1.31840614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.490385723 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:587.44, Y:36.01, Z:131.84 [[ 7.53410251e-01 6.56674621e-01 -3.39328115e-02 5.87444093e+02] [-6.56020729e-01 7.54173990e-01 2.92984035e-02 3.60087328e+01] [ 4.48307619e-02 1.86910237e-04 9.98994579e-01 1.31839112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.49, Y:35.97, Z:131.84 [[ 7.53932821e-01 6.56074941e-01 -3.39259892e-02 5.87489244e+02] [-6.55420086e-01 7.54695734e-01 2.93063013e-02 3.59671627e+01] [ 4.48309292e-02 1.40792323e-04 9.98994579e-01 1.31841304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.610385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:587.54, Y:35.93, Z:131.84 [[ 7.56537394e-01 6.53070183e-01 -3.39191422e-02 5.87536839e+02] [-6.52411942e-01 7.57297388e-01 2.93142238e-02 3.59275560e+01] [ 4.48311233e-02 -4.80530178e-05 9.98994579e-01 1.31841088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.58, Y:35.89, Z:131.85 [[ 7.58409189e-01 6.50895904e-01 -3.39120192e-02 5.87584642e+02] [-6.50235116e-01 7.59166969e-01 2.93224617e-02 3.58862463e+01] [ 4.48307551e-02 -1.87638686e-04 9.98994579e-01 1.31845674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7303857229999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:587.63, Y:35.85, Z:131.85 [[ 7.60529344e-01 6.48417798e-01 -3.39039158e-02 5.87630609e+02] [-6.47754124e-01 7.61284598e-01 2.93318283e-02 3.58467477e+01] [ 4.48298084e-02 -3.46314854e-04 9.98994579e-01 1.31848705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.68, Y:35.81, Z:131.85 [[ 7.61958320e-01 6.46738205e-01 -3.39000405e-02 5.87678445e+02] [-6.46072667e-01 7.62711932e-01 2.93363065e-02 3.58080435e+01] [ 4.48288755e-02 -4.51153233e-04 9.98994579e-01 1.31850827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.72, Y:35.77, Z:131.86 [[ 7.60231268e-01 6.48767812e-01 -3.38931297e-02 5.87723833e+02] [-6.48103930e-01 7.60986339e-01 2.93442886e-02 3.57666392e+01] [ 4.48298386e-02 -3.42175164e-04 9.98994579e-01 1.31855082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.77, Y:35.73, Z:131.85 [[ 7.57853040e-01 6.51544719e-01 -3.38858186e-02 5.87770225e+02] [-6.50883227e-01 7.58610205e-01 2.93527287e-02 3.57274300e+01] [ 4.48307432e-02 -1.89343783e-04 9.98994579e-01 1.31854869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:587.82, Y:35.69, Z:131.86 [[ 7.58163896e-01 6.51183366e-01 -3.38781749e-02 5.87818266e+02] [-6.50521118e-01 7.58920401e-01 2.93615483e-02 3.56877836e+01] [ 4.48305899e-02 -2.22397665e-04 9.98994579e-01 1.31861174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.87, Y:35.65, Z:131.86 [[ 7.58145658e-01 6.51205063e-01 -3.38692722e-02 5.87865110e+02] [-6.50542378e-01 7.58901780e-01 2.93718141e-02 3.56479766e+01] [ 4.48305250e-02 -2.34716482e-04 9.98994579e-01 1.31863547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.91, Y:35.61, Z:131.87 [[ 7.58405667e-01 6.50902495e-01 -3.38642387e-02 5.87913010e+02] [-6.50239250e-01 7.59161296e-01 2.93776163e-02 3.56091569e+01] [ 4.48303831e-02 -2.60293543e-04 9.98994579e-01 1.31865175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.96, Y:35.57, Z:131.87 [[ 7.58622186e-01 6.50650488e-01 -3.38573775e-02 5.87961017e+02] [-6.49986638e-01 7.59377285e-01 2.93855217e-02 3.55693443e+01] [ 4.48302274e-02 -2.85665702e-04 9.98994579e-01 1.31869798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.01, Y:35.53, Z:131.87 [[ 7.59305461e-01 6.49853346e-01 -3.38503336e-02 5.88007421e+02] [-6.49188342e-01 7.60059544e-01 2.93936336e-02 3.55301926e+01] [ 4.48298203e-02 -3.43504573e-04 9.98994579e-01 1.31871403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.06, Y:35.49, Z:131.88 [[ 7.61153748e-01 6.47687859e-01 -3.38438918e-02 5.88055194e+02] [-6.47020381e-01 7.61905641e-01 2.94010489e-02 3.54910873e+01] [ 4.48285545e-02 -4.81030802e-04 9.98994579e-01 1.31875086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.10, Y:35.45, Z:131.88 [[ 7.60639726e-01 6.48291837e-01 -3.38364073e-02 5.88101604e+02] [-6.47624572e-01 7.61391808e-01 2.94096600e-02 3.54510830e+01] [ 4.48288058e-02 -4.56866920e-04 9.98994579e-01 1.31880764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.15, Y:35.41, Z:131.88 [[ 7.60548295e-01 6.48399454e-01 -3.38295672e-02 5.88150599e+02] [-6.47731946e-01 7.61300161e-01 2.94175258e-02 3.54123604e+01] [ 4.48287627e-02 -4.60957705e-04 9.98994579e-01 1.31884091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.20, Y:35.37, Z:131.89 [[ 7.59255799e-01 6.49912854e-01 -3.38218094e-02 5.88199094e+02] [-6.49246447e-01 7.60008642e-01 2.94264425e-02 3.53747579e+01] [ 4.48294906e-02 -3.83507538e-04 9.98994579e-01 1.31885669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.25, Y:35.33, Z:131.89 [[ 7.59717116e-01 6.49373763e-01 -3.38174325e-02 5.88247488e+02] [-6.48706599e-01 7.60469288e-01 2.94314716e-02 3.53340632e+01] [ 4.48291443e-02 -4.22001153e-04 9.98994579e-01 1.31888715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.29, Y:35.29, Z:131.90 [[ 7.59196034e-01 6.49983312e-01 -3.38094133e-02 5.88292699e+02] [-6.49316341e-01 7.59948377e-01 2.94406808e-02 3.52924694e+01] [ 4.48293600e-02 -3.98243507e-04 9.98994580e-01 1.31896178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.34, Y:35.25, Z:131.90 [[ 7.59819361e-01 6.49254933e-01 -3.38019291e-02 5.88341447e+02] [-6.48586859e-01 7.60570724e-01 2.94492712e-02 3.52537045e+01] [ 4.48288423e-02 -4.52639385e-04 9.98994580e-01 1.31899171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:588.39, Y:35.21, Z:131.90 [[ 7.59268293e-01 6.49899675e-01 -3.37945635e-02 5.88388816e+02] [-6.49231863e-01 7.60019889e-01 2.94577212e-02 3.52142088e+01] [ 4.48291038e-02 -4.25806237e-04 9.98994580e-01 1.31899090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:588.44, Y:35.18, Z:131.90 [[ 7.60657684e-01 6.48273382e-01 -3.37862407e-02 5.88437802e+02] [-6.47603539e-01 7.61407471e-01 2.94672639e-02 3.51775462e+01] [ 4.48279389e-02 -5.34411658e-04 9.98994580e-01 1.31902675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.48, Y:35.13, Z:131.90 [[ 7.59215201e-01 6.49962367e-01 -3.37816409e-02 5.88483383e+02] [-6.49293958e-01 7.59966266e-01 2.94725362e-02 3.51346958e+01] [ 4.48289469e-02 -4.41782236e-04 9.98994580e-01 1.31904061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.53, Y:35.10, Z:131.91 [[ 7.59364821e-01 6.49787896e-01 -3.37751161e-02 5.88533394e+02] [-6.49118982e-01 7.60115436e-01 2.94800116e-02 3.50974254e+01] [ 4.48287418e-02 -4.62014777e-04 9.98994580e-01 1.31906234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.58, Y:35.06, Z:131.91 [[ 7.57568698e-01 6.51881497e-01 -3.37665675e-02 5.88578776e+02] [-6.51214221e-01 7.58320770e-01 2.94898000e-02 3.50569387e+01] [ 4.48297444e-02 -3.51280482e-04 9.98994580e-01 1.31911148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.63, Y:35.02, Z:131.92 [[ 7.56991200e-01 6.52552410e-01 -3.37590950e-02 5.88628375e+02] [-6.51885419e-01 7.57743524e-01 2.94983518e-02 3.50209123e+01] [ 4.48299562e-02 -3.22930878e-04 9.98994580e-01 1.31915052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.68, Y:34.98, Z:131.92 [[ 7.55605972e-01 6.54156269e-01 -3.37518917e-02 5.88676939e+02] [-6.53490507e-01 7.56359384e-01 2.95065915e-02 3.49813704e+01] [ 4.48304818e-02 -2.38815967e-04 9.98994580e-01 1.31918321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.72, Y:34.94, Z:131.92 [[ 7.55288129e-01 6.54523650e-01 -3.37436595e-02 5.88722093e+02] [-6.53857833e-01 7.56041493e-01 2.95160029e-02 3.49386227e+01] [ 4.48305286e-02 -2.29530512e-04 9.98994580e-01 1.31924233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.77, Y:34.90, Z:131.93 [[ 7.57178280e-01 6.52336262e-01 -3.37409597e-02 5.88770918e+02] [-6.51668132e-01 7.57929593e-01 2.95190888e-02 3.49010833e+01] [ 4.48296439e-02 -3.63304675e-04 9.98994580e-01 1.31925376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2303857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:588.82, Y:34.86, Z:131.93 [[ 7.57966921e-01 6.51420116e-01 -3.37339492e-02 5.88819342e+02] [-6.50750722e-01 7.58717107e-01 2.95270981e-02 3.48607815e+01] [ 4.48290700e-02 -4.28171858e-04 9.98994580e-01 1.31927964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.290385723 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:588.86, Y:34.82, Z:131.93 [[ 7.56731755e-01 6.52854970e-01 -3.37259494e-02 5.88863463e+02] [-6.52186591e-01 7.57482846e-01 2.95362327e-02 3.48174098e+01] [ 4.48297044e-02 -3.55393256e-04 9.98994580e-01 1.31931102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:588.91, Y:34.78, Z:131.93 [[ 7.56824686e-01 6.52747397e-01 -3.37228530e-02 5.88913772e+02] [-6.52078753e-01 7.57575542e-01 2.95397675e-02 3.47804264e+01] [ 4.48296150e-02 -3.66469328e-04 9.98994580e-01 1.31934787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.96, Y:34.74, Z:131.94 [[ 7.54629576e-01 6.55284365e-01 -3.37135605e-02 5.88960014e+02] [-6.54617772e-01 7.55382253e-01 2.95503692e-02 3.47396864e+01] [ 4.48305202e-02 -2.30086689e-04 9.98994580e-01 1.31937196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.01, Y:34.70, Z:131.94 [[ 7.52404766e-01 6.57838082e-01 -3.37064554e-02 5.89006704e+02] [-6.57173681e-01 7.53159379e-01 2.95584713e-02 3.46974217e+01] [ 4.48310211e-02 -8.89393491e-05 9.98994580e-01 1.31940281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.05, Y:34.65, Z:131.94 [[ 7.50064321e-01 6.60505821e-01 -3.36982849e-02 5.89053323e+02] [-6.59843685e-01 7.50820922e-01 2.95677833e-02 3.46549665e+01] [ 4.48310703e-02 5.78611456e-05 9.98994580e-01 1.31943443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5903857229999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:589.10, Y:34.61, Z:131.94 [[ 7.49250694e-01 6.61429043e-01 -3.36900439e-02 5.89098903e+02] [-6.60767418e-01 7.50007740e-01 2.95771702e-02 3.46121458e+01] [ 4.48309931e-02 1.00567996e-04 9.98994581e-01 1.31941535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.14, Y:34.57, Z:131.95 [[ 7.46292574e-01 6.64765038e-01 -3.36873472e-02 5.89142876e+02] [-6.64106658e-01 7.47052445e-01 2.95802413e-02 3.45702292e+01] [ 4.48301254e-02 2.96477125e-04 9.98994581e-01 1.31947924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.19, Y:34.53, Z:131.95 [[ 7.43417531e-01 6.67979048e-01 -3.36803432e-02 5.89185906e+02] [-6.67323592e-01 7.44179926e-01 2.95882140e-02 3.45250997e+01] [ 4.48285423e-02 4.79290598e-04 9.98994581e-01 1.31947252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.23, Y:34.48, Z:131.95 [[ 7.41458008e-01 6.70153604e-01 -3.36774206e-02 5.89230352e+02] [-6.69500233e-01 7.42222190e-01 2.95915402e-02 3.44831587e+01] [ 4.48270062e-02 6.06156456e-04 9.98994581e-01 1.31950554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.27, Y:34.44, Z:131.95 [[ 7.40510558e-01 6.71200757e-01 -3.36698321e-02 5.89273200e+02] [-6.70548074e-01 7.41275327e-01 2.96001720e-02 3.44366248e+01] [ 4.48262737e-02 6.58001142e-04 9.98994581e-01 1.31952493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.32, Y:34.40, Z:131.95 [[ 7.43130878e-01 6.68298650e-01 -3.36661943e-02 5.89321986e+02] [-6.67642793e-01 7.43892927e-01 2.96043090e-02 3.43974013e+01] [ 4.48285635e-02 4.77115856e-04 9.98994581e-01 1.31946322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.36, Y:34.35, Z:131.96 [[ 7.39688471e-01 6.72107202e-01 -3.36582053e-02 5.89359717e+02] [-6.71454854e-01 7.40453527e-01 2.96133891e-02 3.43485673e+01] [ 4.48257089e-02 6.95282810e-04 9.98994581e-01 1.31958674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.40, Y:34.30, Z:131.96 [[ 7.42456968e-01 6.69048015e-01 -3.36512211e-02 5.89401124e+02] [-6.68392155e-01 7.43219015e-01 2.96213235e-02 3.43000249e+01] [ 4.48283151e-02 4.99654123e-04 9.98994581e-01 1.31960182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.45, Y:34.26, Z:131.96 [[ 7.43964230e-01 6.67371766e-01 -3.36474404e-02 5.89445417e+02] [-6.66713995e-01 7.44724628e-01 2.96256175e-02 3.42555572e+01] [ 4.48293782e-02 3.92819708e-04 9.98994581e-01 1.31962496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.49, Y:34.21, Z:131.97 [[ 7.43850715e-01 6.67498732e-01 -3.36386258e-02 5.89487382e+02] [-6.66840638e-01 7.44610833e-01 2.96356227e-02 3.42102096e+01] [ 4.48294258e-02 3.87123558e-04 9.98994581e-01 1.31966611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.190385723 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:589.53, Y:34.17, Z:131.97 [[ 7.44452480e-01 6.66827738e-01 -3.36343961e-02 5.89532959e+02] [-6.66168742e-01 7.45211817e-01 2.96404223e-02 3.41661834e+01] [ 4.48298052e-02 3.40297461e-04 9.98994581e-01 1.31967169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.58, Y:34.12, Z:131.97 [[ 7.43704265e-01 6.67662577e-01 -3.36251463e-02 5.89579921e+02] [-6.67003959e-01 7.44463929e-01 2.96509119e-02 3.41238257e+01] [ 4.48295128e-02 3.76596055e-04 9.98994581e-01 1.31970090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.310385723 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:590.15, Y:34.79, Z:132.91 [[ 8.02414906e-01 5.95819029e-01 -3.36155328e-02 5.90150442e+02] [-5.95092352e-01 8.03109749e-01 2.96618068e-02 3.47935109e+01] [ 4.46700311e-02 -3.79672943e-03 9.98994581e-01 1.32909910e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 810.370385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:590.66, Y:35.51, Z:133.84 [[ 8.51745233e-01 5.22715679e-01 -3.60329934e-02 5.90660547e+02] [-5.22063404e-01 8.52499314e-01 2.63575708e-02 3.55148321e+01] [ 4.44956176e-02 -3.63842808e-03 9.99002954e-01 1.33844690e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 810.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.72, Y:35.48, Z:133.85 [[ 8.52398878e-01 5.21509250e-01 -3.80033520e-02 5.90715389e+02] [-5.20996548e-01 8.53245623e-01 2.31193270e-02 3.54840665e+01] [ 4.44831367e-02 9.27268302e-05 9.99010131e-01 1.33846188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.77, Y:35.45, Z:133.85 [[ 8.55090107e-01 5.17085238e-01 -3.79969127e-02 5.90770411e+02] [-5.16567685e-01 8.55933896e-01 2.31299052e-02 3.54542785e+01] [ 4.44829781e-02 -1.50175842e-04 9.99010131e-01 1.33848590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.550385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:590.82, Y:35.42, Z:133.85 [[ 8.56239640e-01 5.15179975e-01 -3.79904124e-02 5.90824775e+02] [-5.14660072e-01 8.57081982e-01 2.31405770e-02 3.54239621e+01] [ 4.44824598e-02 -2.61730984e-04 9.99010131e-01 1.33850438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.88, Y:35.39, Z:133.85 [[ 8.56110947e-01 5.15394245e-01 -3.79844506e-02 5.90878249e+02] [-5.14874118e-01 8.56953151e-01 2.31503589e-02 3.53923219e+01] [ 4.44824564e-02 -2.62065179e-04 9.99010131e-01 1.33853930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.93, Y:35.36, Z:133.85 [[ 8.57428778e-01 5.13199285e-01 -3.79787361e-02 5.90934443e+02] [-5.12676587e-01 8.58269389e-01 2.31597298e-02 3.53629965e+01] [ 4.44815435e-02 -3.87010032e-04 9.99010131e-01 1.33852855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.99, Y:35.33, Z:133.86 [[ 8.55098028e-01 5.17073691e-01 -3.79757788e-02 5.90987817e+02] [-5.16554587e-01 8.55940863e-01 2.31645781e-02 3.53299615e+01] [ 4.44828148e-02 -1.91422378e-04 9.99010131e-01 1.33855854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.04, Y:35.30, Z:133.86 [[ 8.52712000e-01 5.20999474e-01 -3.79709404e-02 5.91039264e+02] [-5.20483897e-01 8.53556997e-01 2.31725064e-02 3.52958624e+01] [ 4.44832255e-02 3.78880676e-06 9.99010131e-01 1.33861836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.09, Y:35.26, Z:133.86 [[ 8.52380209e-01 5.21542444e-01 -3.79665498e-02 5.91091894e+02] [-5.21027085e-01 8.53225339e-01 2.31796979e-02 3.52632575e+01] [ 4.44832186e-02 2.36850731e-05 9.99010131e-01 1.33863759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.14, Y:35.23, Z:133.86 [[ 8.53374454e-01 5.19914442e-01 -3.79606856e-02 5.91144478e+02] [-5.19397044e-01 8.54218337e-01 2.31892975e-02 3.52300771e+01] [ 4.44831644e-02 -7.24862567e-05 9.99010132e-01 1.33863807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.20, Y:35.20, Z:133.87 [[ 8.54260907e-01 5.18456881e-01 -3.79574232e-02 5.91198002e+02] [-5.17937805e-01 8.55103759e-01 2.31946363e-02 3.51970285e+01] [ 4.44829541e-02 -1.54686543e-04 9.99010132e-01 1.33867908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.25, Y:35.16, Z:133.87 [[ 8.55063636e-01 5.17132428e-01 -3.79503728e-02 5.91250593e+02] [-5.16611535e-01 8.55905366e-01 2.32061662e-02 3.51628495e+01] [ 4.44825888e-02 -2.37148459e-04 9.99010132e-01 1.33871391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.30, Y:35.13, Z:133.87 [[ 8.55771554e-01 5.15960563e-01 -3.79439628e-02 5.91303295e+02] [-5.15438053e-01 8.56612281e-01 2.32166425e-02 3.51287229e+01] [ 4.44821364e-02 -3.10379891e-04 9.99010132e-01 1.33873195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.35, Y:35.09, Z:133.87 [[ 8.56093021e-01 5.15427467e-01 -3.79376459e-02 5.91354909e+02] [-5.14903976e-01 8.56933138e-01 2.32269600e-02 3.50940652e+01] [ 4.44818392e-02 -3.50193665e-04 9.99010132e-01 1.33874985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.41, Y:35.06, Z:133.88 [[ 8.56201100e-01 5.15248342e-01 -3.79318012e-02 5.91407154e+02] [-5.14724253e-01 8.57040844e-01 2.32365012e-02 3.50606682e+01] [ 4.44816716e-02 -3.70699842e-04 9.99010132e-01 1.33876839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.46, Y:35.03, Z:133.88 [[ 8.55915828e-01 5.15722483e-01 -3.79264610e-02 5.91459998e+02] [-5.15198473e-01 8.56755621e-01 2.32452141e-02 3.50293568e+01] [ 4.44817882e-02 -3.56291873e-04 9.99010132e-01 1.33879007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.51, Y:35.00, Z:133.89 [[ 8.56384338e-01 5.14944540e-01 -3.79207873e-02 5.91513330e+02] [-5.14419357e-01 8.57223399e-01 2.32544662e-02 3.49981469e+01] [ 4.44813465e-02 -4.07573634e-04 9.99010132e-01 1.33887272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.57, Y:34.97, Z:133.89 [[ 8.55996853e-01 5.15588842e-01 -3.79148338e-02 5.91565426e+02] [-5.15063861e-01 8.56836039e-01 2.32641689e-02 3.49664612e+01] [ 4.44815419e-02 -3.85494678e-04 9.99010132e-01 1.33887559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.62, Y:34.94, Z:133.89 [[ 8.55767076e-01 5.15970537e-01 -3.79093171e-02 5.91619454e+02] [-5.15445532e-01 8.56606248e-01 2.32731550e-02 3.49354243e+01] [ 4.44816201e-02 -3.76211696e-04 9.99010132e-01 1.33891673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.67, Y:34.91, Z:133.89 [[ 8.55721983e-01 5.16045764e-01 -3.79032604e-02 5.91673934e+02] [-5.15520396e-01 8.56560927e-01 2.32830148e-02 3.49054619e+01] [ 4.44815531e-02 -3.83883776e-04 9.99010132e-01 1.33892895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.73, Y:34.87, Z:133.89 [[ 8.55720610e-01 5.16048335e-01 -3.78992649e-02 5.91729374e+02] [-5.15522682e-01 8.56559375e-01 2.32895168e-02 3.48749661e+01] [ 4.44814870e-02 -3.91388813e-04 9.99010132e-01 1.33894339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:591.78, Y:34.84, Z:133.90 [[ 8.56177466e-01 5.15290480e-01 -3.78928434e-02 5.91783959e+02] [-5.14763623e-01 8.57015475e-01 2.32999602e-02 3.48446345e+01] [ 4.44810008e-02 -4.43043521e-04 9.99010132e-01 1.33900619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.84, Y:34.81, Z:133.90 [[ 8.56949406e-01 5.14005844e-01 -3.78907424e-02 5.91837618e+02] [-5.13477579e-01 8.57786528e-01 2.33033764e-02 3.48144048e+01] [ 4.44802400e-02 -5.13767858e-04 9.99010132e-01 1.33898970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.750385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:591.89, Y:34.79, Z:133.90 [[ 8.59437975e-01 5.09834351e-01 -3.78853711e-02 5.91893677e+02] [-5.09301639e-01 8.60272275e-01 2.33121054e-02 3.47854079e+01] [ 4.44770465e-02 -7.40227111e-04 9.99010132e-01 1.33902707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.95, Y:34.75, Z:133.91 [[ 8.59096970e-01 5.10409260e-01 -3.78785407e-02 5.91946043e+02] [-5.09876617e-01 8.59931313e-01 2.33231985e-02 3.47527699e+01] [ 4.44773197e-02 -7.23506913e-04 9.99010132e-01 1.33905379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.00, Y:34.72, Z:133.91 [[ 8.59893362e-01 5.09066737e-01 -3.78743053e-02 5.91999812e+02] [-5.08532489e-01 8.60726679e-01 2.33300743e-02 3.47224470e+01] [ 4.44759898e-02 -8.01061285e-04 9.99010132e-01 1.33913058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.05, Y:34.69, Z:133.92 [[ 8.59202874e-01 5.10231717e-01 -3.78684039e-02 5.92054348e+02] [-5.09698177e-01 8.60036644e-01 2.33396493e-02 3.46917447e+01] [ 4.44768443e-02 -7.52037355e-04 9.99010132e-01 1.33915106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.11, Y:34.66, Z:133.92 [[ 8.56856543e-01 5.14162781e-01 -3.78615905e-02 5.92109445e+02] [-5.13632578e-01 8.57692439e-01 2.33506967e-02 3.46615526e+01] [ 4.44796591e-02 -5.61250921e-04 9.99010133e-01 1.33916900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.16, Y:34.63, Z:133.92 [[ 8.53686619e-01 5.19409445e-01 -3.78548040e-02 5.92163751e+02] [-5.18883892e-01 8.54525446e-01 2.33616934e-02 3.46314440e+01] [ 4.44821775e-02 -3.01317039e-04 9.99010133e-01 1.33915692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.22, Y:34.60, Z:133.92 [[ 8.51190034e-01 5.23491184e-01 -3.78484713e-02 5.92217838e+02] [-5.22969198e-01 8.52031085e-01 2.33719486e-02 3.46006817e+01] [ 4.44830831e-02 -1.00385055e-04 9.99010133e-01 1.33916401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.170385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.27, Y:34.57, Z:133.92 [[ 8.50310235e-01 5.24919448e-01 -3.78427966e-02 5.92271838e+02] [-5.24398466e-01 8.51151909e-01 2.33811331e-02 3.45705657e+01] [ 4.44831801e-02 -3.65123163e-05 9.99010133e-01 1.33918184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2303857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.33, Y:34.54, Z:133.92 [[ 8.51236445e-01 5.23416556e-01 -3.78367979e-02 5.92325968e+02] [-5.22893657e-01 8.52076929e-01 2.33908367e-02 3.45381406e+01] [ 4.44830137e-02 -1.26511028e-04 9.99010133e-01 1.33921265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.38, Y:34.51, Z:133.92 [[ 8.53994151e-01 5.18905430e-01 -3.78304762e-02 5.92379329e+02] [-5.18377638e-01 8.54831571e-01 2.34010564e-02 3.45065478e+01] [ 4.44816206e-02 -3.73892344e-04 9.99010133e-01 1.33924212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.43, Y:34.47, Z:133.93 [[ 8.56112445e-01 5.15403510e-01 -3.78246339e-02 5.92432760e+02] [-5.14871876e-01 8.56947432e-01 2.34104959e-02 3.44734465e+01] [ 4.44795746e-02 -5.67176723e-04 9.99010133e-01 1.33927966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.49, Y:34.44, Z:133.93 [[ 8.57692702e-01 5.12769952e-01 -3.78180723e-02 5.92485848e+02] [-5.12235287e-01 8.58525750e-01 2.34210909e-02 3.44400880e+01] [ 4.44774206e-02 -7.16347655e-04 9.99010133e-01 1.33931980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:592.54, Y:34.41, Z:133.93 [[ 8.59005621e-01 5.10567948e-01 -3.78115702e-02 5.92542850e+02] [-5.10030686e-01 8.59836997e-01 2.34315834e-02 3.44119822e+01] [ 4.44752024e-02 -8.42800760e-04 9.99010133e-01 1.33934923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.60, Y:34.38, Z:133.94 [[ 8.58264335e-01 5.11813588e-01 -3.78045324e-02 5.92595993e+02] [-5.11277033e-01 8.59096167e-01 2.34429326e-02 3.43809718e+01] [ 4.44761404e-02 -7.91643790e-04 9.99010133e-01 1.33936578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.65, Y:34.35, Z:133.94 [[ 8.56866026e-01 5.14151651e-01 -3.77980542e-02 5.92649389e+02] [-5.13616906e-01 8.57699023e-01 2.34533731e-02 3.43496287e+01] [ 4.44779447e-02 -6.82678973e-04 9.99010133e-01 1.33938126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.70, Y:34.32, Z:133.94 [[ 8.56298613e-01 5.15096537e-01 -3.77921011e-02 5.92702540e+02] [-5.14562287e-01 8.57131928e-01 2.34629619e-02 3.43193315e+01] [ 4.44785069e-02 -6.44911795e-04 9.99010133e-01 1.33939630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.76, Y:34.29, Z:133.94 [[ 8.56653676e-01 5.14506218e-01 -3.77866448e-02 5.92755312e+02] [-5.13971007e-01 8.57486374e-01 2.34717459e-02 3.42873788e+01] [ 4.44778922e-02 -6.85917565e-04 9.99010133e-01 1.33942447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.81, Y:34.26, Z:133.94 [[ 8.56891083e-01 5.14111169e-01 -3.77806538e-02 5.92810378e+02] [-5.13575149e-01 8.57723260e-01 2.34813852e-02 3.42559225e+01] [ 4.44773879e-02 -7.17784637e-04 9.99010133e-01 1.33943270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.86, Y:34.22, Z:133.95 [[ 8.56802031e-01 5.14260064e-01 -3.77738780e-02 5.92864340e+02] [-5.13723709e-01 8.57633992e-01 2.34922801e-02 3.42234965e+01] [ 4.44773033e-02 -7.22896605e-04 9.99010134e-01 1.33946206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.92, Y:34.19, Z:133.95 [[ 8.55988032e-01 5.15614334e-01 -3.77670219e-02 5.92915899e+02] [-5.15078809e-01 8.56820527e-01 2.35032971e-02 3.41896205e+01] [ 4.44781965e-02 -6.65548368e-04 9.99010134e-01 1.33951160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.950385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:592.97, Y:34.16, Z:133.95 [[ 8.55485356e-01 5.16448355e-01 -3.77611201e-02 5.92970026e+02] [-5.15913224e-01 8.56318104e-01 2.35127754e-02 3.41579440e+01] [ 4.44786649e-02 -6.33373823e-04 9.99010134e-01 1.33952833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.02, Y:34.12, Z:133.96 [[ 8.54322773e-01 5.18369496e-01 -3.77579748e-02 5.93021616e+02] [-5.17836014e-01 8.55156579e-01 2.35178251e-02 3.41248605e+01] [ 4.44799037e-02 -5.39374366e-04 9.99010134e-01 1.33955492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.07, Y:34.09, Z:133.96 [[ 8.53418794e-01 5.19856892e-01 -3.77514730e-02 5.93074799e+02] [-5.19324401e-01 8.54253234e-01 2.35282574e-02 3.40928858e+01] [ 4.44806446e-02 -4.74195948e-04 9.99010134e-01 1.33961774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.13, Y:34.06, Z:133.96 [[ 8.52753700e-01 5.20947663e-01 -3.77446731e-02 5.93126636e+02] [-5.20415757e-01 8.53588512e-01 2.35391609e-02 3.40593428e+01] [ 4.44810902e-02 -4.30183896e-04 9.99010134e-01 1.33963200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.18, Y:34.03, Z:133.97 [[ 8.53042182e-01 5.20475561e-01 -3.77389198e-02 5.93178417e+02] [-5.19942786e-01 8.53876439e-01 2.35483812e-02 3.40275367e+01] [ 4.44807314e-02 -4.65683405e-04 9.99010134e-01 1.33965332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.23, Y:33.99, Z:133.97 [[ 8.52155660e-01 5.21926146e-01 -3.77336580e-02 5.93229659e+02] [-5.21394417e-01 8.52990585e-01 2.35568095e-02 3.39913336e+01] [ 4.44813699e-02 -3.99949943e-04 9.99010134e-01 1.33966271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.28, Y:33.96, Z:133.97 [[ 8.51139372e-01 5.23582116e-01 -3.77297970e-02 5.93282102e+02] [-5.23051738e-01 8.51975155e-01 2.35629920e-02 3.39580112e+01] [ 4.44820109e-02 -3.20754366e-04 9.99010134e-01 1.33969269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.34, Y:33.93, Z:133.97 [[ 8.50459391e-01 5.24686334e-01 -3.77236676e-02 5.93335521e+02] [-5.24156606e-01 8.51295586e-01 2.35728009e-02 3.39273035e+01] [ 4.44823182e-02 -2.74600295e-04 9.99010134e-01 1.33973658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.39, Y:33.89, Z:133.98 [[ 8.48772367e-01 5.27411483e-01 -3.77173336e-02 5.93386121e+02] [-5.26883989e-01 8.49609974e-01 2.35829312e-02 3.38904434e+01] [ 4.44829315e-02 -1.43881196e-04 9.99010134e-01 1.33975558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.44, Y:33.86, Z:133.98 [[ 8.48961877e-01 5.27106549e-01 -3.77149513e-02 5.93438489e+02] [-5.26578585e-01 8.49799188e-01 2.35867405e-02 3.38568215e+01] [ 4.44828603e-02 -1.64357848e-04 9.99010134e-01 1.33979791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.49, Y:33.82, Z:133.99 [[ 8.48271861e-01 5.28216764e-01 -3.77080999e-02 5.93490219e+02] [-5.27689409e-01 8.49109555e-01 2.35976886e-02 3.38212014e+01] [ 4.44830027e-02 -1.19090276e-04 9.99010134e-01 1.33985210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.54, Y:33.79, Z:133.99 [[ 8.46475350e-01 5.31091482e-01 -3.77003982e-02 5.93542718e+02] [-5.30566424e-01 8.47314486e-01 2.36099868e-02 3.37874983e+01] [ 4.44831564e-02 1.72936131e-05 9.99010134e-01 1.33985757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.670385723 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:593.59, Y:33.75, Z:133.99 [[ 8.45143860e-01 5.33208243e-01 -3.76938353e-02 5.93592996e+02] [-5.32684820e-01 8.45984017e-01 2.36204600e-02 3.37514657e+01] [ 4.44830061e-02 1.16247135e-04 9.99010134e-01 1.33987598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.64, Y:33.72, Z:133.99 [[ 8.47132620e-01 5.30043392e-01 -3.76872237e-02 5.93642220e+02] [-5.29516361e-01 8.47970518e-01 2.36310042e-02 3.37150325e+01] [ 4.44831122e-02 -6.25929608e-05 9.99010134e-01 1.33994983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.69, Y:33.68, Z:134.00 [[ 8.48104197e-01 5.28487849e-01 -3.76810799e-02 5.93694514e+02] [-5.27958846e-01 8.48940851e-01 2.36407969e-02 3.36794523e+01] [ 4.44828819e-02 -1.55799636e-04 9.99010135e-01 1.33996536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.74, Y:33.64, Z:134.00 [[ 8.48560686e-01 5.27755044e-01 -3.76745903e-02 5.93742918e+02] [-5.27224860e-01 8.49396592e-01 2.36511344e-02 3.36390395e+01] [ 4.44826741e-02 -2.06442219e-04 9.99010135e-01 1.34001742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.79, Y:33.61, Z:134.00 [[ 8.49483946e-01 5.26267951e-01 -3.76705278e-02 5.93794911e+02] [-5.25736017e-01 8.50318739e-01 2.36576031e-02 3.36067323e+01] [ 4.44821941e-02 -2.92000796e-04 9.99010135e-01 1.34001978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.84, Y:33.57, Z:134.01 [[ 8.49548379e-01 5.26164177e-01 -3.76670971e-02 5.93844826e+02] [-5.25631898e-01 8.50382953e-01 2.36630641e-02 3.35697161e+01] [ 4.44821140e-02 -3.03890023e-04 9.99010135e-01 1.34006578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.90, Y:33.53, Z:134.01 [[ 8.48997361e-01 5.27053208e-01 -3.76616178e-02 5.93895448e+02] [-5.26521417e-01 8.49832245e-01 2.36717818e-02 3.35337993e+01] [ 4.44823457e-02 -2.67631884e-04 9.99010135e-01 1.34011882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.95, Y:33.50, Z:134.01 [[ 8.47679638e-01 5.29170354e-01 -3.76559094e-02 5.93948263e+02] [-5.28640245e-01 8.48515591e-01 2.36808589e-02 3.34988439e+01] [ 4.44828347e-02 -1.67352749e-04 9.99010135e-01 1.34013605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.00, Y:33.46, Z:134.02 [[ 8.46626314e-01 5.30854404e-01 -3.76495198e-02 5.93999523e+02] [-5.30325506e-01 8.47463034e-01 2.36910132e-02 3.34636309e+01] [ 4.44830550e-02 -9.09344745e-05 9.99010135e-01 1.34017784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.05, Y:33.43, Z:134.02 [[ 8.46022753e-01 5.31816190e-01 -3.76436051e-02 5.94052029e+02] [-5.31287825e-01 8.46859810e-01 2.37004075e-02 3.34284242e+01] [ 4.44831167e-02 -5.14949355e-05 9.99010135e-01 1.34021420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.10, Y:33.39, Z:134.02 [[ 8.45682700e-01 5.32357233e-01 -3.76370342e-02 5.94104959e+02] [-5.31828940e-01 8.46519802e-01 2.37108378e-02 3.33943514e+01] [ 4.44831307e-02 -3.53812920e-05 9.99010135e-01 1.34024396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.330385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:594.16, Y:33.36, Z:134.02 [[ 8.45607015e-01 5.32477911e-01 -3.76304549e-02 5.94156517e+02] [-5.31949273e-01 8.46443898e-01 2.37212749e-02 3.33598350e+01] [ 4.44831239e-02 -4.13833226e-05 9.99010135e-01 1.34024758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.21, Y:33.32, Z:134.03 [[ 8.45297767e-01 5.32969103e-01 -3.76247246e-02 5.94207816e+02] [-5.32440546e-01 8.46134703e-01 2.37303604e-02 3.33248635e+01] [ 4.44831340e-02 -2.62917856e-05 9.99010135e-01 1.34029170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.26, Y:33.29, Z:134.03 [[ 8.45426283e-01 5.32765649e-01 -3.76186665e-02 5.94260135e+02] [-5.32236464e-01 8.46262820e-01 2.37399601e-02 3.32896221e+01] [ 4.44831141e-02 -4.83601526e-05 9.99010135e-01 1.34032862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:594.31, Y:33.26, Z:134.03 [[ 8.45614866e-01 5.32466726e-01 -3.76122723e-02 5.94312123e+02] [-5.31936795e-01 8.46450932e-01 2.37500865e-02 3.32558226e+01] [ 4.44830737e-02 -7.60746315e-05 9.99010135e-01 1.34034828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.36, Y:33.22, Z:134.04 [[ 8.45158455e-01 5.33191284e-01 -3.76063764e-02 5.94364870e+02] [-5.32661654e-01 8.45994712e-01 2.37594185e-02 3.32225741e+01] [ 4.44831104e-02 -4.89988248e-05 9.99010135e-01 1.34037017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.42, Y:33.19, Z:134.04 [[ 8.44126717e-01 5.34823598e-01 -3.76006013e-02 5.94417387e+02] [-5.34295178e-01 8.44963738e-01 2.37685544e-02 3.31897699e+01] [ 4.44831284e-02 2.61481766e-05 9.99010135e-01 1.34039163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.47, Y:33.16, Z:134.04 [[ 8.44029440e-01 5.34977502e-01 -3.75948971e-02 5.94470925e+02] [-5.34448833e-01 8.44866304e-01 2.37775733e-02 3.31573117e+01] [ 4.44831286e-02 2.35769758e-05 9.99010135e-01 1.34042410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.52, Y:33.13, Z:134.04 [[ 8.44759180e-01 5.33824917e-01 -3.75883785e-02 5.94522621e+02] [-5.33294648e-01 8.45595031e-01 2.37878737e-02 3.31253062e+01] [ 4.44831058e-02 -4.93435521e-05 9.99010136e-01 1.34044182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.810385723 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:594.58, Y:33.09, Z:134.04 [[ 8.45849161e-01 5.32096516e-01 -3.75831648e-02 5.94575136e+02] [-5.31564174e-01 8.46683692e-01 2.37961081e-02 3.30924371e+01] [ 4.44828790e-02 -1.50054097e-04 9.99010136e-01 1.34044497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.63, Y:33.06, Z:134.05 [[ 8.46313575e-01 5.31357949e-01 -3.75774126e-02 5.94628585e+02] [-5.30824475e-01 8.47147384e-01 2.38051882e-02 3.30589027e+01] [ 4.44826828e-02 -1.99643617e-04 9.99010136e-01 1.34049250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.68, Y:33.03, Z:134.05 [[ 8.47966941e-01 5.28715893e-01 -3.75708890e-02 5.94681674e+02] [-5.28179365e-01 8.48798788e-01 2.38154797e-02 3.30262452e+01] [ 4.44817477e-02 -3.50571133e-04 9.99010136e-01 1.34054472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.73, Y:32.99, Z:134.06 [[ 8.49131577e-01 5.26843832e-01 -3.75651673e-02 5.94734515e+02] [-5.26305071e-01 8.49961979e-01 2.38245013e-02 3.29940806e+01] [ 4.44807555e-02 -4.59398311e-04 9.99010136e-01 1.34059368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.79, Y:32.96, Z:134.06 [[ 8.49370194e-01 5.26459463e-01 -3.75593981e-02 5.94788385e+02] [-5.25919924e-01 8.50200091e-01 2.38335930e-02 3.29615052e+01] [ 4.44804243e-02 -4.90307731e-04 9.99010136e-01 1.34062102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.110385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:594.84, Y:32.93, Z:134.06 [[ 8.49066133e-01 5.26950174e-01 -3.75528471e-02 5.94842132e+02] [-5.26410658e-01 8.49896045e-01 2.38439106e-02 3.29310734e+01] [ 4.44805690e-02 -4.76837992e-04 9.99010136e-01 1.34059038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.89, Y:32.90, Z:134.07 [[ 8.48352892e-01 5.28098047e-01 -3.75476165e-02 5.94894954e+02] [-5.27559289e-01 8.49183297e-01 2.38521445e-02 3.28973945e+01] [ 4.44810797e-02 -4.26441936e-04 9.99010136e-01 1.34065066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.95, Y:32.87, Z:134.07 [[ 8.47485133e-01 5.29489971e-01 -3.75409043e-02 5.94947390e+02] [-5.28952110e-01 8.48316118e-01 2.38627042e-02 3.28656094e+01] [ 4.44816167e-02 -3.65946551e-04 9.99010136e-01 1.34068168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.00, Y:32.83, Z:134.07 [[ 8.47362116e-01 5.29687200e-01 -3.75355240e-02 5.95000626e+02] [-5.29149157e-01 8.48192983e-01 2.38711643e-02 3.28335546e+01] [ 4.44816182e-02 -3.65629352e-04 9.99010136e-01 1.34069923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.05, Y:32.80, Z:134.07 [[ 8.49105205e-01 5.26888875e-01 -3.75295095e-02 5.95054119e+02] [-5.26347677e-01 8.49934021e-01 2.38806163e-02 3.28012642e+01] [ 4.44800380e-02 -5.23585446e-04 9.99010136e-01 1.34071804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.11, Y:32.77, Z:134.08 [[ 8.50378948e-01 5.24831060e-01 -3.75233816e-02 5.95105307e+02] [-5.24287432e-01 8.51206171e-01 2.38902412e-02 3.27685376e+01] [ 4.44784746e-02 -6.42720845e-04 9.99010136e-01 1.34078465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.16, Y:32.74, Z:134.08 [[ 8.51784377e-01 5.22547408e-01 -3.75177466e-02 5.95158840e+02] [-5.22001172e-01 8.52609881e-01 2.38990872e-02 3.27374878e+01] [ 4.44764076e-02 -7.72561347e-04 9.99010136e-01 1.34079029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.21, Y:32.71, Z:134.08 [[ 8.52203113e-01 5.21864675e-01 -3.75115211e-02 5.95211117e+02] [-5.21317349e-01 8.53027894e-01 2.39088547e-02 3.27051291e+01] [ 4.44755605e-02 -8.19793704e-04 9.99010136e-01 1.34082806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.26, Y:32.67, Z:134.08 [[ 8.52050252e-01 5.22114655e-01 -3.75053987e-02 5.95264369e+02] [-5.21567148e-01 8.52874913e-01 2.39184549e-02 3.26716799e+01] [ 4.44755895e-02 -8.18141642e-04 9.99010136e-01 1.34081380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.650385723 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:595.32, Y:32.64, Z:134.08 [[ 8.52514296e-01 5.21357001e-01 -3.75000356e-02 5.95318624e+02] [-5.20808392e-01 8.53338224e-01 2.39268603e-02 3.26406134e+01] [ 4.44746500e-02 -8.67657246e-04 9.99010136e-01 1.34082263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.37, Y:32.61, Z:134.09 [[ 8.52646634e-01 5.21141119e-01 -3.74920189e-02 5.95372510e+02] [-5.20591749e-01 8.53470055e-01 2.39394155e-02 3.26114083e+01] [ 4.44741292e-02 -8.93826347e-04 9.99010137e-01 1.34089244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.43, Y:32.58, Z:134.09 [[ 8.51875701e-01 5.22400650e-01 -3.74880200e-02 5.95427498e+02] [-5.21852222e-01 8.52699749e-01 2.39456759e-02 3.25804622e+01] [ 4.44752619e-02 -8.35532907e-04 9.99010137e-01 1.34093309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.48, Y:32.55, Z:134.09 [[ 8.52314134e-01 5.21685508e-01 -3.74813028e-02 5.95483393e+02] [-5.21135927e-01 8.53137414e-01 2.39561855e-02 3.25515502e+01] [ 4.44742966e-02 -8.85341970e-04 9.99010137e-01 1.34090767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.890385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:595.54, Y:32.52, Z:134.10 [[ 8.50943933e-01 5.23917977e-01 -3.74750088e-02 5.95536526e+02] [-5.23370123e-01 8.51768363e-01 2.39660274e-02 3.25204412e+01] [ 4.44762594e-02 -7.80445638e-04 9.99010137e-01 1.34095196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.59, Y:32.49, Z:134.10 [[ 8.48761916e-01 5.27446047e-01 -3.74683453e-02 5.95588673e+02] [-5.26901160e-01 8.49588311e-01 2.39764404e-02 3.24889071e+01] [ 4.44789469e-02 -6.08174923e-04 9.99010137e-01 1.34104379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.64, Y:32.46, Z:134.11 [[ 8.48731074e-01 5.27496071e-01 -3.74627673e-02 5.95644345e+02] [-5.26950849e-01 8.49557247e-01 2.39851528e-02 3.24585432e+01] [ 4.44788393e-02 -6.15907475e-04 9.99010137e-01 1.34105437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.070385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:595.70, Y:32.43, Z:134.10 [[ 8.49526538e-01 5.26214514e-01 -3.74559293e-02 5.95698283e+02] [-5.25667575e-01 8.50351575e-01 2.39958266e-02 3.24286136e+01] [ 4.44776607e-02 -6.95723985e-04 9.99010137e-01 1.34104603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.75, Y:32.39, Z:134.11 [[ 8.49230305e-01 5.26692845e-01 -3.74504661e-02 5.95750766e+02] [-5.26145994e-01 8.50055401e-01 2.40043499e-02 3.23932683e+01] [ 4.44778903e-02 -6.80808610e-04 9.99010137e-01 1.34107442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.81, Y:32.36, Z:134.11 [[ 8.51716508e-01 5.22663352e-01 -3.74434411e-02 5.95805822e+02] [-5.22112117e-01 8.52538681e-01 2.40153030e-02 3.23640559e+01] [ 4.44739006e-02 -9.04555668e-04 9.99010137e-01 1.34112202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.250385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:595.86, Y:32.33, Z:134.11 [[ 8.52555506e-01 5.21294143e-01 -3.74369639e-02 5.95861236e+02] [-5.20741145e-01 8.53376494e-01 2.40253959e-02 3.23340044e+01] [ 4.44721232e-02 -9.88016034e-04 9.99010137e-01 1.34111053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.92, Y:32.30, Z:134.12 [[ 8.52152509e-01 5.21953135e-01 -3.74302958e-02 5.95916587e+02] [-5.21400316e-01 8.52973617e-01 2.40357800e-02 3.23032425e+01] [ 4.44726055e-02 -9.65982180e-04 9.99010137e-01 1.34115119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.97, Y:32.27, Z:134.12 [[ 8.50053004e-01 5.25365927e-01 -3.74237135e-02 5.95968765e+02] [-5.24815954e-01 8.50876021e-01 2.40460243e-02 3.22693741e+01] [ 4.44759023e-02 -7.99833254e-04 9.99010137e-01 1.34118103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.02, Y:32.24, Z:134.12 [[ 8.50239039e-01 5.25064975e-01 -3.74212323e-02 5.96024518e+02] [-5.24514541e-01 8.51061748e-01 2.40498849e-02 3.22440753e+01] [ 4.44755316e-02 -8.20170536e-04 9.99010137e-01 1.34121091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.08, Y:32.21, Z:134.13 [[ 8.49072179e-01 5.26950253e-01 -3.74147913e-02 5.96078184e+02] [-5.26401204e-01 8.49895813e-01 2.40599011e-02 3.22123755e+01] [ 4.44770455e-02 -7.33401463e-04 9.99010137e-01 1.34126028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.550385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:596.13, Y:32.18, Z:134.13 [[ 8.49240817e-01 5.26678905e-01 -3.74081104e-02 5.96132557e+02] [-5.26129136e-01 8.50063970e-01 2.40702841e-02 3.21801008e+01] [ 4.44765977e-02 -7.59970988e-04 9.99010137e-01 1.34126784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.610385723 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:596.19, Y:32.15, Z:134.13 [[ 8.49260586e-01 5.26647500e-01 -3.74014530e-02 5.96186626e+02] [-5.26097245e-01 8.50083415e-01 2.40806243e-02 3.21479692e+01] [ 4.44763554e-02 -7.73923668e-04 9.99010138e-01 1.34127927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.670385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:596.24, Y:32.11, Z:134.13 [[ 8.47740045e-01 5.29092143e-01 -3.73941209e-02 5.96239069e+02] [-5.28543760e-01 8.48564122e-01 2.40920047e-02 3.21134844e+01] [ 4.44781998e-02 -6.59327858e-04 9.99010138e-01 1.34134445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7303857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:596.29, Y:32.08, Z:134.14 [[ 8.48041093e-01 5.28610073e-01 -3.73857722e-02 5.96292427e+02] [-5.28060651e-01 8.48864477e-01 2.41049531e-02 3.20819970e+01] [ 4.44775750e-02 -7.00035533e-04 9.99010138e-01 1.34135928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.790385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:596.35, Y:32.05, Z:134.14 [[ 8.47556420e-01 5.29387167e-01 -3.73810479e-02 5.96345206e+02] [-5.28838176e-01 8.48380093e-01 2.41122772e-02 3.20474240e+01] [ 4.44780670e-02 -6.67990151e-04 9.99010138e-01 1.34140308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8503857229999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:596.40, Y:32.01, Z:134.14 [[ 8.47583119e-01 5.29344886e-01 -3.73744187e-02 5.96398627e+02] [-5.28795402e-01 8.48406463e-01 2.41225482e-02 3.20133500e+01] [ 4.44778459e-02 -6.82443919e-04 9.99010138e-01 1.34140578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.45, Y:31.98, Z:134.14 [[ 8.47491508e-01 5.29492011e-01 -3.73678142e-02 5.96451954e+02] [-5.28942219e-01 8.48314646e-01 2.41327747e-02 3.19797846e+01] [ 4.44777755e-02 -6.86907083e-04 9.99010138e-01 1.34144848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:596.50, Y:31.95, Z:134.15 [[ 8.46773792e-01 5.30639503e-01 -3.73612584e-02 5.96504479e+02] [-5.30090379e-01 8.47597375e-01 2.41429200e-02 3.19457665e+01] [ 4.44784916e-02 -6.38748302e-04 9.99010138e-01 1.34147209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.030385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:596.56, Y:31.91, Z:134.15 [[ 8.46502665e-01 5.31072395e-01 -3.73543677e-02 5.96557178e+02] [-5.30523222e-01 8.47326216e-01 2.41535766e-02 3.19119784e+01] [ 4.44786328e-02 -6.28707489e-04 9.99010138e-01 1.34151538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.61, Y:31.88, Z:134.15 [[ 8.47132100e-01 5.30068266e-01 -3.73475315e-02 5.96609399e+02] [-5.29517651e-01 8.47954687e-01 2.41641424e-02 3.18769495e+01] [ 4.44776595e-02 -6.94043571e-04 9.99010138e-01 1.34153938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.66, Y:31.84, Z:134.16 [[ 8.46557334e-01 5.30986208e-01 -3.73406890e-02 5.96659463e+02] [-5.30436018e-01 8.47380206e-01 2.41747115e-02 3.18406025e+01] [ 4.44781992e-02 -6.58432925e-04 9.99010138e-01 1.34159396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.210385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:596.71, Y:31.81, Z:134.16 [[ 8.45502061e-01 5.32665365e-01 -3.73346117e-02 5.96710698e+02] [-5.32116396e-01 8.46325748e-01 2.41840934e-02 3.18070261e+01] [ 4.44792721e-02 -5.81341807e-04 9.99010138e-01 1.34156626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.76, Y:31.77, Z:134.16 [[ 8.43927420e-01 5.35156873e-01 -3.73313742e-02 5.96763179e+02] [-5.34610114e-01 8.44752575e-01 2.41890900e-02 3.17726052e+01] [ 4.44807322e-02 -4.56106135e-04 9.99010138e-01 1.34161030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.330385723 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:596.81, Y:31.73, Z:134.16 [[ 8.41946662e-01 5.38268229e-01 -3.73246904e-02 5.96811610e+02] [-5.37724063e-01 8.42773529e-01 2.41993990e-02 3.17318022e+01] [ 4.44820287e-02 -3.04218994e-04 9.99010138e-01 1.34162863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:596.86, Y:31.70, Z:134.17 [[ 8.42234803e-01 5.37817496e-01 -3.73212860e-02 5.96862225e+02] [-5.37272655e-01 8.43061225e-01 2.42046482e-02 3.16961788e+01] [ 4.44818124e-02 -3.34290654e-04 9.99010138e-01 1.34169620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.450385723 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:596.91, Y:31.66, Z:134.17 [[ 8.42739391e-01 5.37026987e-01 -3.73140108e-02 5.96912908e+02] [-5.36480874e-01 8.43564973e-01 2.42158586e-02 3.16581306e+01] [ 4.44813620e-02 -3.89404769e-04 9.99010138e-01 1.34168615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.510385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:596.96, Y:31.62, Z:134.17 [[ 8.41920745e-01 5.38309961e-01 -3.73074393e-02 5.96963367e+02] [-5.37764658e-01 8.42746862e-01 2.42259785e-02 3.16202151e+01] [ 4.44818130e-02 -3.33731504e-04 9.99010139e-01 1.34172696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.01, Y:31.58, Z:134.18 [[ 8.40444533e-01 5.40612282e-01 -3.73007804e-02 5.97013679e+02] [-5.40068787e-01 8.41271841e-01 2.42362268e-02 3.15823990e+01] [ 4.44824981e-02 -2.24217059e-04 9.99010139e-01 1.34176021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.630385723 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:597.06, Y:31.54, Z:134.17 [[ 8.40125246e-01 5.41108800e-01 -3.72939486e-02 5.97062906e+02] [-5.40565328e-01 8.40952569e-01 2.42467349e-02 3.15442980e+01] [ 4.44825635e-02 -2.10478570e-04 9.99010139e-01 1.34173907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.690385723 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:597.11, Y:31.50, Z:134.18 [[ 8.40033879e-01 5.41250793e-01 -3.72915690e-02 5.97110390e+02] [-5.40707298e-01 8.40861187e-01 2.42503942e-02 3.15037433e+01] [ 4.44825781e-02 -2.07329236e-04 9.99010139e-01 1.34175306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.16, Y:31.47, Z:134.18 [[ 8.41119664e-01 5.39562400e-01 -3.72844239e-02 5.97158894e+02] [-5.39016757e-01 8.41945557e-01 2.42613746e-02 3.14657532e+01] [ 4.44819806e-02 -3.09789934e-04 9.99010139e-01 1.34180989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.810385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:597.21, Y:31.43, Z:134.18 [[ 8.40912308e-01 5.39885942e-01 -3.72781545e-02 5.97205684e+02] [-5.39340190e-01 8.41738129e-01 2.42710039e-02 3.14252541e+01] [ 4.44820178e-02 -3.04179012e-04 9.99010139e-01 1.34181155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.26, Y:31.39, Z:134.19 [[ 8.39911410e-01 5.41442146e-01 -3.72723274e-02 5.97255800e+02] [-5.40897527e-01 8.40737979e-01 2.42799492e-02 3.13863449e+01] [ 4.44824489e-02 -2.32496608e-04 9.99010139e-01 1.34185103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.930385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:597.30, Y:31.35, Z:134.19 [[ 8.38629013e-01 5.43426762e-01 -3.72656924e-02 5.97303777e+02] [-5.42883648e-01 8.39456571e-01 2.42901284e-02 3.13477264e+01] [ 4.44828362e-02 -1.39471411e-04 9.99010139e-01 1.34186348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.35, Y:31.31, Z:134.20 [[ 8.37077655e-01 5.45813762e-01 -3.72603913e-02 5.97351816e+02] [-5.45272645e-01 8.37906521e-01 2.42982575e-02 3.13089217e+01] [ 4.44830482e-02 -2.24563357e-05 9.99010139e-01 1.34197721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.40, Y:31.28, Z:134.19 [[ 8.37941829e-01 5.44486566e-01 -3.72541475e-02 5.97402476e+02] [-5.43943711e-01 8.38769557e-01 2.43078268e-02 3.12751389e+01] [ 4.44829299e-02 -1.04385625e-04 9.99010139e-01 1.34194734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.45, Y:31.24, Z:134.20 [[ 8.38232348e-01 5.44039397e-01 -3.72513849e-02 5.97449987e+02] [-5.43495913e-01 8.39059662e-01 2.43120597e-02 3.12353973e+01] [ 4.44828527e-02 -1.33179445e-04 9.99010139e-01 1.34202590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.50, Y:31.20, Z:134.20 [[ 8.38335330e-01 5.43881122e-01 -3.72451405e-02 5.97502467e+02] [-5.43337056e-01 8.39162262e-01 2.43216221e-02 3.12033525e+01] [ 4.44827875e-02 -1.53010127e-04 9.99010139e-01 1.34199375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.56, Y:31.17, Z:134.20 [[ 8.37207471e-01 5.45616057e-01 -3.72393502e-02 5.97555827e+02] [-5.45073311e-01 8.38035269e-01 2.43304845e-02 3.11720087e+01] [ 4.44829919e-02 -7.14874553e-05 9.99010139e-01 1.34201521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.61, Y:31.14, Z:134.20 [[ 8.39182876e-01 5.42573282e-01 -3.72335150e-02 5.97608141e+02] [-5.42027138e-01 8.40008437e-01 2.43394109e-02 3.11395795e+01] [ 4.44823808e-02 -2.43641295e-04 9.99010139e-01 1.34202126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.66, Y:31.11, Z:134.21 [[ 8.43403867e-01 5.35988822e-01 -3.72276739e-02 5.97661175e+02] [-5.35435840e-01 8.44224863e-01 2.43483418e-02 3.11075770e+01] [ 4.44789669e-02 -6.02454817e-04 9.99010139e-01 1.34207539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.72, Y:31.08, Z:134.21 [[ 8.47325360e-01 5.29768123e-01 -3.72218999e-02 5.97715391e+02] [-5.29208727e-01 8.48142000e-01 2.43571655e-02 3.10757884e+01] [ 4.44731064e-02 -9.40289802e-04 9.99010139e-01 1.34210989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.77, Y:31.05, Z:134.21 [[ 8.49818890e-01 5.25759338e-01 -3.72152122e-02 5.97769427e+02] [-5.25195643e-01 8.50632569e-01 2.43673794e-02 3.10468031e+01] [ 4.44678488e-02 -1.16259201e-03 9.99010140e-01 1.34212804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.82, Y:31.02, Z:134.22 [[ 8.50098556e-01 5.25307407e-01 -3.72098668e-02 5.97822779e+02] [-5.24742923e-01 8.50911686e-01 2.43755392e-02 3.10152541e+01] [ 4.44669618e-02 -1.19599646e-03 9.99010140e-01 1.34216660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.88, Y:30.98, Z:134.22 [[ 8.48650254e-01 5.27644419e-01 -3.72036596e-02 5.97877253e+02] [-5.27081760e-01 8.49464649e-01 2.43850093e-02 3.09832343e+01] [ 4.44698078e-02 -1.08497395e-03 9.99010140e-01 1.34220574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.93, Y:30.95, Z:134.22 [[ 8.47128647e-01 5.30084402e-01 -3.71965350e-02 5.97932627e+02] [-5.29523612e-01 8.47944330e-01 2.43958722e-02 3.09521004e+01] [ 4.44724623e-02 -9.69998680e-04 9.99010140e-01 1.34222077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.99, Y:30.92, Z:134.23 [[ 8.44735076e-01 5.33890999e-01 -3.71894036e-02 5.97986013e+02] [-5.33333407e-01 8.45552948e-01 2.44067386e-02 3.09186390e+01] [ 4.44761480e-02 -7.82876904e-04 9.99010140e-01 1.34226160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.04, Y:30.89, Z:134.23 [[ 8.42022935e-01 5.38158782e-01 -3.71820220e-02 5.98037481e+02] [-5.37604839e-01 8.42843283e-01 2.44179789e-02 3.08864652e+01] [ 4.44793672e-02 -5.71263317e-04 9.99010140e-01 1.34230637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:598.09, Y:30.86, Z:134.23 [[ 8.42061858e-01 5.38098285e-01 -3.71760973e-02 5.98091246e+02] [-5.37543885e-01 8.42881897e-01 2.44269958e-02 3.08555094e+01] [ 4.44791840e-02 -5.85257730e-04 9.99010140e-01 1.34232177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:598.14, Y:30.82, Z:134.24 [[ 8.41658023e-01 5.38730121e-01 -3.71702745e-02 5.98143023e+02] [-5.38175946e-01 8.42478214e-01 2.44358531e-02 3.08208210e+01] [ 4.44794766e-02 -5.62484171e-04 9.99010140e-01 1.34236911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.20, Y:30.79, Z:134.24 [[ 8.40897979e-01 5.39916150e-01 -3.71637010e-02 5.98196026e+02] [-5.39362690e-01 8.41718652e-01 2.44458464e-02 3.07870435e+01] [ 4.44800876e-02 -5.11749103e-04 9.99010140e-01 1.34240018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.25, Y:30.75, Z:134.24 [[ 8.40402103e-01 5.40688149e-01 -3.71568361e-02 5.98248014e+02] [-5.40134982e-01 8.41222974e-01 2.44562764e-02 3.07529150e+01] [ 4.44804030e-02 -4.83399132e-04 9.99010140e-01 1.34242172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.30, Y:30.72, Z:134.24 [[ 8.39965196e-01 5.41367076e-01 -3.71504871e-02 5.98300227e+02] [-5.40814146e-01 8.40786226e-01 2.44659171e-02 3.07182625e+01] [ 4.44806599e-02 -4.59009929e-04 9.99010140e-01 1.34244978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.130385723 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:598.35, Y:30.68, Z:134.25 [[ 8.39542458e-01 5.42022886e-01 -3.71436754e-02 5.98351116e+02] [-5.41470140e-01 8.40363612e-01 2.44762541e-02 3.06819414e+01] [ 4.44808831e-02 -4.36663449e-04 9.99010140e-01 1.34246336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.40, Y:30.65, Z:134.25 [[ 8.41906367e-01 5.38344020e-01 -3.71400794e-02 5.98402926e+02] [-5.37787445e-01 8.42724931e-01 2.44817096e-02 3.06487275e+01] [ 4.44784527e-02 -6.37838753e-04 9.99010140e-01 1.34251686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.46, Y:30.61, Z:134.25 [[ 8.44763390e-01 5.33850166e-01 -3.71323938e-02 5.98455902e+02] [-5.33288726e-01 8.45578625e-01 2.44933610e-02 3.06143729e+01] [ 4.44741433e-02 -8.88807688e-04 9.99010140e-01 1.34253501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.51, Y:30.58, Z:134.26 [[ 8.46781516e-01 5.30643712e-01 -3.71256511e-02 5.98509284e+02] [-5.30078738e-01 8.47594305e-01 2.45035770e-02 3.05810524e+01] [ 4.44701595e-02 -1.06965784e-03 9.99010140e-01 1.34256084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.370385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:598.56, Y:30.55, Z:134.26 [[ 8.47817994e-01 5.28986614e-01 -3.71188755e-02 5.98562933e+02] [-5.28419602e-01 8.48629363e-01 2.45138365e-02 3.05484673e+01] [ 4.44676591e-02 -1.16893026e-03 9.99010141e-01 1.34257889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.430385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:598.62, Y:30.52, Z:134.26 [[ 8.45514399e-01 5.32661088e-01 -3.71155883e-02 5.98616097e+02] [-5.32097384e-01 8.46328070e-01 2.45188126e-02 3.05170131e+01] [ 4.44721816e-02 -9.81901669e-04 9.99010141e-01 1.34260072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:598.67, Y:30.49, Z:134.26 [[ 8.42982465e-01 5.36659592e-01 -3.71085625e-02 5.98670245e+02] [-5.36099281e-01 8.43798476e-01 2.45294413e-02 3.04855841e+01] [ 4.44761085e-02 -7.84015268e-04 9.99010141e-01 1.34261514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.72, Y:30.45, Z:134.26 [[ 8.40776551e-01 5.40109420e-01 -3.71026358e-02 5.98724180e+02] [-5.39552062e-01 8.41594581e-01 2.45384028e-02 3.04531855e+01] [ 4.44787997e-02 -6.12510012e-04 9.99010141e-01 1.34264956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.610385723 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:598.78, Y:30.42, Z:134.27 [[ 8.39890411e-01 5.41486833e-01 -3.70959055e-02 5.98777612e+02] [-5.40930368e-01 8.40709049e-01 2.45485730e-02 3.04207103e+01] [ 4.44795925e-02 -5.51809261e-04 9.99010141e-01 1.34267018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.83, Y:30.39, Z:134.27 [[ 8.38470646e-01 5.43683153e-01 -3.70891387e-02 5.98831005e+02] [-5.43128380e-01 8.39290431e-01 2.45587924e-02 3.03868745e+01] [ 4.44807609e-02 -4.47662715e-04 9.99010141e-01 1.34269527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.88, Y:30.35, Z:134.27 [[ 8.36993503e-01 5.45954917e-01 -3.70824012e-02 5.98884270e+02] [-5.45401919e-01 8.37814486e-01 2.45689614e-02 3.03530573e+01] [ 4.44817182e-02 -3.39248267e-04 9.99010141e-01 1.34271921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.94, Y:30.32, Z:134.27 [[ 8.35701751e-01 5.47930631e-01 -3.70757009e-02 5.98936612e+02] [-5.47379125e-01 8.36523737e-01 2.45790684e-02 3.03193049e+01] [ 4.44823283e-02 -2.46305770e-04 9.99010141e-01 1.34274471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8503857229999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:598.99, Y:30.28, Z:134.28 [[ 8.34943794e-01 5.49085341e-01 -3.70695081e-02 5.98986878e+02] [-5.48534557e-01 8.35766265e-01 2.45884045e-02 3.02831033e+01] [ 4.44825768e-02 -1.96029538e-04 9.99010141e-01 1.34277523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.910385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:599.04, Y:30.25, Z:134.28 [[ 8.34191773e-01 5.50227561e-01 -3.70636797e-02 5.99039834e+02] [-5.49677513e-01 8.35014736e-01 2.45971870e-02 3.02482293e+01] [ 4.44827689e-02 -1.45699704e-04 9.99010141e-01 1.34278446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9703857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:599.09, Y:30.21, Z:134.28 [[ 8.34369319e-01 5.49958754e-01 -3.70568200e-02 5.99091067e+02] [-5.49407983e-01 8.35191798e-01 2.46075172e-02 3.02116242e+01] [ 4.44826716e-02 -1.72444645e-04 9.99010141e-01 1.34281240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.030385723 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:599.14, Y:30.18, Z:134.28 [[ 8.33812269e-01 5.50803272e-01 -3.70520626e-02 5.99140907e+02] [-5.50253015e-01 8.34635092e-01 2.46146783e-02 3.01750141e+01] [ 4.44827971e-02 -1.36011547e-04 9.99010141e-01 1.34280882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.19, Y:30.14, Z:134.29 [[ 8.31008066e-01 5.55025393e-01 -3.70460211e-02 5.99191112e+02] [-5.54478911e-01 8.31833401e-01 2.46237676e-02 3.01373460e+01] [ 4.44829341e-02 7.86879132e-05 9.99010141e-01 1.34286203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.150385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:599.24, Y:30.10, Z:134.29 [[ 8.29630964e-01 5.57082190e-01 -3.70391289e-02 5.99241458e+02] [-5.56537292e-01 8.30457345e-01 2.46341306e-02 3.00999277e+01] [ 4.44826521e-02 1.76418996e-04 9.99010141e-01 1.34288628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.210385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:599.29, Y:30.06, Z:134.29 [[ 8.29494417e-01 5.57285948e-01 -3.70322128e-02 5.99290411e+02] [-5.56740788e-01 8.30320626e-01 2.46445230e-02 3.00613266e+01] [ 4.44826565e-02 1.74849121e-04 9.99010141e-01 1.34290083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.270385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:599.34, Y:30.02, Z:134.30 [[ 8.29765190e-01 5.56883101e-01 -3.70262188e-02 5.99338606e+02] [-5.56337139e-01 8.30590869e-01 2.46535252e-02 3.00228595e+01] [ 4.44827708e-02 1.42423567e-04 9.99010142e-01 1.34295510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.39, Y:29.98, Z:134.30 [[ 8.30681008e-01 5.55516307e-01 -3.70228932e-02 5.99387408e+02] [-5.54968764e-01 8.31505639e-01 2.46585184e-02 2.99835083e+01] [ 4.44829536e-02 6.31863454e-05 9.99010142e-01 1.34299425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.44, Y:29.94, Z:134.30 [[ 8.31298910e-01 5.54591690e-01 -3.70159424e-02 5.99436021e+02] [-5.54042765e-01 8.32122622e-01 2.46689482e-02 2.99443420e+01] [ 4.44829967e-02 1.14533676e-06 9.99010142e-01 1.34302722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.49, Y:29.91, Z:134.30 [[ 8.32082905e-01 5.53415156e-01 -3.70095297e-02 5.99485633e+02] [-5.52864638e-01 8.32905553e-01 2.46785650e-02 2.99064876e+01] [ 4.44829347e-02 -7.33518120e-05 9.99010142e-01 1.34304723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.510385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:599.54, Y:29.87, Z:134.31 [[ 8.34470117e-01 5.49809407e-01 -3.70032489e-02 5.99535154e+02] [-5.49254918e-01 8.35290093e-01 2.46879789e-02 2.98674785e+01] [ 4.44821303e-02 -2.77164195e-04 9.99010142e-01 1.34307781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.58, Y:29.83, Z:134.31 [[ 8.36834588e-01 5.46204303e-01 -3.69963697e-02 5.99584128e+02] [-5.45645826e-01 8.37651853e-01 2.46982836e-02 2.98294726e+01] [ 4.44803864e-02 -4.81463287e-04 9.99010142e-01 1.34310085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.63, Y:29.79, Z:134.31 [[ 8.38578238e-01 5.43523944e-01 -3.69900317e-02 5.99634905e+02] [-5.42962436e-01 8.39393423e-01 2.47077721e-02 2.97916296e+01] [ 4.44784551e-02 -6.35202235e-04 9.99010142e-01 1.34314074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.69, Y:29.76, Z:134.32 [[ 8.38215505e-01 5.44083632e-01 -3.69833598e-02 5.99685667e+02] [-5.43522228e-01 8.39030762e-01 2.47177548e-02 2.97552778e+01] [ 4.44787024e-02 -6.17527192e-04 9.99010142e-01 1.34316798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.750385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:599.74, Y:29.72, Z:134.32 [[ 8.37428869e-01 5.45294064e-01 -3.69766435e-02 5.99737856e+02] [-5.44733396e-01 8.38244632e-01 2.47277980e-02 2.97203675e+01] [ 4.44793944e-02 -5.65359340e-04 9.99010142e-01 1.34318645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.79, Y:29.69, Z:134.32 [[ 8.35999548e-01 5.47483313e-01 -3.69699592e-02 5.99789747e+02] [-5.46924339e-01 8.36816473e-01 2.47377876e-02 2.96869579e+01] [ 4.44805967e-02 -4.61008778e-04 9.99010142e-01 1.34322192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.84, Y:29.65, Z:134.33 [[ 8.33639308e-01 5.51070913e-01 -3.69642056e-02 5.99840425e+02] [-5.50515073e-01 8.34458370e-01 2.47463818e-02 2.96536288e+01] [ 4.44821020e-02 -2.80204217e-04 9.99010142e-01 1.34327810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.89, Y:29.62, Z:134.33 [[ 8.32029916e-01 5.53498198e-01 -3.69589303e-02 5.99894410e+02] [-5.52944399e-01 8.32850358e-01 2.47542581e-02 2.96211740e+01] [ 4.44826956e-02 -1.60049840e-04 9.99010142e-01 1.34331764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.95, Y:29.59, Z:134.33 [[ 8.31452956e-01 5.54364978e-01 -3.69520383e-02 5.99947339e+02] [-5.53811577e-01 8.32273666e-01 2.47645418e-02 2.95873658e+01] [ 4.44828031e-02 -1.26084842e-04 9.99010142e-01 1.34334438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.050385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:600.00, Y:29.55, Z:134.34 [[ 8.31889959e-01 5.53709444e-01 -3.69452071e-02 5.99999361e+02] [-5.53154943e-01 8.32709927e-01 2.47747289e-02 2.95534093e+01] [ 4.44826420e-02 -1.73424261e-04 9.99010142e-01 1.34337362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.05, Y:29.52, Z:134.34 [[ 8.32163965e-01 5.53297953e-01 -3.69392796e-02 6.00052256e+02] [-5.52742654e-01 8.32983393e-01 2.47835636e-02 2.95196090e+01] [ 4.44825015e-02 -2.06073094e-04 9.99010142e-01 1.34339659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.170385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:600.10, Y:29.49, Z:134.34 [[ 8.31823836e-01 5.53809636e-01 -3.69322773e-02 6.00104639e+02] [-5.53254378e-01 8.32643292e-01 2.47939941e-02 2.94858229e+01] [ 4.44825657e-02 -1.91291186e-04 9.99010142e-01 1.34340248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.16, Y:29.45, Z:134.35 [[ 8.29808287e-01 5.56825552e-01 -3.69257529e-02 6.00156554e+02] [-5.56272840e-01 8.30629462e-01 2.48037070e-02 2.94520445e+01] [ 4.44829561e-02 -4.15281422e-05 9.99010143e-01 1.34345645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.21, Y:29.42, Z:134.35 [[ 8.28719175e-01 5.58445571e-01 -3.69198224e-02 6.00207872e+02] [-5.57894072e-01 8.29541164e-01 2.48125313e-02 2.94168667e+01] [ 4.44829607e-02 3.47296133e-05 9.99010143e-01 1.34347165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.26, Y:29.38, Z:134.35 [[ 8.28652983e-01 5.58544200e-01 -3.69135482e-02 6.00258934e+02] [-5.57992383e-01 8.29474759e-01 2.48218619e-02 2.93820842e+01] [ 4.44829635e-02 2.87687711e-05 9.99010143e-01 1.34347547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.31, Y:29.35, Z:134.35 [[ 8.28764243e-01 5.58379254e-01 -3.69112312e-02 6.00310400e+02] [-5.57827120e-01 8.29585805e-01 2.48253069e-02 2.93470847e+01] [ 4.44829698e-02 1.57591002e-05 9.99010143e-01 1.34351774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4703857229999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:600.36, Y:29.31, Z:134.36 [[ 8.29399117e-01 5.57436256e-01 -3.69042736e-02 6.00362042e+02] [-5.56882728e-01 8.30219741e-01 2.48356455e-02 2.93107078e+01] [ 4.44829457e-02 -4.73098858e-05 9.99010143e-01 1.34356437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.41, Y:29.28, Z:134.36 [[ 8.29981327e-01 5.56569477e-01 -3.68973532e-02 6.00412722e+02] [-5.56014634e-01 8.30801063e-01 2.48459226e-02 2.92760478e+01] [ 4.44828424e-02 -1.06183417e-04 9.99010143e-01 1.34358183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.46, Y:29.24, Z:134.36 [[ 8.30676473e-01 5.55531868e-01 -3.68909454e-02 6.00464218e+02] [-5.54975579e-01 8.31495228e-01 2.48554332e-02 2.92396620e+01] [ 4.44826303e-02 -1.73249728e-04 9.99010143e-01 1.34361420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.51, Y:29.20, Z:134.36 [[ 8.30778745e-01 5.55379358e-01 -3.68842044e-02 6.00514878e+02] [-5.54822475e-01 8.31597097e-01 2.48654325e-02 2.92039986e+01] [ 4.44825452e-02 -1.93487174e-04 9.99010143e-01 1.34362052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.57, Y:29.17, Z:134.36 [[ 8.31826354e-01 5.53809204e-01 -3.68819996e-02 6.00565304e+02] [-5.53250631e-01 8.32643553e-01 2.48687023e-02 2.91694824e+01] [ 4.44820755e-02 -2.81452432e-04 9.99010143e-01 1.34364140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.770385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:600.62, Y:29.14, Z:134.36 [[ 8.35575344e-01 5.48136831e-01 -3.68762714e-02 6.00618999e+02] [-5.47572337e-01 8.36388463e-01 2.48771936e-02 2.91379085e+01] [ 4.44789940e-02 -5.94343464e-04 9.99010143e-01 1.34360571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.67, Y:29.10, Z:134.37 [[ 8.35916318e-01 5.47616821e-01 -3.68744800e-02 6.00670544e+02] [-5.47051704e-01 8.36729004e-01 2.48798485e-02 2.91017647e+01] [ 4.44785705e-02 -6.25224263e-04 9.99010143e-01 1.34365128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.72, Y:29.07, Z:134.38 [[ 8.34403532e-01 5.49919323e-01 -3.68711756e-02 6.00719883e+02] [-5.49356232e-01 8.35217624e-01 2.48847445e-02 2.90659335e+01] [ 4.44800576e-02 -5.08508611e-04 9.99010143e-01 1.34375295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.77, Y:29.03, Z:134.38 [[ 8.33660740e-01 5.51045132e-01 -3.68650634e-02 6.00771822e+02] [-5.50482740e-01 8.34475315e-01 2.48937961e-02 2.90321600e+01] [ 4.44805906e-02 -4.59399330e-04 9.99010143e-01 1.34377523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:600.82, Y:29.00, Z:134.38 [[ 8.32386770e-01 5.52967808e-01 -3.68628199e-02 6.00823120e+02] [-5.52407151e-01 8.33202540e-01 2.48971178e-02 2.89974410e+01] [ 4.44814999e-02 -3.60746181e-04 9.99010143e-01 1.34381479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.88, Y:28.96, Z:134.38 [[ 8.29524710e-01 5.57252532e-01 -3.68560866e-02 6.00875878e+02] [-5.56695646e-01 8.30343059e-01 2.49070815e-02 2.89630044e+01] [ 4.44827299e-02 -1.43416592e-04 9.99010143e-01 1.34384356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.93, Y:28.93, Z:134.39 [[ 8.27271759e-01 5.60592166e-01 -3.68491555e-02 6.00928425e+02] [-5.60038127e-01 8.28092038e-01 2.49173315e-02 2.89295693e+01] [ 4.44829531e-02 2.35273756e-05 9.99010143e-01 1.34386146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.98, Y:28.90, Z:134.39 [[ 8.26084040e-01 5.62341190e-01 -3.68448628e-02 6.00981105e+02] [-5.61788605e-01 8.26905299e-01 2.49236775e-02 2.88951110e+01] [ 4.44828227e-02 1.09971829e-04 9.99010143e-01 1.34389170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.03, Y:28.86, Z:134.39 [[ 8.26098228e-01 5.62320806e-01 -3.68378680e-02 6.01034009e+02] [-5.61767740e-01 8.26919163e-01 2.49340117e-02 2.88609304e+01] [ 4.44828525e-02 9.63829147e-05 9.99010143e-01 1.34391850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.09, Y:28.83, Z:134.39 [[ 8.27103692e-01 5.60841305e-01 -3.68308703e-02 6.01086822e+02] [-5.60286310e-01 8.27923324e-01 2.49443440e-02 2.88269914e+01] [ 4.44829550e-02 4.27338688e-06 9.99010143e-01 1.34393981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.14, Y:28.79, Z:134.40 [[ 8.28843951e-01 5.58266696e-01 -3.68239305e-02 6.01139363e+02] [-5.57708700e-01 8.29661543e-01 2.49545845e-02 2.87941426e+01] [ 4.44827125e-02 -1.46430000e-04 9.99010144e-01 1.34396553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.19, Y:28.76, Z:134.40 [[ 8.31167822e-01 5.54801335e-01 -3.68175254e-02 6.01191946e+02] [-5.54239512e-01 8.31982788e-01 2.49640309e-02 2.87595746e+01] [ 4.44816252e-02 -3.43571877e-04 9.99010144e-01 1.34399453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.24, Y:28.73, Z:134.40 [[ 8.33411785e-01 5.51425214e-01 -3.68107439e-02 6.01244044e+02] [-5.50859648e-01 8.34224158e-01 2.49740267e-02 2.87279292e+01] [ 4.44797198e-02 -5.36094736e-04 9.99010144e-01 1.34397887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.30, Y:28.69, Z:134.40 [[ 8.35132501e-01 5.48816065e-01 -3.68053272e-02 6.01297583e+02] [-5.48247610e-01 8.35942855e-01 2.49820070e-02 2.86947744e+01] [ 4.44776771e-02 -6.84853313e-04 9.99010144e-01 1.34400635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.35, Y:28.66, Z:134.40 [[ 8.38816593e-01 5.43169036e-01 -3.67983879e-02 6.01353385e+02] [-5.42594679e-01 8.39622774e-01 2.49922244e-02 2.86644871e+01] [ 4.44717669e-02 -9.97283066e-04 9.99010144e-01 1.34401060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.40, Y:28.63, Z:134.41 [[ 8.38646131e-01 5.43432685e-01 -3.67910943e-02 6.01404891e+02] [-5.42858110e-01 8.39452157e-01 2.50029567e-02 2.86298831e+01] [ 4.44717873e-02 -9.96288998e-04 9.99010144e-01 1.34407280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.46, Y:28.60, Z:134.41 [[ 8.39211692e-01 5.42559350e-01 -3.67843432e-02 6.01459083e+02] [-5.41983501e-01 8.40016809e-01 2.50128849e-02 2.85988861e+01] [ 4.44704412e-02 -1.05459831e-03 9.99010144e-01 1.34410239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:601.51, Y:28.57, Z:134.41 [[ 8.38282067e-01 5.43994999e-01 -3.67779443e-02 6.01513810e+02] [-5.43420117e-01 8.39087874e-01 2.50222901e-02 2.85681314e+01] [ 4.44719278e-02 -9.89862313e-04 9.99010144e-01 1.34411983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.57, Y:28.54, Z:134.42 [[ 8.35655760e-01 5.48021161e-01 -3.67730652e-02 6.01567989e+02] [-5.47449846e-01 8.36464101e-01 2.50294585e-02 2.85357650e+01] [ 4.44760218e-02 -7.84602256e-04 9.99010144e-01 1.34415340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.62, Y:28.51, Z:134.42 [[ 8.32543646e-01 5.52738040e-01 -3.67659647e-02 6.01622722e+02] [-5.52170846e-01 8.33354883e-01 2.50398841e-02 2.85050617e+01] [ 4.44795926e-02 -5.45702617e-04 9.99010144e-01 1.34417728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.68, Y:28.48, Z:134.42 [[ 8.30641307e-01 5.55593193e-01 -3.67589857e-02 6.01679036e+02] [-5.55028334e-01 8.31454172e-01 2.50501252e-02 2.84754421e+01] [ 4.44810910e-02 -4.05390121e-04 9.99010144e-01 1.34417735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.73, Y:28.44, Z:134.42 [[ 8.28939434e-01 5.58129674e-01 -3.67516202e-02 6.01732395e+02] [-5.57566824e-01 8.29753690e-01 2.50609266e-02 2.84437506e+01] [ 4.44820393e-02 -2.82506181e-04 9.99010144e-01 1.34420999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.79, Y:28.41, Z:134.42 [[ 8.28243122e-01 5.59162905e-01 -3.67447530e-02 6.01785878e+02] [-5.58600624e-01 8.29057771e-01 2.50709913e-02 2.84113632e+01] [ 4.44822914e-02 -2.39234138e-04 9.99010144e-01 1.34424327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.84, Y:28.38, Z:134.43 [[ 8.27833657e-01 5.59769418e-01 -3.67373710e-02 6.01837783e+02] [-5.59207254e-01 8.28648388e-01 2.50818037e-02 2.83776830e+01] [ 4.44823900e-02 -2.19756944e-04 9.99010144e-01 1.34425856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:601.89, Y:28.34, Z:134.43 [[ 8.27812025e-01 5.59801863e-01 -3.67304448e-02 6.01890233e+02] [-5.59239281e-01 8.28626466e-01 2.50919426e-02 2.83430235e+01] [ 4.44823349e-02 -2.30304233e-04 9.99010145e-01 1.34427430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.94, Y:28.31, Z:134.43 [[ 8.27256274e-01 5.60623263e-01 -3.67234792e-02 6.01942156e+02] [-5.60061037e-01 8.28070962e-01 2.51021331e-02 2.83082468e+01] [ 4.44824865e-02 -1.98507308e-04 9.99010145e-01 1.34429879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.99, Y:28.27, Z:134.43 [[ 8.25865076e-01 5.62671112e-01 -3.67164223e-02 6.01992486e+02] [-5.62110448e-01 8.26680839e-01 2.51124507e-02 2.82740556e+01] [ 4.44828134e-02 -1.00811448e-04 9.99010145e-01 1.34432789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.390385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:602.04, Y:28.24, Z:134.44 [[ 8.24162001e-01 5.65163087e-01 -3.67107817e-02 6.02042948e+02] [-5.64604522e-01 8.24979203e-01 2.51206939e-02 2.82387190e+01] [ 4.44829203e-02 2.35520436e-05 9.99010145e-01 1.34437775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.09, Y:28.20, Z:134.44 [[ 8.23081210e-01 5.66736103e-01 -3.67084600e-02 6.02094969e+02] [-5.66178948e-01 8.23899374e-01 2.51240861e-02 2.82047641e+01] [ 4.44828038e-02 1.04394088e-04 9.99010145e-01 1.34440576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.14, Y:28.17, Z:134.44 [[ 8.20804336e-01 5.70029143e-01 -3.67017454e-02 6.02141932e+02] [-5.69474832e-01 8.21624429e-01 2.51338910e-02 2.81652768e+01] [ 4.44821010e-02 2.70713611e-04 9.99010145e-01 1.34442645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:602.20, Y:28.13, Z:134.44 [[ 8.22705599e-01 5.67282037e-01 -3.66958767e-02 6.02195408e+02] [-5.66724606e-01 8.23523575e-01 2.51424565e-02 2.81327329e+01] [ 4.44827835e-02 1.11616573e-04 9.99010145e-01 1.34439057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.630385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:602.25, Y:28.09, Z:134.44 [[ 8.21337046e-01 5.69262104e-01 -3.66894207e-02 6.02245494e+02] [-5.68706224e-01 8.22156076e-01 2.51518740e-02 2.80949393e+01] [ 4.44824389e-02 2.07335956e-04 9.99010145e-01 1.34442016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:602.30, Y:28.06, Z:134.44 [[ 8.21464602e-01 5.69078498e-01 -3.66820206e-02 6.02295138e+02] [-5.68521953e-01 8.22283181e-01 2.51626619e-02 2.80566289e+01] [ 4.44825384e-02 1.84297940e-04 9.99010145e-01 1.34443721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.35, Y:28.02, Z:134.45 [[ 8.21803081e-01 5.68590079e-01 -3.66745032e-02 6.02345241e+02] [-5.68032559e-01 8.22620995e-01 2.51736137e-02 2.80183187e+01] [ 4.44826833e-02 1.44558618e-04 9.99010145e-01 1.34446329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.39, Y:27.98, Z:134.45 [[ 8.21785786e-01 5.68615552e-01 -3.66670967e-02 6.02394635e+02] [-5.68057576e-01 8.22603389e-01 2.51843971e-02 2.79784603e+01] [ 4.44827179e-02 1.32842514e-04 9.99010145e-01 1.34450456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.44, Y:27.94, Z:134.45 [[ 8.22155169e-01 5.68081814e-01 -3.66596643e-02 6.02444698e+02] [-5.67522825e-01 8.22972080e-01 2.51952115e-02 2.79412364e+01] [ 4.44828216e-02 9.08228750e-05 9.99010145e-01 1.34451799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.49, Y:27.90, Z:134.46 [[ 8.21202438e-01 5.69458338e-01 -3.66572990e-02 6.02492764e+02] [-5.68900565e-01 8.22020179e-01 2.51986524e-02 2.79014287e+01] [ 4.44826222e-02 1.61163356e-04 9.99010145e-01 1.34457237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.54, Y:27.86, Z:134.47 [[ 8.19764034e-01 5.71527477e-01 -3.66506755e-02 6.02536763e+02] [-5.70971337e-01 8.20582887e-01 2.52082824e-02 2.78592250e+01] [ 4.44821431e-02 2.61641933e-04 9.99010145e-01 1.34470038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.59, Y:27.82, Z:134.46 [[ 8.23786124e-01 5.65715106e-01 -3.66447869e-02 6.02588887e+02] [-5.65152808e-01 8.24600761e-01 2.52168396e-02 2.78231586e+01] [ 4.44828662e-02 -6.33783120e-05 9.99010145e-01 1.34463427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.63, Y:27.78, Z:134.47 [[ 8.23886628e-01 5.65569203e-01 -3.66374259e-02 6.02634933e+02] [-5.65006285e-01 8.24700837e-01 2.52275298e-02 2.77837045e+01] [ 4.44828297e-02 -8.42485349e-05 9.99010145e-01 1.34474912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.68, Y:27.75, Z:134.48 [[ 8.26605484e-01 5.61588375e-01 -3.66315595e-02 6.02683847e+02] [-5.61021159e-01 8.27416703e-01 2.52360452e-02 2.77456422e+01] [ 4.44818339e-02 -3.09173410e-04 9.99010146e-01 1.34477494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.73, Y:27.71, Z:134.48 [[ 8.28685113e-01 5.58515380e-01 -3.66272233e-02 6.02733468e+02] [-5.57944878e-01 8.29494025e-01 2.52423372e-02 2.77088205e+01] [ 4.44802964e-02 -4.81977455e-04 9.99010146e-01 1.34479258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.78, Y:27.67, Z:134.48 [[ 8.30255176e-01 5.56178889e-01 -3.66249323e-02 6.02781495e+02] [-5.55605964e-01 8.31062374e-01 2.52456608e-02 2.76717268e+01] [ 4.44787068e-02 -6.11309715e-04 9.99010146e-01 1.34484099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.83, Y:27.63, Z:134.49 [[ 8.29365050e-01 5.57505752e-01 -3.66189804e-02 6.02832361e+02] [-5.56933737e-01 8.30172893e-01 2.52542911e-02 2.76342240e+01] [ 4.44794975e-02 -5.50680770e-04 9.99010146e-01 1.34486827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.88, Y:27.60, Z:134.49 [[ 8.27646972e-01 5.60053616e-01 -3.66119761e-02 6.02882655e+02] [-5.59483639e-01 8.28456255e-01 2.52644415e-02 2.75970850e+01] [ 4.44808624e-02 -4.26236873e-04 9.99010146e-01 1.34490655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.93, Y:27.56, Z:134.49 [[ 8.25026688e-01 5.63906948e-01 -3.66048927e-02 6.02932374e+02] [-5.63340296e-01 8.25838302e-01 2.52747002e-02 2.75595116e+01] [ 4.44823015e-02 -2.31291178e-04 9.99010146e-01 1.34493047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.530385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:602.98, Y:27.52, Z:134.50 [[ 8.24946079e-01 5.64025288e-01 -3.65983914e-02 6.02983519e+02] [-5.63458335e-01 8.25757482e-01 2.52841107e-02 2.75225935e+01] [ 4.44822734e-02 -2.36359299e-04 9.99010146e-01 1.34496135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.03, Y:27.49, Z:134.50 [[ 8.26495303e-01 5.61753138e-01 -3.65913368e-02 6.03033814e+02] [-5.61183502e-01 8.27304826e-01 2.52943161e-02 2.74851551e+01] [ 4.44813509e-02 -3.71178966e-04 9.99010146e-01 1.34499890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.08, Y:27.45, Z:134.50 [[ 8.29155738e-01 5.57819282e-01 -3.65842887e-02 6.03084859e+02] [-5.57245357e-01 8.29962225e-01 2.53045060e-02 2.74477136e+01] [ 4.44789190e-02 -5.94951380e-04 9.99010146e-01 1.34499600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.13, Y:27.41, Z:134.50 [[ 8.29971137e-01 5.56605827e-01 -3.65768503e-02 6.03134980e+02] [-5.56030249e-01 8.30776444e-01 2.53152534e-02 2.74128225e+01] [ 4.44778032e-02 -6.73094430e-04 9.99010146e-01 1.34503463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.19, Y:27.38, Z:134.50 [[ 8.30174737e-01 5.56302503e-01 -3.65708985e-02 6.03185587e+02] [-5.55726252e-01 8.30979564e-01 2.53238486e-02 2.73763173e+01] [ 4.44773896e-02 -6.99810975e-04 9.99010146e-01 1.34504942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.24, Y:27.34, Z:134.51 [[ 8.30309457e-01 5.56101803e-01 -3.65648751e-02 6.03235794e+02] [-5.55524975e-01 8.31113870e-01 2.53325427e-02 2.73397034e+01] [ 4.44770475e-02 -7.21148468e-04 9.99010146e-01 1.34505659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.29, Y:27.31, Z:134.51 [[ 8.29528994e-01 5.57265490e-01 -3.65625782e-02 6.03287535e+02] [-5.56689644e-01 8.30334110e-01 2.53358574e-02 2.73054952e+01] [ 4.44779548e-02 -6.62819698e-04 9.99010146e-01 1.34510537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.34, Y:27.27, Z:134.52 [[ 8.28048753e-01 5.59463087e-01 -3.65556746e-02 6.03337594e+02] [-5.58888939e-01 8.28855080e-01 2.53458142e-02 2.72701258e+01] [ 4.44794041e-02 -5.57007656e-04 9.99010146e-01 1.34515513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.010385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:603.39, Y:27.23, Z:134.52 [[ 8.28613436e-01 5.58626847e-01 -3.65488685e-02 6.03389805e+02] [-5.58051452e-01 8.29418875e-01 2.53556250e-02 2.72345545e+01] [ 4.44786542e-02 -6.13862401e-04 9.99010146e-01 1.34516851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.44, Y:27.20, Z:134.52 [[ 8.28716693e-01 5.58473884e-01 -3.65453660e-02 6.03441021e+02] [-5.57898118e-01 8.29521866e-01 2.53606722e-02 2.72002466e+01] [ 4.44784533e-02 -6.28221453e-04 9.99010146e-01 1.34521627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.49, Y:27.17, Z:134.52 [[ 8.28817367e-01 5.58324955e-01 -3.65378809e-02 6.03493217e+02] [-5.57748570e-01 8.29622096e-01 2.53714516e-02 2.71651663e+01] [ 4.44781479e-02 -6.49348960e-04 9.99010146e-01 1.34524531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.55, Y:27.13, Z:134.53 [[ 8.28601600e-01 5.58645574e-01 -3.65309462e-02 6.03545143e+02] [-5.58069060e-01 8.29406238e-01 2.53814326e-02 2.71300269e+01] [ 4.44782196e-02 -6.44304905e-04 9.99010147e-01 1.34528361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.60, Y:27.09, Z:134.53 [[ 8.27887165e-01 5.59704249e-01 -3.65239129e-02 6.03596877e+02] [-5.59128317e-01 8.28692219e-01 2.53915495e-02 2.70942856e+01] [ 4.44788406e-02 -5.99783952e-04 9.99010147e-01 1.34531573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.65, Y:27.06, Z:134.53 [[ 8.28485722e-01 5.58818336e-01 -3.65167921e-02 6.03648994e+02] [-5.58241092e-01 8.29289836e-01 2.54017861e-02 2.70604615e+01] [ 4.44779884e-02 -6.59843151e-04 9.99010147e-01 1.34529926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.70, Y:27.03, Z:134.54 [[ 8.27527512e-01 5.60236477e-01 -3.65144641e-02 6.03698245e+02] [-5.59660464e-01 8.28332508e-01 2.54051320e-02 2.70253071e+01] [ 4.44789993e-02 -5.87743793e-04 9.99010147e-01 1.34535656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.75, Y:26.99, Z:134.54 [[ 8.28690412e-01 5.58515297e-01 -3.65084161e-02 6.03749007e+02] [-5.57937230e-01 8.29493933e-01 2.54138205e-02 2.69908213e+01] [ 4.44775171e-02 -6.90784830e-04 9.99010147e-01 1.34538293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.80, Y:26.96, Z:134.54 [[ 8.29328138e-01 5.57568306e-01 -3.65023744e-02 6.03800654e+02] [-5.56988939e-01 8.30130724e-01 2.54224952e-02 2.69553150e+01] [ 4.44765201e-02 -7.52171860e-04 9.99010147e-01 1.34541271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.85, Y:26.92, Z:134.54 [[ 8.28863368e-01 5.58259442e-01 -3.64953819e-02 6.03852412e+02] [-5.57680303e-01 8.29666117e-01 2.54325295e-02 2.69220614e+01] [ 4.44769315e-02 -7.27336441e-04 9.99010147e-01 1.34543517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.91, Y:26.89, Z:134.55 [[ 8.27405740e-01 5.60417969e-01 -3.64889162e-02 6.03905345e+02] [-5.59840515e-01 8.28209703e-01 2.54418026e-02 2.68875980e+01] [ 4.44785178e-02 -6.22719879e-04 9.99010147e-01 1.34545499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.96, Y:26.85, Z:134.54 [[ 8.26972825e-01 5.61057064e-01 -3.64817491e-02 6.03958593e+02] [-5.60479778e-01 8.27776908e-01 2.54520757e-02 2.68530201e+01] [ 4.44788163e-02 -6.00892280e-04 9.99010147e-01 1.34544107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.01, Y:26.82, Z:134.55 [[ 8.24165506e-01 5.65173288e-01 -3.64742800e-02 6.04009186e+02] [-5.64599545e-01 8.24972121e-01 2.54627747e-02 2.68183813e+01] [ 4.44811443e-02 -3.92178742e-04 9.99010147e-01 1.34548650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.06, Y:26.78, Z:134.55 [[ 8.24255542e-01 5.65042355e-01 -3.64683144e-02 6.04061618e+02] [-5.64468106e-01 8.25061797e-01 2.54713160e-02 2.67829293e+01] [ 4.44809854e-02 -4.09672988e-04 9.99010147e-01 1.34551155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8503857229999 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:604.11, Y:26.75, Z:134.56 [[ 8.25147798e-01 5.63739017e-01 -3.64613795e-02 6.04111222e+02] [-5.63163056e-01 8.25952831e-01 2.54812391e-02 2.67456513e+01] [ 4.44801483e-02 -4.92086454e-04 9.99010147e-01 1.34555553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.16, Y:26.71, Z:134.56 [[ 8.26825902e-01 5.61275320e-01 -3.64546866e-02 6.04162471e+02] [-5.60696538e-01 8.27628909e-01 2.54908108e-02 2.67119687e+01] [ 4.44783154e-02 -6.36446005e-04 9.99010147e-01 1.34557692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.21, Y:26.68, Z:134.56 [[ 8.28689698e-01 5.58520271e-01 -3.64484677e-02 6.04214578e+02] [-5.57938429e-01 8.29490491e-01 2.54996999e-02 2.66779059e+01] [ 4.44757566e-02 -7.95337809e-04 9.99010147e-01 1.34558574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.030385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:604.27, Y:26.64, Z:134.56 [[ 8.29834851e-01 5.56817855e-01 -3.64417005e-02 6.04268409e+02] [-5.56233946e-01 8.30634137e-01 2.55093673e-02 2.66448596e+01] [ 4.44737916e-02 -8.98451130e-04 9.99010147e-01 1.34559634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.32, Y:26.61, Z:134.57 [[ 8.27065369e-01 5.60923734e-01 -3.64340448e-02 6.04317786e+02] [-5.60343313e-01 8.27867191e-01 2.55202968e-02 2.66092471e+01] [ 4.44774906e-02 -6.91380349e-04 9.99010148e-01 1.34568454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.37, Y:26.57, Z:134.57 [[ 8.25182448e-01 5.63690307e-01 -3.64302932e-02 6.04370591e+02] [-5.63112337e-01 8.25986039e-01 2.55256512e-02 2.65742246e+01] [ 4.44794757e-02 -5.48971746e-04 9.99010148e-01 1.34570524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.42, Y:26.54, Z:134.57 [[ 8.23353980e-01 5.66358157e-01 -3.64233681e-02 6.04422338e+02] [-5.65782355e-01 8.24159125e-01 2.55355290e-02 2.65402281e+01] [ 4.44809064e-02 -4.17080404e-04 9.99010148e-01 1.34572458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.47, Y:26.51, Z:134.57 [[ 8.21550865e-01 5.68970965e-01 -3.64172641e-02 6.04474637e+02] [-5.68397337e-01 8.22357562e-01 2.55442313e-02 2.65068615e+01] [ 4.44819384e-02 -2.86409362e-04 9.99010148e-01 1.34574917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.53, Y:26.47, Z:134.58 [[ 8.20857368e-01 5.69971296e-01 -3.64129540e-02 6.04525751e+02] [-5.69398379e-01 8.21664569e-01 2.55503737e-02 2.64710677e+01] [ 4.44822138e-02 -2.39735505e-04 9.99010148e-01 1.34579947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.58, Y:26.44, Z:134.58 [[ 8.20612497e-01 5.70324247e-01 -3.64058217e-02 6.04578155e+02] [-5.69751226e-01 8.21419624e-01 2.55605323e-02 2.64381436e+01] [ 4.44822477e-02 -2.33030698e-04 9.99010148e-01 1.34584146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.63, Y:26.40, Z:134.58 [[ 8.20905343e-01 5.69903052e-01 -3.63995884e-02 6.04630002e+02] [-5.69329224e-01 8.21711896e-01 2.55694057e-02 2.64033091e+01] [ 4.44820572e-02 -2.66712325e-04 9.99010148e-01 1.34582879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.68, Y:26.37, Z:134.58 [[ 8.21741039e-01 5.68697555e-01 -3.63972119e-02 6.04683916e+02] [-5.68122394e-01 8.22546642e-01 2.55727882e-02 2.63703914e+01] [ 4.44815865e-02 -3.36138458e-04 9.99010148e-01 1.34582174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.73, Y:26.34, Z:134.59 [[ 8.20269863e-01 5.70817995e-01 -3.63891202e-02 6.04733691e+02] [-5.70244406e-01 8.21076587e-01 2.55842972e-02 2.63357324e+01] [ 4.44822318e-02 -2.35335741e-04 9.99010148e-01 1.34590611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.78, Y:26.30, Z:134.59 [[ 8.19496213e-01 5.71928532e-01 -3.63828453e-02 6.04783965e+02] [-5.71355640e-01 8.20303432e-01 2.55932175e-02 2.62994178e+01] [ 4.44824641e-02 -1.86000939e-04 9.99010148e-01 1.34593758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.84, Y:26.26, Z:134.59 [[ 8.18068651e-01 5.73969032e-01 -3.63762708e-02 6.04835167e+02] [-5.73397738e-01 8.18877001e-01 2.56025586e-02 2.62645839e+01] [ 4.44827673e-02 -8.65791892e-05 9.99010148e-01 1.34594003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.89, Y:26.23, Z:134.60 [[ 8.16576755e-01 5.76089932e-01 -3.63702359e-02 6.04885245e+02] [-5.75520356e-01 8.17386316e-01 2.56111287e-02 2.62271596e+01] [ 4.44828465e-02 1.83587302e-05 9.99010148e-01 1.34598168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.93, Y:26.19, Z:134.60 [[ 8.17149569e-01 5.75277587e-01 -3.63631594e-02 6.04934827e+02] [-5.74706759e-01 8.17958248e-01 2.56211721e-02 2.61916417e+01] [ 4.44828323e-02 -3.81761840e-05 9.99010148e-01 1.34601661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.98, Y:26.15, Z:134.60 [[ 8.17082882e-01 5.75372658e-01 -3.63575004e-02 6.04983125e+02] [-5.74801567e-01 8.17891376e-01 2.56291999e-02 2.61521965e+01] [ 4.44828269e-02 -4.28322757e-05 9.99010148e-01 1.34603873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.03, Y:26.12, Z:134.60 [[ 8.18315596e-01 5.73618245e-01 -3.63551196e-02 6.05033075e+02] [-5.73045270e-01 8.19122756e-01 2.56325767e-02 2.61150271e+01] [ 4.44826194e-02 -1.42407936e-04 9.99010148e-01 1.34604361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.08, Y:26.08, Z:134.61 [[ 8.19652024e-01 5.71707142e-01 -3.63524938e-02 6.05083226e+02] [-5.71132121e-01 8.20457726e-01 2.56363000e-02 2.60806697e+01] [ 4.44821403e-02 -2.50768288e-04 9.99010148e-01 1.34608285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.13, Y:26.04, Z:134.61 [[ 8.18936729e-01 5.72731722e-01 -3.63456744e-02 6.05133321e+02] [-5.72157280e-01 8.19742845e-01 2.56459646e-02 2.60434861e+01] [ 4.44823640e-02 -2.06980117e-04 9.99010148e-01 1.34610472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.18, Y:26.01, Z:134.61 [[ 8.18312827e-01 5.73623183e-01 -3.63395105e-02 6.05183482e+02] [-5.73049232e-01 8.19119292e-01 2.56546957e-02 2.60070628e+01] [ 4.44825223e-02 -1.69237977e-04 9.99010148e-01 1.34609599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.23, Y:25.97, Z:134.62 [[ 8.17526767e-01 5.74743136e-01 -3.63361016e-02 6.05232142e+02] [-5.74170074e-01 8.18333865e-01 2.56595230e-02 2.59676960e+01] [ 4.44826972e-02 -1.14244768e-04 9.99010148e-01 1.34615445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.28, Y:25.93, Z:134.62 [[ 8.17224094e-01 5.75173883e-01 -3.63288458e-02 6.05281490e+02] [-5.74600790e-01 8.18031169e-01 2.56697917e-02 2.59305530e+01] [ 4.44827220e-02 -1.03388820e-04 9.99010148e-01 1.34619280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.33, Y:25.89, Z:134.62 [[ 8.16081036e-01 5.76794940e-01 -3.63227348e-02 6.05329244e+02] [-5.76223065e-01 8.16888975e-01 2.56784358e-02 2.58911934e+01] [ 4.44828334e-02 -2.56868608e-05 9.99010149e-01 1.34622891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.38, Y:25.85, Z:134.62 [[ 8.16459916e-01 5.76258920e-01 -3.63161458e-02 6.05378591e+02] [-5.75686101e-01 8.17267186e-01 2.56877511e-02 2.58542225e+01] [ 4.44827900e-02 -6.63187021e-05 9.99010149e-01 1.34623733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.43, Y:25.81, Z:134.63 [[ 8.14902716e-01 5.78459288e-01 -3.63100021e-02 6.05426542e+02] [-5.77888262e-01 8.15711254e-01 2.56964324e-02 2.58143856e+01] [ 4.44828173e-02 4.30314183e-05 9.99010149e-01 1.34627429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.48, Y:25.78, Z:134.63 [[ 8.13492952e-01 5.80440339e-01 -3.63074469e-02 6.05476395e+02] [-5.79871120e-01 8.14302764e-01 2.57000422e-02 2.57793623e+01] [ 4.44825956e-02 1.46836736e-04 9.99010149e-01 1.34629082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.52, Y:25.74, Z:134.63 [[ 8.12286019e-01 5.82128572e-01 -3.63008091e-02 6.05524750e+02] [-5.81560618e-01 8.13096718e-01 2.57094145e-02 2.57403338e+01] [ 4.44822535e-02 2.27723023e-04 9.99010149e-01 1.34629026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.57, Y:25.70, Z:134.63 [[ 8.11827637e-01 5.82768041e-01 -3.62945987e-02 6.05574601e+02] [-5.82200334e-01 8.12638509e-01 2.57181788e-02 2.57016678e+01] [ 4.44821213e-02 2.51999147e-04 9.99010149e-01 1.34630750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.62, Y:25.66, Z:134.63 [[ 8.11930830e-01 5.82624700e-01 -3.62875626e-02 6.05623579e+02] [-5.82056406e-01 8.12741291e-01 2.57281027e-02 2.56628798e+01] [ 4.44822286e-02 2.31968473e-04 9.99010149e-01 1.34634133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.67, Y:25.62, Z:134.64 [[ 8.12440997e-01 5.81913524e-01 -3.62805413e-02 6.05672594e+02] [-5.81344078e-01 8.13250649e-01 2.57380000e-02 2.56243956e+01] [ 4.44824641e-02 1.80871472e-04 9.99010149e-01 1.34637939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.72, Y:25.59, Z:134.64 [[ 8.12372492e-01 5.82009533e-01 -3.62744901e-02 6.05720804e+02] [-5.81439802e-01 8.13181943e-01 2.57465257e-02 2.55854933e+01] [ 4.44824837e-02 1.75663147e-04 9.99010149e-01 1.34642517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.77, Y:25.55, Z:134.64 [[ 8.10338950e-01 5.84837925e-01 -3.62682626e-02 6.05772494e+02] [-5.84270627e-01 8.11150109e-01 2.57552952e-02 2.55498486e+01] [ 4.44816785e-02 3.19961661e-04 9.99010149e-01 1.34644862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.83, Y:25.52, Z:134.65 [[ 8.08821897e-01 5.86934635e-01 -3.62611650e-02 6.05825767e+02] [-5.86368992e-01 8.09634211e-01 2.57652840e-02 2.55160238e+01] [ 4.44808173e-02 4.22896873e-04 9.99010149e-01 1.34646647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.88, Y:25.48, Z:134.65 [[ 8.08516057e-01 5.87356305e-01 -3.62540672e-02 6.05877442e+02] [-5.86790638e-01 8.09328353e-01 2.57752674e-02 2.54799457e+01] [ 4.44807104e-02 4.33829642e-04 9.99010149e-01 1.34649192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.93, Y:25.44, Z:134.65 [[ 8.11479482e-01 5.83255706e-01 -3.62468080e-02 6.05926991e+02] [-5.82685478e-01 8.12288583e-01 2.57854718e-02 2.54434126e+01] [ 4.44823919e-02 1.96107351e-04 9.99010149e-01 1.34650902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.98, Y:25.41, Z:134.65 [[ 8.16117928e-01 5.76747738e-01 -3.62432695e-02 6.05979291e+02] [-5.76170838e-01 8.16922284e-01 2.57904445e-02 2.54081995e+01] [ 4.44825150e-02 -1.65729190e-04 9.99010149e-01 1.34651713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.03, Y:25.37, Z:134.66 [[ 8.19340360e-01 5.72161112e-01 -3.62358343e-02 6.06029537e+02] [-5.71579247e-01 8.20141133e-01 2.58008867e-02 2.53719794e+01] [ 4.44807623e-02 -4.28056938e-04 9.99010149e-01 1.34657155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.08, Y:25.34, Z:134.66 [[ 8.21715797e-01 5.68744775e-01 -3.62288584e-02 6.06080518e+02] [-5.68159149e-01 8.22513824e-01 2.58106784e-02 2.53375510e+01] [ 4.44784253e-02 -6.25284846e-04 9.99010149e-01 1.34662333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.13, Y:25.30, Z:134.67 [[ 8.21929571e-01 5.68436188e-01 -3.62226562e-02 6.06133710e+02] [-5.67849879e-01 8.22727096e-01 2.58193796e-02 2.53042841e+01] [ 4.44780305e-02 -6.52680598e-04 9.99010150e-01 1.34665865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.19, Y:25.27, Z:134.67 [[ 8.20045381e-01 5.71151476e-01 -3.62155359e-02 6.06186579e+02] [-5.70567368e-01 8.20844518e-01 2.58293631e-02 2.52714083e+01] [ 4.44798030e-02 -5.17846869e-04 9.99010150e-01 1.34667762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.24, Y:25.24, Z:134.67 [[ 8.16438552e-01 5.76295933e-01 -3.62089509e-02 6.06239785e+02] [-5.75716451e-01 8.17241051e-01 2.58385910e-02 2.52376314e+01] [ 4.44821160e-02 -2.49533119e-04 9.99010150e-01 1.34669536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.29, Y:25.21, Z:134.67 [[ 8.12480112e-01 5.81863810e-01 -3.62018625e-02 6.06293697e+02] [-5.81289385e-01 8.13286238e-01 2.58485185e-02 2.52055207e+01] [ 4.44827940e-02 4.23512316e-05 9.99010150e-01 1.34670015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.35, Y:25.17, Z:134.67 [[ 8.11667749e-01 5.82996912e-01 -3.61948284e-02 6.06345334e+02] [-5.82423173e-01 8.12474364e-01 2.58583644e-02 2.51699078e+01] [ 4.44827168e-02 9.23063270e-05 9.99010150e-01 1.34673034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.40, Y:25.13, Z:134.68 [[ 8.11544537e-01 5.83168852e-01 -3.61877749e-02 6.06397506e+02] [-5.82594844e-01 8.12350960e-01 2.58682317e-02 2.51346859e+01] [ 4.44827207e-02 8.95889704e-05 9.99010150e-01 1.34676943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.45, Y:25.10, Z:134.68 [[ 8.12184479e-01 5.82277712e-01 -3.61806488e-02 6.06450197e+02] [-5.81702375e-01 8.12989954e-01 2.58781949e-02 2.50997929e+01] [ 4.44828001e-02 2.85010891e-05 9.99010150e-01 1.34680318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.50, Y:25.06, Z:134.68 [[ 8.14686170e-01 5.78772775e-01 -3.61734494e-02 6.06502616e+02] [-5.78193527e-01 8.15488837e-01 2.58882545e-02 2.50648744e+01] [ 4.44824611e-02 -1.75548678e-04 9.99010150e-01 1.34682874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.56, Y:25.03, Z:134.68 [[ 8.16802206e-01 5.75783087e-01 -3.61661779e-02 6.06556935e+02] [-5.75200451e-01 8.17602418e-01 2.58984089e-02 2.50320669e+01] [ 4.44814203e-02 -3.51075718e-04 9.99010150e-01 1.34684148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.61, Y:25.00, Z:134.68 [[ 8.15667585e-01 5.77389775e-01 -3.61585241e-02 6.06607213e+02] [-5.76808242e-01 8.16468598e-01 2.59090905e-02 2.49966260e+01] [ 4.44819434e-02 -2.76670569e-04 9.99010150e-01 1.34684775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.66, Y:24.96, Z:134.69 [[ 8.15554418e-01 5.77550051e-01 -3.61514996e-02 6.06659566e+02] [-5.76968241e-01 8.16355229e-01 2.59188882e-02 2.49614942e+01] [ 4.44819210e-02 -2.79996665e-04 9.99010150e-01 1.34687036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.71, Y:24.93, Z:134.69 [[ 8.15246494e-01 5.77985057e-01 -3.61445513e-02 6.06710373e+02] [-5.77403244e-01 8.16047304e-01 2.59285743e-02 2.49268366e+01] [ 4.44819921e-02 -2.68198110e-04 9.99010150e-01 1.34694042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.76, Y:24.89, Z:134.69 [[ 8.14001457e-01 5.79737597e-01 -3.61378950e-02 6.06760056e+02] [-5.79157097e-01 8.14803218e-01 2.59378481e-02 2.48915355e+01] [ 4.44824189e-02 -1.83927808e-04 9.99010150e-01 1.34693661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:606.81, Y:24.86, Z:134.70 [[ 8.14150908e-01 5.79528075e-01 -3.61318361e-02 6.06811750e+02] [-5.78946994e-01 8.14952249e-01 2.59462855e-02 2.48576353e+01] [ 4.44823220e-02 -2.05774035e-04 9.99010150e-01 1.34700581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.86, Y:24.82, Z:134.70 [[ 8.11825865e-01 5.82781025e-01 -3.61253625e-02 6.06860343e+02] [-5.82202754e-01 8.12629236e-01 2.59552956e-02 2.48203293e+01] [ 4.44827795e-02 -3.88947940e-05 9.99010151e-01 1.34699445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.150385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:606.91, Y:24.78, Z:134.70 [[ 8.10046303e-01 5.85252406e-01 -3.61193653e-02 6.06912305e+02] [-5.84676214e-01 8.10851166e-01 2.59636386e-02 2.47843969e+01] [ 4.44827115e-02 8.63843042e-05 9.99010151e-01 1.34701992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.96, Y:24.75, Z:134.71 [[ 8.09431734e-01 5.86102529e-01 -3.61122317e-02 6.06963766e+02] [-5.85526741e-01 8.10236885e-01 2.59735569e-02 2.47495717e+01] [ 4.44826295e-02 1.20856099e-04 9.99010151e-01 1.34706051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.270385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:607.01, Y:24.71, Z:134.71 [[ 8.06886111e-01 5.89602573e-01 -3.61055436e-02 6.07010866e+02] [-5.89029860e-01 8.07693454e-01 2.59828506e-02 2.47110530e+01] [ 4.44817668e-02 3.02041998e-04 9.99010151e-01 1.34705302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.06, Y:24.67, Z:134.71 [[ 8.05368729e-01 5.91673936e-01 -3.60993567e-02 6.07060615e+02] [-5.91102915e-01 8.06177269e-01 2.59914435e-02 2.46732818e+01] [ 4.44809405e-02 4.05739094e-04 9.99010151e-01 1.34709699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.11, Y:24.64, Z:134.71 [[ 8.02974537e-01 5.94919314e-01 -3.60957503e-02 6.07107908e+02] [-5.94351336e-01 8.03785217e-01 2.59964510e-02 2.46350442e+01] [ 4.44790213e-02 5.79069166e-04 9.99010151e-01 1.34709654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.16, Y:24.60, Z:134.71 [[ 8.02055811e-01 5.96157709e-01 -3.60896513e-02 6.07156409e+02] [-5.95590601e-01 8.02867100e-01 2.60049152e-02 2.45952371e+01] [ 4.44782243e-02 6.37263789e-04 9.99010151e-01 1.34712359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.21, Y:24.56, Z:134.72 [[ 8.02691300e-01 5.95302216e-01 -3.60825097e-02 6.07206809e+02] [-5.94733799e-01 8.03501672e-01 2.60148205e-02 2.45573573e+01] [ 4.44790372e-02 5.77617952e-04 9.99010151e-01 1.34715116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.25, Y:24.52, Z:134.72 [[ 8.02251263e-01 5.95895559e-01 -3.60748520e-02 6.07253758e+02] [-5.95327263e-01 8.03061720e-01 2.60254353e-02 2.45181593e+01] [ 4.44787740e-02 5.97404594e-04 9.99010151e-01 1.34718095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.30, Y:24.48, Z:134.72 [[ 8.03535463e-01 5.94163114e-01 -3.60687417e-02 6.07300751e+02] [-5.93592691e-01 8.04344424e-01 2.60339008e-02 2.44778261e+01] [ 4.44800748e-02 4.90978958e-04 9.99010151e-01 1.34719131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:607.35, Y:24.44, Z:134.72 [[ 8.04618387e-01 5.92695929e-01 -3.60664355e-02 6.07346941e+02] [-5.92123888e-01 8.05426205e-01 2.60370953e-02 2.44379072e+01] [ 4.44809326e-02 4.05872343e-04 9.99010151e-01 1.34721027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.39, Y:24.40, Z:134.73 [[ 8.05305376e-01 5.91762533e-01 -3.60604450e-02 6.07394562e+02] [-5.91189184e-01 8.06112267e-01 2.60453892e-02 2.43975098e+01] [ 4.44814526e-02 3.44053092e-04 9.99010151e-01 1.34725235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.44, Y:24.36, Z:134.73 [[ 8.05878338e-01 5.90982401e-01 -3.60542015e-02 6.07443015e+02] [-5.90407885e-01 8.06684398e-01 2.60540292e-02 2.43597410e+01] [ 4.44818345e-02 2.90307134e-04 9.99010151e-01 1.34727117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.49, Y:24.32, Z:134.73 [[ 8.06715499e-01 5.89839531e-01 -3.60476220e-02 6.07490587e+02] [-5.89263466e-01 8.07520452e-01 2.60631292e-02 2.43190508e+01] [ 4.44822559e-02 2.16016380e-04 9.99010151e-01 1.34731488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.54, Y:24.28, Z:134.73 [[ 8.07544974e-01 5.88703829e-01 -3.60404831e-02 6.07539030e+02] [-5.88126191e-01 8.08348800e-01 2.60729972e-02 2.42797530e+01] [ 4.44825546e-02 1.41234215e-04 9.99010151e-01 1.34733979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.59, Y:24.24, Z:134.74 [[ 8.07826721e-01 5.88317423e-01 -3.60360726e-02 6.07589315e+02] [-5.87739129e-01 8.08630074e-01 2.60790918e-02 2.42437930e+01] [ 4.44826361e-02 1.12422711e-04 9.99010151e-01 1.34738925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.050385723 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:607.64, Y:24.21, Z:134.74 [[ 8.07169173e-01 5.89219628e-01 -3.60299359e-02 6.07641107e+02] [-5.88641854e-01 8.07972900e-01 2.60875672e-02 2.42089428e+01] [ 4.44825184e-02 1.51648232e-04 9.99010151e-01 1.34742079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.69, Y:24.17, Z:134.75 [[ 8.06875998e-01 5.89621476e-01 -3.60227734e-02 6.07693349e+02] [-5.89043660e-01 8.07679695e-01 2.60974538e-02 2.41737589e+01] [ 4.44824818e-02 1.61577222e-04 9.99010151e-01 1.34745818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.75, Y:24.14, Z:134.75 [[ 8.07610646e-01 5.88615258e-01 -3.60155746e-02 6.07745230e+02] [-5.88035998e-01 8.08413303e-01 2.61073845e-02 2.41385908e+01] [ 4.44826746e-02 9.38526916e-05 9.99010152e-01 1.34750076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2303857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:607.80, Y:24.10, Z:134.75 [[ 8.08170367e-01 5.87846972e-01 -3.60082789e-02 6.07797178e+02] [-5.87266501e-01 8.08972148e-01 2.61174432e-02 2.41044464e+01] [ 4.44827546e-02 3.91123403e-05 9.99010152e-01 1.34752271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.85, Y:24.07, Z:134.76 [[ 8.08395086e-01 5.87538316e-01 -3.60015698e-02 6.07849539e+02] [-5.86957127e-01 8.09196347e-01 2.61266881e-02 2.40701788e+01] [ 4.44827691e-02 1.06917255e-05 9.99010152e-01 1.34755154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.90, Y:24.03, Z:134.76 [[ 8.08734676e-01 5.87071236e-01 -3.59942723e-02 6.07901937e+02] [-5.86489137e-01 8.09535276e-01 2.61367379e-02 2.40347224e+01] [ 4.44827602e-02 -2.74365471e-05 9.99010152e-01 1.34757891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.95, Y:24.00, Z:134.76 [[ 8.08509847e-01 5.87381279e-01 -3.59869391e-02 6.07952183e+02] [-5.86799038e-01 8.09310344e-01 2.61468309e-02 2.39988419e+01] [ 4.44827610e-02 -2.28690533e-05 9.99010152e-01 1.34760651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.00, Y:23.96, Z:134.76 [[ 8.07858337e-01 5.88277429e-01 -3.59801798e-02 6.08003166e+02] [-5.87695662e-01 8.08659178e-01 2.61561290e-02 2.39624504e+01] [ 4.44827629e-02 1.49487132e-05 9.99010152e-01 1.34762713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.05, Y:23.93, Z:134.77 [[ 8.09344566e-01 5.86231183e-01 -3.59773963e-02 6.08054646e+02] [-5.85647220e-01 8.10143808e-01 2.61599570e-02 2.39284627e+01] [ 4.44826474e-02 -1.02356866e-04 9.99010152e-01 1.34765317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.11, Y:23.89, Z:134.77 [[ 8.10012312e-01 5.85308412e-01 -3.59738418e-02 6.08106653e+02] [-5.84723322e-01 8.10810729e-01 2.61648441e-02 2.38930672e+01] [ 4.44824802e-02 -1.59101612e-04 9.99010152e-01 1.34768871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.16, Y:23.86, Z:134.78 [[ 8.09346089e-01 5.86229742e-01 -3.59666297e-02 6.08155180e+02] [-5.85645121e-01 8.10144848e-01 2.61747542e-02 2.38559914e+01] [ 4.44825992e-02 -1.20753760e-04 9.99010152e-01 1.34778480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.21, Y:23.82, Z:134.78 [[ 8.11113204e-01 5.83782426e-01 -3.59645661e-02 6.08206700e+02] [-5.83195269e-01 8.11910101e-01 2.61775893e-02 2.38237404e+01] [ 4.44820111e-02 -2.58623522e-04 9.99010152e-01 1.34775990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.26, Y:23.79, Z:134.78 [[ 8.11210302e-01 5.83647700e-01 -3.59612071e-02 6.08257600e+02] [-5.83060206e-01 8.12006951e-01 2.61822029e-02 2.37880350e+01] [ 4.44819326e-02 -2.71723885e-04 9.99010152e-01 1.34778085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.31, Y:23.75, Z:134.78 [[ 8.10220174e-01 5.85021840e-01 -3.59543635e-02 6.08309237e+02] [-5.84435280e-01 8.11017512e-01 2.61915974e-02 2.37515320e+01] [ 4.44822749e-02 -2.07962138e-04 9.99010152e-01 1.34780733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.36, Y:23.72, Z:134.78 [[ 8.08739327e-01 5.87067720e-01 -3.59470945e-02 6.08360728e+02] [-5.86482734e-01 8.09537819e-01 2.62015701e-02 2.37150124e+01] [ 4.44826285e-02 -1.07889877e-04 9.99010152e-01 1.34783605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.41, Y:23.68, Z:134.79 [[ 8.07708873e-01 5.88485089e-01 -3.59398972e-02 6.08411001e+02] [-5.87901065e-01 8.08508070e-01 2.62114387e-02 2.36791323e+01] [ 4.44827377e-02 -4.21077480e-05 9.99010152e-01 1.34785255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.46, Y:23.64, Z:134.79 [[ 8.07915791e-01 5.88201256e-01 -3.59354518e-02 6.08460753e+02] [-5.87616680e-01 8.08714584e-01 2.62175319e-02 2.36415321e+01] [ 4.44827091e-02 -6.52871983e-05 9.99010152e-01 1.34788665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.51, Y:23.61, Z:134.79 [[ 8.07837248e-01 5.88309389e-01 -3.59310899e-02 6.08510813e+02] [-5.87724655e-01 8.08635924e-01 2.62235084e-02 2.36057486e+01] [ 4.44827064e-02 -6.67394569e-05 9.99010152e-01 1.34790590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.56, Y:23.57, Z:134.79 [[ 8.07400963e-01 5.88908402e-01 -3.59246374e-02 6.08560949e+02] [-5.88323866e-01 8.08199785e-01 2.62323451e-02 2.35682591e+01] [ 4.44827326e-02 -4.46990903e-05 9.99010152e-01 1.34792740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.61, Y:23.53, Z:134.80 [[ 8.05431353e-01 5.91599737e-01 -3.59177610e-02 6.08611215e+02] [-5.91017452e-01 8.06231817e-01 2.62417570e-02 2.35308376e+01] [ 4.44826582e-02 9.20897234e-05 9.99010152e-01 1.34796171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.66, Y:23.49, Z:134.80 [[ 8.02179943e-01 5.96001488e-01 -3.59105225e-02 6.08661488e+02] [-5.95423151e-01 8.02983264e-01 2.62516588e-02 2.34932359e+01] [ 4.44815762e-02 3.23402292e-04 9.99010153e-01 1.34797822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.71, Y:23.46, Z:134.80 [[ 7.99360720e-01 5.99777789e-01 -3.59032482e-02 6.08709411e+02] [-5.99202800e-01 8.00166441e-01 2.62616037e-02 2.34555451e+01] [ 4.44797009e-02 5.20832404e-04 9.99010153e-01 1.34798661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.76, Y:23.42, Z:134.80 [[ 7.98601049e-01 6.00789263e-01 -3.58974351e-02 6.08758889e+02] [-6.00214938e-01 7.99407243e-01 2.62695474e-02 2.34175087e+01] [ 4.44791316e-02 5.67288682e-04 9.99010153e-01 1.34801856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.81, Y:23.38, Z:134.81 [[ 7.98582864e-01 6.00813813e-01 -3.58911145e-02 6.08808100e+02] [-6.00239125e-01 7.99388798e-01 2.62781802e-02 2.33778033e+01] [ 4.44792485e-02 5.57946760e-04 9.99010153e-01 1.34805789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.490385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:608.86, Y:23.34, Z:134.81 [[ 7.99783929e-01 5.99214504e-01 -3.58837693e-02 6.08856852e+02] [-5.98637754e-01 8.00588390e-01 2.62882065e-02 2.33387170e+01] [ 4.44804037e-02 4.56493971e-04 9.99010153e-01 1.34808410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.550385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:608.90, Y:23.30, Z:134.81 [[ 8.01267222e-01 5.97230035e-01 -3.58765084e-02 6.08904994e+02] [-5.96650849e-01 8.02069930e-01 2.62981119e-02 2.32981294e+01] [ 4.44814909e-02 3.33934132e-04 9.99010153e-01 1.34812112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.95, Y:23.26, Z:134.81 [[ 8.02995468e-01 5.94904767e-01 -3.58691496e-02 6.08953956e+02] [-5.94322809e-01 8.03796169e-01 2.63081451e-02 2.32598715e+01] [ 4.44823260e-02 1.92532494e-04 9.99010153e-01 1.34814604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.00, Y:23.22, Z:134.82 [[ 8.05426428e-01 5.91609667e-01 -3.58646174e-02 6.09003439e+02] [-5.91024158e-01 8.06224535e-01 2.63143222e-02 2.32208312e+01] [ 4.44827419e-02 2.60470520e-06 9.99010153e-01 1.34817122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7303857229999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:609.05, Y:23.18, Z:134.82 [[ 8.06850144e-01 5.89666927e-01 -3.58575085e-02 6.09053298e+02] [-5.89079066e-01 8.07646520e-01 2.63240056e-02 2.31829939e+01] [ 4.44825875e-02 -1.16620117e-04 9.99010153e-01 1.34818592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.10, Y:23.15, Z:134.82 [[ 8.07937363e-01 5.88176521e-01 -3.58552299e-02 6.09103472e+02] [-5.87587052e-01 8.08732551e-01 2.63271089e-02 2.31478673e+01] [ 4.44822789e-02 -2.02586076e-04 9.99010153e-01 1.34821729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.15, Y:23.11, Z:134.83 [[ 8.08772027e-01 5.87028650e-01 -3.58493100e-02 6.09154502e+02] [-5.86437696e-01 8.09566111e-01 2.63351675e-02 2.31107098e+01] [ 4.44818843e-02 -2.75760078e-04 9.99010153e-01 1.34825905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.20, Y:23.08, Z:134.83 [[ 8.08349793e-01 5.87610385e-01 -3.58419897e-02 6.09204514e+02] [-5.87019561e-01 8.09143973e-01 2.63451266e-02 2.30755281e+01] [ 4.44820000e-02 -2.56128612e-04 9.99010153e-01 1.34830995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.26, Y:23.04, Z:134.84 [[ 8.07322694e-01 5.89021087e-01 -3.58361164e-02 6.09256105e+02] [-5.88431296e-01 8.08117642e-01 2.63531134e-02 2.30412207e+01] [ 4.44823374e-02 -1.88374141e-04 9.99010153e-01 1.34839439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.030385723 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:609.31, Y:23.01, Z:134.84 [[ 8.07454409e-01 5.88840923e-01 -3.58293888e-02 6.09307941e+02] [-5.88250549e-01 8.08248924e-01 2.63622569e-02 2.30078291e+01] [ 4.44822407e-02 -2.09662944e-04 9.99010153e-01 1.34838361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.36, Y:22.97, Z:134.85 [[ 8.08306577e-01 5.87670976e-01 -3.58231969e-02 6.09357285e+02] [-5.87079078e-01 8.09099959e-01 2.63706684e-02 2.29715905e+01] [ 4.44818235e-02 -2.84535316e-04 9.99010153e-01 1.34852070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.41, Y:22.94, Z:134.85 [[ 8.12203122e-01 5.82273926e-01 -3.58212811e-02 6.09412071e+02] [-5.81676642e-01 8.12992457e-01 2.63732705e-02 2.29423186e+01] [ 4.44788991e-02 -5.84050182e-04 9.99010153e-01 1.34846308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.47, Y:22.91, Z:134.85 [[ 8.14602709e-01 5.78912522e-01 -3.58150635e-02 6.09465310e+02] [-5.78311611e-01 8.15389285e-01 2.63817114e-02 2.29104335e+01] [ 4.44759221e-02 -7.78346539e-04 9.99010153e-01 1.34848586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:609.52, Y:22.88, Z:134.85 [[ 8.16031228e-01 5.76897539e-01 -3.58087033e-02 6.09521707e+02] [-5.76294308e-01 8.16816026e-01 2.63903414e-02 2.28809981e+01] [ 4.44736458e-02 -8.98990802e-04 9.99010153e-01 1.34852698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.58, Y:22.85, Z:134.86 [[ 8.15301540e-01 5.77928772e-01 -3.58013089e-02 6.09577566e+02] [-5.77326093e-01 8.16086762e-01 2.64003689e-02 2.28513216e+01] [ 4.44745070e-02 -8.55231646e-04 9.99010154e-01 1.34856166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.63, Y:22.82, Z:134.86 [[ 8.14225897e-01 5.79443685e-01 -3.57939215e-02 6.09633395e+02] [-5.78842027e-01 8.15011902e-01 2.64103810e-02 2.28232710e+01] [ 4.44758005e-02 -7.84990097e-04 9.99010154e-01 1.34859034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.450385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:609.69, Y:22.80, Z:134.86 [[ 8.12523955e-01 5.81828244e-01 -3.57870984e-02 6.09689593e+02] [-5.81228486e-01 8.13311410e-01 2.64196234e-02 2.27958823e+01] [ 4.44777386e-02 -6.66095867e-04 9.99010154e-01 1.34862172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.75, Y:22.77, Z:134.87 [[ 8.12779789e-01 5.81471081e-01 -3.57826234e-02 6.09747915e+02] [-5.80870710e-01 8.13566778e-01 2.64256829e-02 2.27695433e+01] [ 4.44773240e-02 -6.93183114e-04 9.99010154e-01 1.34865824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.80, Y:22.74, Z:134.87 [[ 8.13785745e-01 5.80062846e-01 -3.57750676e-02 6.09803280e+02] [-5.79460664e-01 8.14571348e-01 2.64359080e-02 2.27412578e+01] [ 4.44758331e-02 -7.82920684e-04 9.99010154e-01 1.34867419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.86, Y:22.71, Z:134.87 [[ 8.17107453e-01 5.75374649e-01 -3.57690318e-02 6.09860320e+02] [-5.74767603e-01 8.17889304e-01 2.64440721e-02 2.27127127e+01] [ 4.44703573e-02 -1.04876775e-03 9.99010154e-01 1.34870837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.92, Y:22.69, Z:134.87 [[ 8.19229259e-01 5.72350005e-01 -3.57615980e-02 6.09916161e+02] [-5.71739635e-01 8.20008518e-01 2.64541215e-02 2.26853071e+01] [ 4.44658315e-02 -1.22566734e-03 9.99010154e-01 1.34869658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.97, Y:22.66, Z:134.88 [[ 8.20780617e-01 5.70123456e-01 -3.57550512e-02 6.09972228e+02] [-5.69510587e-01 8.21557912e-01 2.64629670e-02 2.26564975e+01] [ 4.44620034e-02 -1.35741019e-03 9.99010154e-01 1.34879192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.810385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:610.03, Y:22.63, Z:134.88 [[ 8.16389161e-01 5.76394396e-01 -3.57524592e-02 6.10027524e+02] [-5.75787347e-01 8.17171009e-01 2.64664685e-02 2.26271678e+01] [ 4.44709973e-02 -1.02112435e-03 9.99010154e-01 1.34884239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.08, Y:22.60, Z:134.88 [[ 8.13938943e-01 5.79849412e-01 -3.57499114e-02 6.10084481e+02] [-5.79245531e-01 8.14723241e-01 2.64699095e-02 2.26009566e+01] [ 4.44748451e-02 -8.36913782e-04 9.99010154e-01 1.34881431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.14, Y:22.57, Z:134.88 [[ 8.10409137e-01 5.84772986e-01 -3.57433193e-02 6.10138448e+02] [-5.84173478e-01 8.11196783e-01 2.64788081e-02 2.25682428e+01] [ 4.44789573e-02 -5.78368929e-04 9.99010154e-01 1.34884962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.19, Y:22.54, Z:134.89 [[ 8.08207915e-01 5.87811955e-01 -3.57361382e-02 6.10191440e+02] [-5.87214981e-01 8.08997482e-01 2.64884962e-02 2.25363570e+01] [ 4.44807006e-02 -4.23416565e-04 9.99010154e-01 1.34889300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.24, Y:22.50, Z:134.89 [[ 8.07096051e-01 5.89338067e-01 -3.57296312e-02 6.10243582e+02] [-5.88742197e-01 8.07886452e-01 2.64972704e-02 2.25039875e+01] [ 4.44813352e-02 -3.50300749e-04 9.99010154e-01 1.34890962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.29, Y:22.47, Z:134.89 [[ 8.07145185e-01 5.89270988e-01 -3.57260782e-02 6.10294741e+02] [-5.88674840e-01 8.07935377e-01 2.65020601e-02 2.24687292e+01] [ 4.44812576e-02 -3.59966828e-04 9.99010154e-01 1.34893094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.35, Y:22.43, Z:134.90 [[ 8.07228630e-01 5.89157035e-01 -3.57201259e-02 6.10345719e+02] [-5.88560421e-01 8.08018470e-01 2.65100804e-02 2.24324540e+01] [ 4.44811218e-02 -3.76243563e-04 9.99010154e-01 1.34896003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.40, Y:22.40, Z:134.90 [[ 8.06076268e-01 5.90732841e-01 -3.57178069e-02 6.10397210e+02] [-5.90137632e-01 8.06867167e-01 2.65132044e-02 2.23964237e+01] [ 4.44817462e-02 -2.93242886e-04 9.99010154e-01 1.34898579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.45, Y:22.36, Z:134.90 [[ 8.05513997e-01 5.91499758e-01 -3.57104566e-02 6.10447638e+02] [-5.90904864e-01 8.06305133e-01 2.65231008e-02 2.23585470e+01] [ 4.44819322e-02 -2.63246392e-04 9.99010154e-01 1.34902617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.50, Y:22.32, Z:134.91 [[ 8.06450645e-01 5.90222540e-01 -3.57030805e-02 6.10495284e+02] [-5.89625954e-01 8.07240505e-01 2.65330262e-02 2.23197816e+01] [ 4.44813628e-02 -3.46113254e-04 9.99010154e-01 1.34906324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.55, Y:22.28, Z:134.91 [[ 8.07998486e-01 5.88102222e-01 -3.56962646e-02 6.10545461e+02] [-5.87503158e-01 8.08786468e-01 2.65421927e-02 2.22816463e+01] [ 4.44801783e-02 -4.74383340e-04 9.99010154e-01 1.34909419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.59, Y:22.24, Z:134.91 [[ 8.09379168e-01 5.86201059e-01 -3.56886709e-02 6.10594611e+02] [-5.85599694e-01 8.10165396e-01 2.65523994e-02 2.22428543e+01] [ 4.44787708e-02 -5.91684238e-04 9.99010155e-01 1.34913165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.530385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:610.64, Y:22.20, Z:134.92 [[ 8.08998735e-01 5.86726438e-01 -3.56810056e-02 6.10644047e+02] [-5.86125129e-01 8.09785006e-01 2.65626959e-02 2.22045406e+01] [ 4.44789793e-02 -5.75653361e-04 9.99010155e-01 1.34915814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.69, Y:22.17, Z:134.92 [[ 8.05950705e-01 5.90906823e-01 -3.56733461e-02 6.10693391e+02] [-5.90309138e-01 8.06739734e-01 2.65729787e-02 2.21677169e+01] [ 4.44812601e-02 -3.58208707e-04 9.99010155e-01 1.34918072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.74, Y:22.13, Z:134.93 [[ 8.01717964e-01 5.96637431e-01 -3.56662607e-02 6.10740304e+02] [-5.96044964e-01 8.02510918e-01 2.65824853e-02 2.21270661e+01] [ 4.44826693e-02 -5.29609061e-05 9.99010155e-01 1.34926373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.79, Y:22.09, Z:134.92 [[ 8.02383751e-01 5.95741906e-01 -3.56636713e-02 6.10790650e+02] [-5.95148399e-01 8.03175927e-01 2.65859588e-02 2.20928226e+01] [ 4.44825720e-02 -1.06964527e-04 9.99010155e-01 1.34924363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.84, Y:22.05, Z:134.93 [[ 8.03037233e-01 5.94860806e-01 -3.56626288e-02 6.10837930e+02] [-5.94266368e-01 8.03828711e-01 2.65873571e-02 2.20520305e+01] [ 4.44824216e-02 -1.57536814e-04 9.99010155e-01 1.34930256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.89, Y:22.01, Z:134.93 [[ 8.05483208e-01 5.91544796e-01 -3.56588800e-02 6.10886196e+02] [-5.90946877e-01 8.06272060e-01 2.65923840e-02 2.20148647e+01] [ 4.44813450e-02 -3.47215001e-04 9.99010155e-01 1.34928841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.93, Y:21.97, Z:134.93 [[ 8.07444858e-01 5.88864590e-01 -3.56552278e-02 6.10933293e+02] [-5.88263836e-01 8.08231553e-01 2.65972800e-02 2.19747181e+01] [ 4.44798766e-02 -5.01155891e-04 9.99010155e-01 1.34930800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.98, Y:21.93, Z:134.93 [[ 8.07401164e-01 5.88924890e-01 -3.56487476e-02 6.10981575e+02] [-5.88323812e-01 8.08187611e-01 2.66059627e-02 2.19346129e+01] [ 4.44797898e-02 -5.08678174e-04 9.99010155e-01 1.34934262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.03, Y:21.90, Z:134.94 [[ 8.05632383e-01 5.91342674e-01 -3.56413441e-02 6.11029700e+02] [-5.90743518e-01 8.06420295e-01 2.66158768e-02 2.18957671e+01] [ 4.44810070e-02 -3.87719268e-04 9.99010155e-01 1.34937228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.08, Y:21.86, Z:134.94 [[ 8.04249156e-01 5.93222957e-01 -3.56344996e-02 6.11078469e+02] [-5.92625237e-01 8.05038158e-01 2.66250373e-02 2.18553472e+01] [ 4.44817153e-02 -2.95260029e-04 9.99010155e-01 1.34940752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.13, Y:21.82, Z:134.94 [[ 8.04162541e-01 5.93340823e-01 -3.56268972e-02 6.11125837e+02] [-5.92742768e-01 8.04951288e-01 2.66352062e-02 2.18165713e+01] [ 4.44816720e-02 -3.01449451e-04 9.99010155e-01 1.34941383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.17, Y:21.78, Z:134.94 [[ 8.05897515e-01 5.90982563e-01 -3.56203071e-02 6.11174663e+02] [-5.90381811e-01 8.06684210e-01 2.66440165e-02 2.17761228e+01] [ 4.44804884e-02 -4.42765273e-04 9.99010155e-01 1.34944940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.22, Y:21.73, Z:134.95 [[ 8.08275023e-01 5.87727172e-01 -3.56126241e-02 6.11221187e+02] [-5.87122799e-01 8.09058940e-01 2.66542817e-02 2.17348663e+01] [ 4.44781575e-02 -6.35006615e-04 9.99010155e-01 1.34947248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.27, Y:21.69, Z:134.95 [[ 8.10308577e-01 5.84920716e-01 -3.56057032e-02 6.11269011e+02] [-5.84313222e-01 8.11090078e-01 2.66635237e-02 2.16936978e+01] [ 4.44754800e-02 -8.00798813e-04 9.99010155e-01 1.34950585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.32, Y:21.65, Z:134.95 [[ 8.11427663e-01 5.83367732e-01 -3.55982621e-02 6.11315356e+02] [-5.82758308e-01 8.12207659e-01 2.66734546e-02 2.16514088e+01] [ 4.44736138e-02 -8.98395939e-04 9.99010155e-01 1.34953959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.430385723 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:611.36, Y:21.61, Z:134.96 [[ 8.11335602e-01 5.83496105e-01 -3.55926394e-02 6.11364066e+02] [-5.82886475e-01 8.12115438e-01 2.66809553e-02 2.16131407e+01] [ 4.44735654e-02 -9.00740827e-04 9.99010155e-01 1.34959601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.41, Y:21.57, Z:134.96 [[ 8.09984939e-01 5.85370048e-01 -3.55851755e-02 6.11413059e+02] [-5.84761785e-01 8.10765842e-01 2.66909064e-02 2.15745113e+01] [ 4.44753019e-02 -8.10381460e-04 9.99010156e-01 1.34964565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.46, Y:21.54, Z:134.97 [[ 8.07164672e-01 5.89253222e-01 -3.55785373e-02 6.11460829e+02] [-5.88648327e-01 8.07948186e-01 2.66997521e-02 2.15371965e+01] [ 4.44785296e-02 -6.07850189e-04 9.99010156e-01 1.34969619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.51, Y:21.50, Z:134.97 [[ 8.04445927e-01 5.92959821e-01 -3.55724614e-02 6.11510729e+02] [-5.92358179e-01 8.05231941e-01 2.67078446e-02 2.14990502e+01] [ 4.44807609e-02 -4.13378388e-04 9.99010156e-01 1.34973655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.56, Y:21.46, Z:134.98 [[ 8.02147755e-01 5.96065524e-01 -3.55650116e-02 6.11561718e+02] [-5.95466485e-01 8.02935755e-01 2.67177614e-02 2.14616077e+01] [ 4.44819559e-02 -2.53819894e-04 9.99010156e-01 1.34977211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.61, Y:21.42, Z:134.98 [[ 8.00847013e-01 5.97812455e-01 -3.55574324e-02 6.11610787e+02] [-5.97214687e-01 8.01635977e-01 2.67278443e-02 2.14221174e+01] [ 4.44823553e-02 -1.69493415e-04 9.99010156e-01 1.34981452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.66, Y:21.39, Z:134.98 [[ 8.01316974e-01 5.97182828e-01 -3.55496455e-02 6.11660779e+02] [-5.96583981e-01 8.02105119e-01 2.67381975e-02 2.13852453e+01] [ 4.44821450e-02 -2.17422469e-04 9.99010156e-01 1.34982253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.71, Y:21.35, Z:134.99 [[ 8.03382659e-01 5.94401412e-01 -3.55424395e-02 6.11709899e+02] [-5.93799413e-01 8.04168399e-01 2.67477727e-02 2.13466154e+01] [ 4.44810206e-02 -3.83617014e-04 9.99010156e-01 1.34985465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.76, Y:21.31, Z:134.99 [[ 8.04309908e-01 5.93146570e-01 -3.55347372e-02 6.11759404e+02] [-5.92542893e-01 8.05094361e-01 2.67580014e-02 2.13079740e+01] [ 4.44802333e-02 -4.65869652e-04 9.99010156e-01 1.34989274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9703857229999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:611.81, Y:21.27, Z:134.98 [[ 8.06193297e-01 5.90584618e-01 -3.55271336e-02 6.11811658e+02] [-5.89978003e-01 8.06975480e-01 2.67680931e-02 2.12740627e+01] [ 4.44783497e-02 -6.20029841e-04 9.99010156e-01 1.34982040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.030385723 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:611.86, Y:21.23, Z:134.99 [[ 8.03714554e-01 5.93953896e-01 -3.55202005e-02 6.11857236e+02] [-5.93350154e-01 8.04498956e-01 2.67772899e-02 2.12338243e+01] [ 4.44804399e-02 -4.45381117e-04 9.99010156e-01 1.34991274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0903857229999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:611.91, Y:21.20, Z:134.98 [[ 8.06003579e-01 5.90844309e-01 -3.55138573e-02 6.11909256e+02] [-5.90237171e-01 8.06785355e-01 2.67857000e-02 2.11988623e+01] [ 4.44782384e-02 -6.27771446e-04 9.99010156e-01 1.34984611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.95, Y:21.16, Z:135.00 [[ 8.02814764e-01 5.95170324e-01 -3.55069049e-02 6.11954484e+02] [-5.94566991e-01 8.03599481e-01 2.67949129e-02 2.11577341e+01] [ 4.44808673e-02 -4.00118123e-04 9.99010156e-01 1.34996774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.210385723 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:612.01, Y:21.12, Z:134.99 [[ 8.04596491e-01 5.92759814e-01 -3.55005500e-02 6.12005664e+02] [-5.92153759e-01 8.05379108e-01 2.68033299e-02 2.11224609e+01] [ 4.44793381e-02 -5.44081038e-04 9.99010156e-01 1.34989527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.05, Y:21.08, Z:135.00 [[ 7.99450195e-01 5.99682923e-01 -3.54933396e-02 6.12051581e+02] [-5.99083223e-01 8.00237691e-01 2.68128746e-02 2.10824957e+01] [ 4.44823311e-02 -1.72093499e-04 9.99010156e-01 1.35000010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.10, Y:21.04, Z:135.00 [[ 7.98182571e-01 6.01369498e-01 -3.54867636e-02 6.12100762e+02] [-6.00771074e-01 7.98971038e-01 2.68215751e-02 2.10427989e+01] [ 4.44825735e-02 -8.90927238e-05 9.99010156e-01 1.35002377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.15, Y:21.00, Z:135.00 [[ 7.98925378e-01 6.00382773e-01 -3.54791070e-02 6.12149823e+02] [-5.99782926e-01 7.99712762e-01 2.68316993e-02 2.10040619e+01] [ 4.44823847e-02 -1.56762924e-04 9.99010157e-01 1.34998155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.20, Y:20.96, Z:135.00 [[ 7.98526678e-01 6.00913102e-01 -3.54765884e-02 6.12199001e+02] [-6.00313630e-01 7.99314348e-01 2.68350290e-02 2.09642332e+01] [ 4.44824666e-02 -1.31407022e-04 9.99010157e-01 1.35000507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.25, Y:20.92, Z:135.01 [[ 7.98339473e-01 6.01162266e-01 -3.54685141e-02 6.12246863e+02] [-6.00562566e-01 7.99126969e-01 2.68456967e-02 2.09242795e+01] [ 4.44824660e-02 -1.30917442e-04 9.99010157e-01 1.35005248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.29, Y:20.88, Z:135.01 [[ 7.98080101e-01 6.01507018e-01 -3.54606851e-02 6.12293007e+02] [-6.00907199e-01 7.98867506e-01 2.68560342e-02 2.08847915e+01] [ 4.44824821e-02 -1.24685551e-04 9.99010157e-01 1.35013166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.630385723 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:612.34, Y:20.85, Z:135.01 [[ 8.00169105e-01 5.98725658e-01 -3.54540462e-02 6.12341439e+02] [-5.98122714e-01 8.00954120e-01 2.68647956e-02 2.08466035e+01] [ 4.44817068e-02 -2.90509161e-04 9.99010157e-01 1.35013343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.690385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:612.39, Y:20.81, Z:135.02 [[ 8.01615891e-01 5.96787625e-01 -3.54470429e-02 6.12391208e+02] [-5.96182375e-01 8.02399129e-01 2.68740330e-02 2.08084272e+01] [ 4.44807667e-02 -4.09749733e-04 9.99010157e-01 1.35016500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.44, Y:20.77, Z:135.02 [[ 8.02056258e-01 5.96196109e-01 -3.54395112e-02 6.12440251e+02] [-5.95589842e-01 8.02838709e-01 2.68839617e-02 2.07710224e+01] [ 4.44803247e-02 -4.55036855e-04 9.99010157e-01 1.35020715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.49, Y:20.73, Z:135.02 [[ 8.01250635e-01 5.97278653e-01 -3.54348736e-02 6.12490031e+02] [-5.96673173e-01 8.02033695e-01 2.68900729e-02 2.07323484e+01] [ 4.44808291e-02 -4.02649481e-04 9.99010157e-01 1.35023147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.54, Y:20.70, Z:135.03 [[ 8.00252936e-01 5.98615186e-01 -3.54273548e-02 6.12539061e+02] [-5.98010576e-01 8.01036668e-01 2.68999752e-02 2.06950691e+01] [ 4.44813439e-02 -3.40851268e-04 9.99010157e-01 1.35026283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.59, Y:20.66, Z:135.03 [[ 7.99387848e-01 5.99770343e-01 -3.54204085e-02 6.12589966e+02] [-5.99166460e-01 8.00172140e-01 2.69091186e-02 2.06574347e+01] [ 4.44817153e-02 -2.88101689e-04 9.99010157e-01 1.35030279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.64, Y:20.62, Z:135.03 [[ 7.98684306e-01 6.00707332e-01 -3.54130152e-02 6.12639524e+02] [-6.00103938e-01 7.99468974e-01 2.69188449e-02 2.06193311e+01] [ 4.44819544e-02 -2.48169086e-04 9.99010157e-01 1.35034155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.69, Y:20.58, Z:135.04 [[ 7.97541481e-01 6.02224240e-01 -3.54055309e-02 6.12689796e+02] [-6.01621901e-01 7.98326960e-01 2.69286851e-02 2.05817719e+01] [ 4.44822968e-02 -1.76000573e-04 9.99010157e-01 1.35035949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.74, Y:20.54, Z:135.04 [[ 7.96108178e-01 6.04118161e-01 -3.53979711e-02 6.12738584e+02] [-6.03517249e-01 7.96894749e-01 2.69386189e-02 2.05434848e+01] [ 4.44825662e-02 -8.27686911e-05 9.99010157e-01 1.35037977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.170385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:612.79, Y:20.50, Z:135.04 [[ 7.94359875e-01 6.06415590e-01 -3.53909840e-02 6.12787644e+02] [-6.05816544e-01 7.95147867e-01 2.69477952e-02 2.05043345e+01] [ 4.44826286e-02 3.41964407e-05 9.99010157e-01 1.35039931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.84, Y:20.46, Z:135.04 [[ 7.92797689e-01 6.08456919e-01 -3.53836448e-02 6.12836856e+02] [-6.07859473e-01 7.93586894e-01 2.69574284e-02 2.04647863e+01] [ 4.44824306e-02 1.36496805e-04 9.99010157e-01 1.35041317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.89, Y:20.43, Z:135.04 [[ 7.94007997e-01 6.06877104e-01 -3.53762935e-02 6.12887188e+02] [-6.06277657e-01 7.94795684e-01 2.69670721e-02 2.04275186e+01] [ 4.44826240e-02 3.57854541e-05 9.99010158e-01 1.35037065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.93, Y:20.38, Z:135.05 [[ 7.91886651e-01 6.09642960e-01 -3.53693885e-02 6.12931934e+02] [-6.09045860e-01 7.92676119e-01 2.69761255e-02 2.03839358e+01] [ 4.44822746e-02 1.79545974e-04 9.99010158e-01 1.35045028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.98, Y:20.34, Z:135.05 [[ 7.91947202e-01 6.09564694e-01 -3.53625778e-02 6.12979374e+02] [-6.08967118e-01 7.92736310e-01 2.69850505e-02 2.03438016e+01] [ 4.44823335e-02 1.63911817e-04 9.99010158e-01 1.35048020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4703857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:613.03, Y:20.30, Z:135.05 [[ 7.91771857e-01 6.09792854e-01 -3.53553712e-02 6.13027079e+02] [-6.09195083e-01 7.92560817e-01 2.69944893e-02 2.03020410e+01] [ 4.44823285e-02 1.64841347e-04 9.99010158e-01 1.35050414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.530385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:613.08, Y:20.26, Z:135.05 [[ 7.94534233e-01 6.06189653e-01 -3.53476757e-02 6.13075557e+02] [-6.05587856e-01 7.95320126e-01 2.70045623e-02 2.02611696e+01] [ 4.44826041e-02 -4.99260543e-05 9.99010158e-01 1.35046564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.12, Y:20.22, Z:135.05 [[ 7.93615415e-01 6.07392526e-01 -3.53396706e-02 6.13120944e+02] [-6.06791454e-01 7.94401863e-01 2.70150342e-02 2.02172558e+01] [ 4.44826300e-02 4.26250320e-06 9.99010158e-01 1.35054021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.17, Y:20.17, Z:135.06 [[ 7.93628810e-01 6.07375487e-01 -3.53317024e-02 6.13165930e+02] [-6.06773934e-01 7.94414890e-01 2.70254515e-02 2.01739486e+01] [ 4.44826272e-02 -9.82082933e-06 9.99010158e-01 1.35057787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.710385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:613.21, Y:20.13, Z:135.06 [[ 7.95265163e-01 6.05231782e-01 -3.53243467e-02 6.13211951e+02] [-6.04627684e-01 7.96049288e-01 2.70350625e-02 2.01314117e+01] [ 4.44824001e-02 -1.41965429e-04 9.99010158e-01 1.35062243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.26, Y:20.09, Z:135.06 [[ 7.96459845e-01 6.03659211e-01 -3.53167310e-02 6.13258059e+02] [-6.03053124e-01 7.97242433e-01 2.70450074e-02 2.00900549e+01] [ 4.44819644e-02 -2.42397473e-04 9.99010158e-01 1.35064133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.31, Y:20.05, Z:135.07 [[ 7.95993362e-01 6.04274601e-01 -3.53096840e-02 6.13305416e+02] [-6.03668710e-01 7.96776103e-01 2.70542048e-02 2.00487688e+01] [ 4.44820812e-02 -2.19615999e-04 9.99010158e-01 1.35067684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.35, Y:20.01, Z:135.07 [[ 7.94763239e-01 6.05892033e-01 -3.53020991e-02 6.13354341e+02] [-6.05287296e-01 7.95546871e-01 2.70640984e-02 2.00095304e+01] [ 4.44823961e-02 -1.41638413e-04 9.99010158e-01 1.35070152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.950385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:613.40, Y:19.97, Z:135.07 [[ 7.91888098e-01 6.09645450e-01 -3.52939940e-02 6.13400412e+02] [-6.09043956e-01 7.92674222e-01 2.70746641e-02 1.99675377e+01] [ 4.44825850e-02 5.54895273e-05 9.99010158e-01 1.35074916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.010385723 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:613.45, Y:19.93, Z:135.08 [[ 7.90984343e-01 6.10817979e-01 -3.52868964e-02 6.13446379e+02] [-6.10217238e-01 7.91771043e-01 2.70839114e-02 1.99264201e+01] [ 4.44824828e-02 1.09722540e-04 9.99010158e-01 1.35078604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.49, Y:19.89, Z:135.08 [[ 7.89148265e-01 6.13188669e-01 -3.52799061e-02 6.13492846e+02] [-6.12589884e-01 7.89936455e-01 2.70930139e-02 1.98872094e+01] [ 4.44820131e-02 2.31708649e-04 9.99010159e-01 1.35079028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.130385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:613.54, Y:19.85, Z:135.08 [[ 7.88117390e-01 6.14513427e-01 -3.52735949e-02 6.13540807e+02] [-6.13915600e-01 7.88906306e-01 2.71012284e-02 1.98478974e+01] [ 4.44816302e-02 2.96060726e-04 9.99010159e-01 1.35083926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.190385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:613.59, Y:19.81, Z:135.08 [[ 7.87234819e-01 6.15644060e-01 -3.52665755e-02 6.13588236e+02] [-6.15046957e-01 7.88024282e-01 2.71103596e-02 1.98080252e+01] [ 4.44812497e-02 3.48380951e-04 9.99010159e-01 1.35081423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.63, Y:19.77, Z:135.09 [[ 7.87208687e-01 6.15677758e-01 -3.52616252e-02 6.13634752e+02] [-6.15080400e-01 7.87997958e-01 2.71167967e-02 1.97664206e+01] [ 4.44812973e-02 3.42156565e-04 9.99010159e-01 1.35086008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.68, Y:19.73, Z:135.09 [[ 7.89268575e-01 6.13035253e-01 -3.52547236e-02 6.13682355e+02] [-6.12434851e-01 7.90055533e-01 2.71257666e-02 1.97259539e+01] [ 4.44822406e-02 1.81706285e-04 9.99010159e-01 1.35085111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.370385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:613.73, Y:19.68, Z:135.09 [[ 7.89084447e-01 6.13272385e-01 -3.52521916e-02 6.13726507e+02] [-6.12672073e-01 7.89871474e-01 2.71290567e-02 1.96809696e+01] [ 4.44822019e-02 1.90916598e-04 9.99010159e-01 1.35091040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.77, Y:19.64, Z:135.09 [[ 7.89078644e-01 6.13280077e-01 -3.52482877e-02 6.13772660e+02] [-6.12679546e-01 7.89865503e-01 2.71341281e-02 1.96399464e+01] [ 4.44822266e-02 1.84943895e-04 9.99010159e-01 1.35093815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.82, Y:19.60, Z:135.10 [[ 7.87160009e-01 6.15741176e-01 -3.52409597e-02 6.13816873e+02] [-6.15142679e-01 7.87948417e-01 2.71436420e-02 1.95972480e+01] [ 4.44815165e-02 3.11828890e-04 9.99010159e-01 1.35096786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.86, Y:19.56, Z:135.10 [[ 7.86559309e-01 6.16508573e-01 -3.52368094e-02 6.13864451e+02] [-6.15910604e-01 7.87348118e-01 2.71490287e-02 1.95555494e+01] [ 4.44812445e-02 3.48403269e-04 9.99010159e-01 1.35099690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.91, Y:19.51, Z:135.10 [[ 7.85715174e-01 6.17584466e-01 -3.52291635e-02 6.13910106e+02] [-6.16987132e-01 7.86504463e-01 2.71589466e-02 1.95136255e+01] [ 4.44808379e-02 3.96744122e-04 9.99010159e-01 1.35103271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.96, Y:19.47, Z:135.11 [[ 7.86155399e-01 6.17024390e-01 -3.52220110e-02 6.13955734e+02] [-6.16426079e-01 7.86943948e-01 2.71682194e-02 1.94720166e+01] [ 4.44812024e-02 3.53323760e-04 9.99010159e-01 1.35106304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7303857229999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:614.00, Y:19.43, Z:135.11 [[ 7.86600542e-01 6.16457180e-01 -3.52155155e-02 6.14002543e+02] [-6.15857924e-01 7.87388372e-01 2.71766364e-02 1.94311805e+01] [ 4.44815200e-02 3.10597340e-04 9.99010159e-01 1.35108131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.05, Y:19.39, Z:135.11 [[ 7.85705392e-01 6.17597889e-01 -3.52119944e-02 6.14052909e+02] [-6.16999572e-01 7.86493936e-01 2.71811978e-02 1.93929963e+01] [ 4.44810704e-02 3.69371745e-04 9.99010159e-01 1.35110936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.10, Y:19.36, Z:135.11 [[ 7.85490777e-01 6.17871257e-01 -3.52044043e-02 6.14102950e+02] [-6.17272773e-01 7.86279194e-01 2.71910247e-02 1.93577809e+01] [ 4.44810433e-02 3.72421174e-04 9.99010159e-01 1.35110490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.15, Y:19.32, Z:135.12 [[ 7.86505358e-01 6.16579590e-01 -3.51984398e-02 6.14153234e+02] [-6.15979467e-01 7.87292528e-01 2.71987435e-02 1.93220582e+01] [ 4.44816588e-02 2.89558679e-04 9.99010159e-01 1.35115629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.20, Y:19.28, Z:135.12 [[ 7.87450623e-01 6.15372289e-01 -3.51917955e-02 6.14203516e+02] [-6.14770574e-01 7.88236578e-01 2.72073377e-02 1.92842970e+01] [ 4.44821021e-02 2.10445271e-04 9.99010159e-01 1.35118333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.25, Y:19.25, Z:135.12 [[ 7.89036023e-01 6.13338584e-01 -3.51843105e-02 6.14254241e+02] [-6.12734412e-01 7.89820090e-01 2.72170138e-02 1.92481388e+01] [ 4.44825200e-02 8.34334609e-05 9.99010159e-01 1.35122282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.31, Y:19.21, Z:135.13 [[ 7.89699305e-01 6.12484725e-01 -3.51776999e-02 6.14305056e+02] [-6.11879324e-01 7.90482423e-01 2.72255553e-02 1.92105540e+01] [ 4.44825902e-02 2.45051582e-05 9.99010159e-01 1.35125846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.150385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:614.35, Y:19.17, Z:135.13 [[ 7.89357306e-01 6.12925854e-01 -3.51701740e-02 6.14354816e+02] [-6.12320459e-01 7.90140428e-01 2.72352738e-02 1.91729175e+01] [ 4.44825798e-02 3.70546973e-05 9.99010159e-01 1.35126313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.40, Y:19.14, Z:135.13 [[ 7.88337346e-01 6.14237558e-01 -3.51632158e-02 6.14404864e+02] [-6.13633065e-01 7.89121164e-01 2.72442545e-02 1.91363113e+01] [ 4.44824822e-02 9.96486613e-05 9.99010160e-01 1.35131988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:614.46, Y:19.10, Z:135.14 [[ 7.88066351e-01 6.14585566e-01 -3.51569116e-02 6.14455137e+02] [-6.13981056e-01 7.88850157e-01 2.72523872e-02 1.90999668e+01] [ 4.44824591e-02 1.08988383e-04 9.99010160e-01 1.35138725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.50, Y:19.06, Z:135.14 [[ 7.87335394e-01 6.15522100e-01 -3.51499916e-02 6.14501881e+02] [-6.14918124e-01 7.88119611e-01 2.72613098e-02 1.90608827e+01] [ 4.44823363e-02 1.50572814e-04 9.99010160e-01 1.35136998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.55, Y:19.02, Z:135.14 [[ 7.88398340e-01 6.14160384e-01 -3.51437183e-02 6.14550645e+02] [-6.13554693e-01 7.89181234e-01 2.72693945e-02 1.90218217e+01] [ 4.44825447e-02 6.34479407e-05 9.99010160e-01 1.35140526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.60, Y:18.98, Z:135.14 [[ 7.90598475e-01 6.11326015e-01 -3.51362395e-02 6.14597910e+02] [-6.10717089e-01 7.91378855e-01 2.72790275e-02 1.89807433e+01] [ 4.44824561e-02 -1.08455629e-04 9.99010160e-01 1.35143485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.65, Y:18.94, Z:135.15 [[ 7.93034925e-01 6.08162459e-01 -3.51287775e-02 6.14645737e+02] [-6.07549995e-01 7.93812531e-01 2.72886333e-02 1.89400682e+01] [ 4.44815861e-02 -2.98350645e-04 9.99010160e-01 1.35146439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.69, Y:18.90, Z:135.15 [[ 7.94331276e-01 6.06468719e-01 -3.51214622e-02 6.14694000e+02] [-6.05854180e-01 7.95107244e-01 2.72980451e-02 1.89003775e+01] [ 4.44807395e-02 -4.05206356e-04 9.99010160e-01 1.35149695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.74, Y:18.86, Z:135.15 [[ 7.93788738e-01 6.07179089e-01 -3.51139950e-02 6.14743836e+02] [-6.06564820e-01 7.94564919e-01 2.73076469e-02 1.88618249e+01] [ 4.44809808e-02 -3.77588503e-04 9.99010160e-01 1.35152831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.690385723 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:614.79, Y:18.82, Z:135.15 [[ 7.92790594e-01 6.08482218e-01 -3.51064663e-02 6.14793060e+02] [-6.07868797e-01 7.93567445e-01 2.73173223e-02 1.88230502e+01] [ 4.44814537e-02 -3.16790771e-04 9.99010160e-01 1.35154452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.84, Y:18.79, Z:135.16 [[ 7.91607577e-01 6.10020904e-01 -3.50990018e-02 6.14841535e+02] [-6.09408568e-01 7.92385283e-01 2.73269098e-02 1.87862445e+01] [ 4.44819188e-02 -2.42556399e-04 9.99010160e-01 1.35159916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.89, Y:18.75, Z:135.16 [[ 7.92159231e-01 6.09304711e-01 -3.50930459e-02 6.14892122e+02] [-6.08691333e-01 7.92936115e-01 2.73345562e-02 1.87506929e+01] [ 4.44816174e-02 -2.92488156e-04 9.99010160e-01 1.35162768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.870385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:614.94, Y:18.71, Z:135.17 [[ 7.91669514e-01 6.09941264e-01 -3.50861178e-02 6.14941581e+02] [-6.09328116e-01 7.92446580e-01 2.73434462e-02 1.87133860e+01] [ 4.44817702e-02 -2.68014706e-04 9.99010160e-01 1.35165950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.99, Y:18.68, Z:135.17 [[ 7.92510513e-01 6.08848555e-01 -3.50788189e-02 6.14992350e+02] [-6.08233922e-01 7.93286405e-01 2.73528067e-02 1.86760908e+01] [ 4.44812670e-02 -3.41259299e-04 9.99010160e-01 1.35168809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.04, Y:18.64, Z:135.17 [[ 7.93047454e-01 6.08149412e-01 -3.50717572e-02 6.15042746e+02] [-6.07533695e-01 7.93822486e-01 2.73618581e-02 1.86388378e+01] [ 4.44808475e-02 -3.91977669e-04 9.99010160e-01 1.35171795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.09, Y:18.60, Z:135.17 [[ 7.94385559e-01 6.06400929e-01 -3.50641774e-02 6.15094558e+02] [-6.05783077e-01 7.95158891e-01 2.73715683e-02 1.86023440e+01] [ 4.44797368e-02 -5.02293346e-04 9.99010160e-01 1.35174121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.15, Y:18.57, Z:135.17 [[ 7.96660310e-01 6.03409802e-01 -3.50565406e-02 6.15146571e+02] [-6.02788617e-01 7.97430966e-01 2.73813457e-02 1.85682948e+01] [ 4.44773434e-02 -6.81947672e-04 9.99010161e-01 1.35173007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.20, Y:18.53, Z:135.18 [[ 7.95606144e-01 6.04799467e-01 -3.50495116e-02 6.15195828e+02] [-6.04179231e-01 7.96377565e-01 2.73903402e-02 1.85324215e+01] [ 4.44783079e-02 -6.15735959e-04 9.99010161e-01 1.35178430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.25, Y:18.50, Z:135.18 [[ 7.94257822e-01 6.06569445e-01 -3.50431150e-02 6.15248199e+02] [-6.05950568e-01 7.95030333e-01 2.73985216e-02 1.84977407e+01] [ 4.44794454e-02 -5.27094729e-04 9.99010161e-01 1.35181232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.290385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:615.30, Y:18.46, Z:135.18 [[ 7.92695979e-01 6.08609554e-01 -3.50356203e-02 6.15300110e+02] [-6.07992242e-01 7.93469741e-01 2.74081020e-02 1.84620220e+01] [ 4.44805373e-02 -4.24906883e-04 9.99010161e-01 1.35183791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3503857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:615.35, Y:18.43, Z:135.18 [[ 7.92488031e-01 6.08880737e-01 -3.50281293e-02 6.15354315e+02] [-6.08263266e-01 7.93261666e-01 2.74176723e-02 1.84300072e+01] [ 4.44805647e-02 -4.21852839e-04 9.99010161e-01 1.35181846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.40, Y:18.39, Z:135.19 [[ 7.90744447e-01 6.11143793e-01 -3.50211897e-02 6.15403089e+02] [-6.10528144e-01 7.91519533e-01 2.74265336e-02 1.83936685e+01] [ 4.44815115e-02 -3.05957219e-04 9.99010161e-01 1.35190061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4703857229999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:615.45, Y:18.36, Z:135.19 [[ 7.90585802e-01 6.11349369e-01 -3.50148468e-02 6.15453494e+02] [-6.10733563e-01 7.91360762e-01 2.74346290e-02 1.83558976e+01] [ 4.44815190e-02 -3.04686041e-04 9.99010161e-01 1.35188994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.51, Y:18.32, Z:135.19 [[ 7.91769152e-01 6.09816241e-01 -3.50108903e-02 6.15505383e+02] [-6.09198711e-01 7.92542740e-01 2.74396772e-02 1.83218059e+01] [ 4.44807877e-02 -3.97300640e-04 9.99010161e-01 1.35194672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5903857229999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:615.56, Y:18.29, Z:135.20 [[ 7.92244720e-01 6.09198763e-01 -3.50024365e-02 6.15556657e+02] [-6.08580154e-01 7.93017445e-01 2.74504567e-02 1.82855448e+01] [ 4.44803271e-02 -4.45691172e-04 9.99010161e-01 1.35196051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.650385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:615.61, Y:18.25, Z:135.20 [[ 7.92085400e-01 6.09406335e-01 -3.49948321e-02 6.15608158e+02] [-6.08787500e-01 7.92857944e-01 2.74601477e-02 1.82487491e+01] [ 4.44803186e-02 -4.46365683e-04 9.99010161e-01 1.35200296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.710385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:615.66, Y:18.21, Z:135.20 [[ 7.91725138e-01 6.09874736e-01 -3.49873091e-02 6.15659769e+02] [-6.09255935e-01 7.92497709e-01 2.74697296e-02 1.82134909e+01] [ 4.44804564e-02 -4.32249745e-04 9.99010161e-01 1.35201417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:615.71, Y:18.18, Z:135.21 [[ 7.91209434e-01 6.10544011e-01 -3.49806030e-02 6.15709991e+02] [-6.09925486e-01 7.91982226e-01 2.74782665e-02 1.81781995e+01] [ 4.44807069e-02 -4.05502404e-04 9.99010161e-01 1.35206897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.830385723 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:615.76, Y:18.14, Z:135.21 [[ 7.91215334e-01 6.10536716e-01 -3.49744772e-02 6.15760955e+02] [-6.09917839e-01 7.91987844e-01 2.74860613e-02 1.81424036e+01] [ 4.44806104e-02 -4.15835569e-04 9.99010161e-01 1.35209475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.890385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:615.81, Y:18.11, Z:135.21 [[ 7.90625801e-01 6.11300347e-01 -3.49675316e-02 6.15812127e+02] [-6.10681826e-01 7.91398596e-01 2.74948947e-02 1.81052341e+01] [ 4.44808941e-02 -3.84137104e-04 9.99010161e-01 1.35213035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.86, Y:18.07, Z:135.22 [[ 7.88709794e-01 6.13770855e-01 -3.49599476e-02 6.15863008e+02] [-6.13154328e-01 7.89484180e-01 2.75045344e-02 1.80706144e+01] [ 4.44818072e-02 -2.57252458e-04 9.99010161e-01 1.35216210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.010385723 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:615.91, Y:18.03, Z:135.22 [[ 7.86267665e-01 6.16896629e-01 -3.49529389e-02 6.15914056e+02] [-6.16282784e-01 7.87044180e-01 2.75134382e-02 1.80334851e+01] [ 4.44824544e-02 -9.20322589e-05 9.99010162e-01 1.35220603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.070385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:615.96, Y:18.00, Z:135.22 [[ 7.84770154e-01 6.18800964e-01 -3.49452793e-02 6.15963904e+02] [-6.18188571e-01 7.85547813e-01 2.75231633e-02 1.79956972e+01] [ 4.44825477e-02 3.41512788e-06 9.99010162e-01 1.35224768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.130385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:616.01, Y:17.96, Z:135.23 [[ 7.84020901e-01 6.19750422e-01 -3.49376753e-02 6.16014859e+02] [-6.19138540e-01 7.84798963e-01 2.75328124e-02 1.79586612e+01] [ 4.44825235e-02 4.49609385e-05 9.99010162e-01 1.35225398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.06, Y:17.92, Z:135.23 [[ 7.82741378e-01 6.21366111e-01 -3.49298139e-02 6.16062730e+02] [-6.20755390e-01 7.83520351e-01 2.75427823e-02 1.79213081e+01] [ 4.44823716e-02 1.23994881e-04 9.99010162e-01 1.35229168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.250385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:616.11, Y:17.88, Z:135.23 [[ 7.82574284e-01 6.21576895e-01 -3.49235365e-02 6.16111911e+02] [-6.20966029e-01 7.83353144e-01 2.75507395e-02 1.78822882e+01] [ 4.44823653e-02 1.25829576e-04 9.99010162e-01 1.35232263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.310385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:616.16, Y:17.84, Z:135.24 [[ 7.82719802e-01 6.21394069e-01 -3.49159290e-02 6.16160691e+02] [-6.20782591e-01 7.83498181e-01 2.75603774e-02 1.78428406e+01] [ 4.44824219e-02 1.03147750e-04 9.99010162e-01 1.35235156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.21, Y:17.80, Z:135.24 [[ 7.81245947e-01 6.23246482e-01 -3.49083542e-02 6.16209840e+02] [-6.22636421e-01 7.82025437e-01 2.75699684e-02 1.78039694e+01] [ 4.44821068e-02 1.96286699e-04 9.99010162e-01 1.35235954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.26, Y:17.77, Z:135.24 [[ 7.78146689e-01 6.27111873e-01 -3.49059992e-02 6.16259155e+02] [-6.26505550e-01 7.78929090e-01 2.75729498e-02 1.77659062e+01] [ 4.44806224e-02 4.13002614e-04 9.99010162e-01 1.35235215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.31, Y:17.73, Z:135.23 [[ 7.75994421e-01 6.29773528e-01 -3.48993139e-02 6.16305768e+02] [-6.29169508e-01 7.76778601e-01 2.75814088e-02 1.77265395e+01] [ 4.44790814e-02 5.54564877e-04 9.99010162e-01 1.35233526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.550385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:616.35, Y:17.69, Z:135.24 [[ 7.77037995e-01 6.28485871e-01 -3.48921720e-02 6.16352602e+02] [-6.27880146e-01 7.77820860e-01 2.75904408e-02 1.76868049e+01] [ 4.44800614e-02 4.69281185e-04 9.99010162e-01 1.35240198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.40, Y:17.64, Z:135.24 [[ 7.78725833e-01 6.26393720e-01 -3.48853064e-02 6.16398790e+02] [-6.25785503e-01 7.79506762e-01 2.75991189e-02 1.76445353e+01] [ 4.44812470e-02 3.38572230e-04 9.99010162e-01 1.35244175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.670385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:616.45, Y:17.61, Z:135.24 [[ 7.79549448e-01 6.25368854e-01 -3.48777237e-02 6.16447996e+02] [-6.24759181e-01 7.80329242e-01 2.76086981e-02 1.76060163e+01] [ 4.44817275e-02 2.67832736e-04 9.99010162e-01 1.35243141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7303857229999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:616.50, Y:17.57, Z:135.24 [[ 7.79154596e-01 6.25861128e-01 -3.48706872e-02 6.16495057e+02] [-6.25251551e-01 7.79934464e-01 2.76175825e-02 1.75662570e+01] [ 4.44816221e-02 2.84584875e-04 9.99010162e-01 1.35243578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.790385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:616.54, Y:17.52, Z:135.25 [[ 7.76757027e-01 6.28834559e-01 -3.48657204e-02 6.16539703e+02] [-6.28227686e-01 7.77539001e-01 2.76238514e-02 1.75233295e+01] [ 4.44802898e-02 4.46590186e-04 9.99010162e-01 1.35249805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.59, Y:17.48, Z:135.25 [[ 7.75161717e-01 6.30800404e-01 -3.48591884e-02 6.16587966e+02] [-6.30195143e-01 7.75944940e-01 2.76320919e-02 1.74824307e+01] [ 4.44791455e-02 5.48751381e-04 9.99010162e-01 1.35253913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.64, Y:17.44, Z:135.26 [[ 7.74617971e-01 6.31468430e-01 -3.48514046e-02 6.16636114e+02] [-6.30863403e-01 7.75401374e-01 2.76419058e-02 1.74413991e+01] [ 4.44788179e-02 5.74558674e-04 9.99010162e-01 1.35257002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9703857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:616.68, Y:17.40, Z:135.26 [[ 7.74854200e-01 6.31178972e-01 -3.48435779e-02 6.16682533e+02] [-6.30573209e-01 7.75637034e-01 2.76517681e-02 1.73995095e+01] [ 4.44791840e-02 5.45338037e-04 9.99010163e-01 1.35261465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.030385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:616.73, Y:17.36, Z:135.26 [[ 7.75735447e-01 6.30096013e-01 -3.48357695e-02 6.16729138e+02] [-6.29488716e-01 7.76517091e-01 2.76616017e-02 1.73581332e+01] [ 4.44800353e-02 4.70638879e-04 9.99010163e-01 1.35264243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.78, Y:17.32, Z:135.27 [[ 7.77513234e-01 6.27901380e-01 -3.48285507e-02 6.16775823e+02] [-6.27291469e-01 7.78292841e-01 2.76706878e-02 1.73164666e+01] [ 4.44812747e-02 3.33326773e-04 9.99010163e-01 1.35266788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.82, Y:17.27, Z:135.27 [[ 7.78712524e-01 6.26413847e-01 -3.48209283e-02 6.16821131e+02] [-6.25802018e-01 7.79490626e-01 2.76802766e-02 1.72742037e+01] [ 4.44818958e-02 2.36029183e-04 9.99010163e-01 1.35269193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:616.87, Y:17.23, Z:135.27 [[ 7.78645968e-01 6.26496951e-01 -3.48141649e-02 6.16867789e+02] [-6.25884825e-01 7.79423837e-01 2.76887805e-02 1.72333280e+01] [ 4.44819265e-02 2.29900245e-04 9.99010163e-01 1.35270771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.91, Y:17.19, Z:135.27 [[ 7.79249207e-01 6.25746848e-01 -3.48073994e-02 6.16913703e+02] [-6.25133593e-01 7.80026186e-01 2.76972827e-02 1.71912614e+01] [ 4.44821704e-02 1.76189105e-04 9.99010163e-01 1.35273265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.330385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:616.96, Y:17.15, Z:135.28 [[ 7.81007257e-01 6.23551609e-01 -3.48002190e-02 6.16957679e+02] [-6.22935769e-01 7.81782188e-01 2.77063016e-02 1.71485702e+01] [ 4.44825003e-02 3.94785769e-05 9.99010163e-01 1.35276482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.00, Y:17.11, Z:135.28 [[ 7.81528997e-01 6.22897764e-01 -3.47965920e-02 6.17003763e+02] [-6.22281072e-01 7.82303251e-01 2.77108561e-02 1.71056245e+01] [ 4.44825173e-02 -3.57697024e-06 9.99010163e-01 1.35280803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.05, Y:17.06, Z:135.28 [[ 7.80836206e-01 6.23766423e-01 -3.47889357e-02 6.17050305e+02] [-6.23150164e-01 7.81610804e-01 2.77204646e-02 1.70624830e+01] [ 4.44825031e-02 3.35886023e-05 9.99010163e-01 1.35283317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.10, Y:17.02, Z:135.28 [[ 7.78725594e-01 6.26399808e-01 -3.47811773e-02 6.17096324e+02] [-6.25785734e-01 7.79501925e-01 2.77301958e-02 1.70205135e+01] [ 4.44821840e-02 1.71351344e-04 9.99010163e-01 1.35284587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.14, Y:16.98, Z:135.28 [[ 7.77458875e-01 6.27971697e-01 -3.47742258e-02 6.17141285e+02] [-6.27358803e-01 7.78236138e-01 2.77389104e-02 1.69793812e+01] [ 4.44818098e-02 2.50054549e-04 9.99010163e-01 1.35284202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.630385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:617.19, Y:16.94, Z:135.29 [[ 7.76571299e-01 6.29069186e-01 -3.47703371e-02 6.17187398e+02] [-6.28457173e-01 7.77349255e-01 2.77437839e-02 1.69370690e+01] [ 4.44814552e-02 3.06641471e-04 9.99010163e-01 1.35286681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.23, Y:16.89, Z:135.29 [[ 7.77078695e-01 6.28442727e-01 -3.47626358e-02 6.17233361e+02] [-6.27829654e-01 7.77855817e-01 2.77534303e-02 1.68946829e+01] [ 4.44817599e-02 2.58414193e-04 9.99010163e-01 1.35290273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.28, Y:16.85, Z:135.29 [[ 7.77264952e-01 6.28212715e-01 -3.47559931e-02 6.17279350e+02] [-6.27599041e-01 7.78041599e-01 2.77617464e-02 1.68545783e+01] [ 4.44818906e-02 2.34595438e-04 9.99010163e-01 1.35293968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.33, Y:16.82, Z:135.30 [[ 7.76344542e-01 6.29350141e-01 -3.47498456e-02 6.17329121e+02] [-6.28737260e-01 7.77121815e-01 2.77694393e-02 1.68157732e+01] [ 4.44815636e-02 2.89870129e-04 9.99010163e-01 1.35295732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.870385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:617.38, Y:16.78, Z:135.30 [[ 7.74321411e-01 6.31838045e-01 -3.47424428e-02 6.17379720e+02] [-6.31227246e-01 7.75100321e-01 2.77786979e-02 1.67790874e+01] [ 4.44805167e-02 4.20735935e-04 9.99010163e-01 1.35296351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.930385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:617.43, Y:16.74, Z:135.30 [[ 7.74045998e-01 6.32175782e-01 -3.47357767e-02 6.17429573e+02] [-6.31564949e-01 7.74824881e-01 2.77870309e-02 1.67422766e+01] [ 4.44804321e-02 4.29458981e-04 9.99010163e-01 1.35297927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.48, Y:16.71, Z:135.30 [[ 7.75818289e-01 6.29999901e-01 -3.47290589e-02 6.17478912e+02] [-6.29386507e-01 7.76595158e-01 2.77954246e-02 1.67054081e+01] [ 4.44815337e-02 2.93802287e-04 9.99010164e-01 1.35299371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.53, Y:16.67, Z:135.30 [[ 7.80431429e-01 6.24276491e-01 -3.47224336e-02 6.17529077e+02] [-6.23657032e-01 7.81203469e-01 2.78036986e-02 1.66670395e+01] [ 4.44824809e-02 -4.39903306e-05 9.99010164e-01 1.35304302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.58, Y:16.63, Z:135.31 [[ 7.83549370e-01 6.20358985e-01 -3.47147675e-02 6.17577740e+02] [-6.19735242e-01 7.84317953e-01 2.78132669e-02 1.66288498e+01] [ 4.44816254e-02 -2.79102920e-04 9.99010164e-01 1.35308944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.63, Y:16.59, Z:135.31 [[ 7.85569778e-01 6.17798896e-01 -3.47080506e-02 6.17626934e+02] [-6.17172278e-01 7.86336019e-01 2.78216463e-02 1.65893922e+01] [ 4.44803727e-02 -4.34997809e-04 9.99010164e-01 1.35312986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.68, Y:16.55, Z:135.31 [[ 7.85452484e-01 6.17948448e-01 -3.47002903e-02 6.17676278e+02] [-6.17321549e-01 7.86218495e-01 2.78313219e-02 1.65519754e+01] [ 4.44803322e-02 -4.38943967e-04 9.99010164e-01 1.35314585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.73, Y:16.51, Z:135.32 [[ 7.83857248e-01 6.19971131e-01 -3.46931130e-02 6.17726198e+02] [-6.19345812e-01 7.84624550e-01 2.78402659e-02 1.65131722e+01] [ 4.44812293e-02 -3.35759938e-04 9.99010164e-01 1.35319125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.78, Y:16.48, Z:135.32 [[ 7.81692668e-01 6.22698556e-01 -3.46854595e-02 6.17775513e+02] [-6.22075492e-01 7.82461802e-01 2.78497979e-02 1.64759139e+01] [ 4.44820761e-02 -1.93008549e-04 9.99010164e-01 1.35323090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.83, Y:16.44, Z:135.32 [[ 7.80402831e-01 6.24314663e-01 -3.46788413e-02 6.17826508e+02] [-6.23692826e-01 7.81172957e-01 2.78580365e-02 1.64406260e+01] [ 4.44823537e-02 -1.11546061e-04 9.99010164e-01 1.35324070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.87, Y:16.40, Z:135.33 [[ 7.76793240e-01 6.28800552e-01 -3.46717199e-02 6.17872775e+02] [-6.28182767e-01 7.77566619e-01 2.78668970e-02 1.64013042e+01] [ 4.44822922e-02 1.33359765e-04 9.99010164e-01 1.35329683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.530385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:617.92, Y:16.36, Z:135.33 [[ 7.74559618e-01 6.31550252e-01 -3.46652092e-02 6.17922152e+02] [-6.30934850e-01 7.75334896e-01 2.78749936e-02 1.63624895e+01] [ 4.44816056e-02 2.80644169e-04 9.99010164e-01 1.35332773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.97, Y:16.32, Z:135.34 [[ 7.72783587e-01 6.33722630e-01 -3.46577133e-02 6.17971754e+02] [-6.33108989e-01 7.73560259e-01 2.78843104e-02 1.63232761e+01] [ 4.44807482e-02 3.93572428e-04 9.99010164e-01 1.35335787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.02, Y:16.28, Z:135.34 [[ 7.72981036e-01 6.33482200e-01 -3.46499832e-02 6.18018995e+02] [-6.32867887e-01 7.73757176e-01 2.78939128e-02 1.62834482e+01] [ 4.44809704e-02 3.67395992e-04 9.99010164e-01 1.35338572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.07, Y:16.24, Z:135.34 [[ 7.73914870e-01 6.32341402e-01 -3.46428350e-02 6.18067914e+02] [-6.31725548e-01 7.74689788e-01 2.79027877e-02 1.62442212e+01] [ 4.44815383e-02 2.90381631e-04 9.99010164e-01 1.35341674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.12, Y:16.20, Z:135.35 [[ 7.75065312e-01 6.30931191e-01 -3.46351606e-02 6.18115947e+02] [-6.30313501e-01 7.75838768e-01 2.79123104e-02 1.62034855e+01] [ 4.44820476e-02 1.97145744e-04 9.99010164e-01 1.35345655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.16, Y:16.16, Z:135.35 [[ 7.75341684e-01 6.30591957e-01 -3.46273938e-02 6.18164908e+02] [-6.29973499e-01 7.76114525e-01 2.79219425e-02 1.61634897e+01] [ 4.44821757e-02 1.65294508e-04 9.99010164e-01 1.35348590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.21, Y:16.12, Z:135.35 [[ 7.76102996e-01 6.29655165e-01 -3.46195323e-02 6.18212961e+02] [-6.29035339e-01 7.76874741e-01 2.79316863e-02 1.61245478e+01] [ 4.44823707e-02 9.90437836e-05 9.99010165e-01 1.35349992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.950385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:618.26, Y:16.09, Z:135.35 [[ 7.77224603e-01 6.28270544e-01 -3.46127060e-02 6.18259978e+02] [-6.27648967e-01 7.77994938e-01 2.79401429e-02 1.60854044e+01] [ 4.44824788e-02 8.86269900e-06 9.99010165e-01 1.35352173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.31, Y:16.04, Z:135.36 [[ 7.77935215e-01 6.27390649e-01 -3.46088829e-02 6.18307429e+02] [-6.26767989e-01 7.78704675e-01 2.79448776e-02 1.60448534e+01] [ 4.44824538e-02 -4.75644366e-05 9.99010165e-01 1.35356533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.070385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:618.36, Y:16.01, Z:135.36 [[ 7.77749560e-01 6.27621210e-01 -3.46011314e-02 6.18355660e+02] [-6.26998352e-01 7.78518859e-01 2.79544722e-02 1.60065474e+01] [ 4.44824530e-02 -4.67261584e-05 9.99010165e-01 1.35359700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.130385723 meters Centerline goodness : 0.999777 with order 1 Centerline is valid? [True, True] Translation: X:618.40, Y:15.97, Z:135.36 [[ 7.77035679e-01 6.28505195e-01 -3.45944231e-02 6.18403789e+02] [-6.27882842e-01 7.77805387e-01 2.79627714e-02 1.59680146e+01] [ 4.44824758e-02 -6.82630873e-06 9.99010165e-01 1.35364889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.190385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:618.45, Y:15.93, Z:135.37 [[ 7.75948271e-01 6.29847574e-01 -3.45877681e-02 6.18453305e+02] [-6.29226186e-01 7.76718759e-01 2.79710008e-02 1.59297800e+01] [ 4.44824353e-02 5.94796761e-05 9.99010165e-01 1.35367649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.250385723 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:618.50, Y:15.89, Z:135.37 [[ 7.74883819e-01 6.31157090e-01 -3.45802621e-02 6.18502234e+02] [-6.30536590e-01 7.75655022e-01 2.79802773e-02 1.58918891e+01] [ 4.44823043e-02 1.22656363e-04 9.99010165e-01 1.35370700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.310385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:618.55, Y:15.85, Z:135.37 [[ 7.74523865e-01 6.31599127e-01 -3.45734781e-02 6.18549918e+02] [-6.30978693e-01 7.75295121e-01 2.79886573e-02 1.58540403e+01] [ 4.44822604e-02 1.37244994e-04 9.99010165e-01 1.35372690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.370385723 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:618.60, Y:15.82, Z:135.38 [[ 7.75107244e-01 6.30883267e-01 -3.45697105e-02 6.18598476e+02] [-6.30261913e-01 7.75877758e-01 2.79933101e-02 1.58150038e+01] [ 4.44823804e-02 9.01544407e-05 9.99010165e-01 1.35376132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.430385723 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:618.65, Y:15.78, Z:135.38 [[ 7.75940050e-01 6.29859080e-01 -3.45626729e-02 6.18647558e+02] [-6.29236322e-01 7.76709430e-01 2.80019965e-02 1.57753766e+01] [ 4.44824657e-02 2.02185944e-05 9.99010165e-01 1.35381102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.490385723 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:618.70, Y:15.74, Z:135.38 [[ 7.76793260e-01 6.28806957e-01 -3.45549204e-02 6.18696998e+02] [-6.28182732e-01 7.77561450e-01 2.80115600e-02 1.57374755e+01] [ 4.44824378e-02 -5.23866911e-05 9.99010165e-01 1.35384265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.550385723 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:618.75, Y:15.70, Z:135.39 [[ 7.77737863e-01 6.27638622e-01 -3.45481882e-02 6.18746710e+02] [-6.27012874e-01 7.78504813e-01 2.80198607e-02 1.56987712e+01] [ 4.44822775e-02 -1.29947793e-04 9.99010165e-01 1.35387521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.610385723 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:618.80, Y:15.66, Z:135.39 [[ 7.79751122e-01 6.25136096e-01 -3.45405355e-02 6.18796859e+02] [-6.24507469e-01 7.80515714e-01 2.80292911e-02 1.56617975e+01] [ 4.44815524e-02 -2.85048735e-04 9.99010165e-01 1.35387484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.670385723 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:618.85, Y:15.62, Z:135.39 [[ 7.79694268e-01 6.25207382e-01 -3.45337247e-02 6.18846373e+02] [-6.24578453e-01 7.80458612e-01 2.80376799e-02 1.56246280e+01] [ 4.44815073e-02 -2.91797977e-04 9.99010165e-01 1.35390537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7303857229999 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:618.90, Y:15.59, Z:135.39 [[ 7.78776081e-01 6.26351105e-01 -3.45269239e-02 6.18895966e+02] [-6.25722928e-01 7.79541042e-01 2.80460523e-02 1.55886469e+01] [ 4.44818301e-02 -2.37306789e-04 9.99010165e-01 1.35392308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:618.95, Y:15.55, Z:135.40 [[ 7.76963239e-01 6.28598661e-01 -3.45231485e-02 6.18946260e+02] [-6.27972490e-01 7.77729844e-01 2.80506988e-02 1.55520566e+01] [ 4.44823146e-02 -1.14774271e-04 9.99010165e-01 1.35396505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8503857229999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:619.00, Y:15.52, Z:135.40 [[ 7.77883180e-01 6.27460264e-01 -3.45163129e-02 6.19000449e+02] [-6.26832598e-01 7.78648561e-01 2.80591075e-02 1.55200817e+01] [ 4.44820523e-02 -1.90757736e-04 9.99010165e-01 1.35396771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.05, Y:15.48, Z:135.40 [[ 7.73940771e-01 6.32317005e-01 -3.45092386e-02 6.19046981e+02] [-6.31693755e-01 7.74709751e-01 2.80678052e-02 1.54807665e+01] [ 4.44823942e-02 7.64517045e-05 9.99010166e-01 1.35404894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.10, Y:15.44, Z:135.41 [[ 7.71459902e-01 6.35341780e-01 -3.45027785e-02 6.19098698e+02] [-6.34721189e-01 7.72231031e-01 2.80757442e-02 1.54448184e+01] [ 4.44818095e-02 2.40333750e-04 9.99010166e-01 1.35407042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.15, Y:15.41, Z:135.41 [[ 7.71254735e-01 6.35591012e-01 -3.44992655e-02 6.19149220e+02] [-6.34970478e-01 7.72025908e-01 2.80800604e-02 1.54101874e+01] [ 4.44817607e-02 2.49135563e-04 9.99010166e-01 1.35409131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0903857229999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:619.20, Y:15.37, Z:135.41 [[ 7.71452424e-01 6.35351404e-01 -3.44927688e-02 6.19201886e+02] [-6.34730273e-01 7.72223117e-01 2.80880384e-02 1.53746528e+01] [ 4.44818881e-02 2.25019208e-04 9.99010166e-01 1.35412011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.150385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:619.25, Y:15.34, Z:135.42 [[ 7.73097676e-01 6.33348850e-01 -3.44850250e-02 6.19252844e+02] [-6.32725298e-01 7.73866413e-01 2.80975426e-02 1.53383767e+01] [ 4.44823489e-02 9.74028494e-05 9.99010166e-01 1.35415061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:619.30, Y:15.30, Z:135.42 [[ 7.76010522e-01 6.29776939e-01 -3.44771925e-02 6.19302895e+02] [-6.29149423e-01 7.76776025e-01 2.81071503e-02 1.53020056e+01] [ 4.44822916e-02 -1.20138621e-04 9.99010166e-01 1.35416723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.270385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:619.35, Y:15.27, Z:135.42 [[ 7.81409742e-01 6.23065516e-01 -3.44699553e-02 6.19354652e+02] [-6.22431034e-01 7.82169481e-01 2.81160230e-02 1.52668240e+01] [ 4.44794714e-02 -5.14964426e-04 9.99010166e-01 1.35421279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.330385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:619.41, Y:15.23, Z:135.42 [[ 7.84447254e-01 6.19237292e-01 -3.44627512e-02 6.19405740e+02] [-6.18598715e-01 7.85203555e-01 2.81248506e-02 1.52302172e+01] [ 4.44762310e-02 -7.43848233e-04 9.99010166e-01 1.35421983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.45, Y:15.19, Z:135.42 [[ 7.84611681e-01 6.19029396e-01 -3.44545688e-02 6.19453286e+02] [-6.18390179e-01 7.85367440e-01 2.81348709e-02 1.51925783e+01] [ 4.44758086e-02 -7.68581355e-04 9.99010166e-01 1.35423397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.450385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:619.51, Y:15.16, Z:135.43 [[ 7.86822683e-01 6.16217006e-01 -3.44480253e-02 6.19506015e+02] [-6.15574737e-01 7.87575851e-01 2.81428804e-02 1.51584620e+01] [ 4.44725543e-02 -9.38122588e-04 9.99010166e-01 1.35426164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.510385723 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:619.56, Y:15.12, Z:135.43 [[ 7.86826849e-01 6.16212084e-01 -3.44409267e-02 6.19556983e+02] [-6.15569431e-01 7.87579688e-01 2.81515649e-02 1.51219653e+01] [ 4.44723088e-02 -9.49625440e-04 9.99010166e-01 1.35428229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.570385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:619.60, Y:15.08, Z:135.43 [[ 7.84728847e-01 6.18882066e-01 -3.44329125e-02 6.19604698e+02] [-6.18241545e-01 7.85483501e-01 2.81613639e-02 1.50841665e+01] [ 4.44750477e-02 -8.11177574e-04 9.99010166e-01 1.35432501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.66, Y:15.05, Z:135.44 [[ 7.83629122e-01 6.20274305e-01 -3.44265186e-02 6.19655512e+02] [-6.19634781e-01 7.84384622e-01 2.81691781e-02 1.50487610e+01] [ 4.44762491e-02 -7.42319945e-04 9.99010166e-01 1.35436708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.690385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:619.71, Y:15.01, Z:135.44 [[ 7.83169603e-01 6.20854775e-01 -3.44197751e-02 6.19708359e+02] [-6.20215449e-01 7.83925271e-01 2.81774156e-02 1.50147603e+01] [ 4.44766145e-02 -7.20019112e-04 9.99010166e-01 1.35436889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.75, Y:14.97, Z:135.44 [[ 7.79866029e-01 6.24999801e-01 -3.44125637e-02 6.19754279e+02] [-6.24364104e-01 7.80624752e-01 2.81862200e-02 1.49740128e+01] [ 4.44796808e-02 -4.95505972e-04 9.99010166e-01 1.35440598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.80, Y:14.94, Z:135.44 [[ 7.80063113e-01 6.24754217e-01 -3.44050440e-02 6.19804853e+02] [-6.24117876e-01 7.80821296e-01 2.81953957e-02 1.49377100e+01] [ 4.44793834e-02 -5.21385197e-04 9.99010166e-01 1.35443278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.870385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:619.85, Y:14.90, Z:135.45 [[ 7.76860180e-01 6.28732917e-01 -3.43973731e-02 6.19851878e+02] [-6.28100045e-01 7.77621261e-01 2.82047508e-02 1.48991689e+01] [ 4.44813839e-02 -3.06156167e-04 9.99010167e-01 1.35448008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.930385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:619.90, Y:14.86, Z:135.45 [[ 7.73994415e-01 6.32257791e-01 -3.43908727e-02 6.19901483e+02] [-6.31628033e-01 7.74758074e-01 2.82126747e-02 1.48604229e+01] [ 4.44822897e-02 -1.14213336e-04 9.99010167e-01 1.35449555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.990385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:619.95, Y:14.82, Z:135.45 [[ 7.70044487e-01 6.37063016e-01 -3.43831519e-02 6.19950027e+02] [-6.36437604e-01 7.70811709e-01 2.82220811e-02 1.48206073e+01] [ 4.44821802e-02 1.50472791e-04 9.99010167e-01 1.35448925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.00, Y:14.78, Z:135.45 [[ 7.66201836e-01 6.41679891e-01 -3.43753319e-02 6.19996031e+02] [-6.41058674e-01 7.66972459e-01 2.82316028e-02 1.47810868e+01] [ 4.44805847e-02 4.05498762e-04 9.99010167e-01 1.35453679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.110385723 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:620.04, Y:14.74, Z:135.46 [[ 7.64473254e-01 6.43738619e-01 -3.43690873e-02 6.20043882e+02] [-6.43119136e-01 7.65245271e-01 2.82392030e-02 1.47397197e+01] [ 4.44794471e-02 5.15302314e-04 9.99010167e-01 1.35457201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.170385723 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:620.09, Y:14.70, Z:135.46 [[ 7.61133293e-01 6.47684662e-01 -3.43611365e-02 6.20089549e+02] [-6.47068745e-01 7.61908158e-01 2.82488741e-02 1.46978387e+01] [ 4.44763927e-02 7.32858859e-04 9.99010167e-01 1.35462548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2303857229999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:620.14, Y:14.66, Z:135.46 [[ 7.57434630e-01 6.52006589e-01 -3.43538707e-02 6.20135592e+02] [-6.51394692e-01 7.58212673e-01 2.82577075e-02 1.46556710e+01] [ 4.44717516e-02 9.74562780e-04 9.99010167e-01 1.35464795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.18, Y:14.61, Z:135.47 [[ 7.57400298e-01 6.52046831e-01 -3.43470300e-02 6.20180499e+02] [-6.51434598e-01 7.58178077e-01 2.82660198e-02 1.46124552e+01] [ 4.44719338e-02 9.66151911e-04 9.99010167e-01 1.35465591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.23, Y:14.57, Z:135.47 [[ 7.58092882e-01 6.51241866e-01 -3.43396849e-02 6.20225071e+02] [-6.50628404e-01 7.58869691e-01 2.82749403e-02 1.45706197e+01] [ 4.44731710e-02 9.07343377e-04 9.99010167e-01 1.35471610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.410385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:620.27, Y:14.53, Z:135.47 [[ 7.59406143e-01 6.49710363e-01 -3.43329914e-02 6.20268184e+02] [-6.49094967e-01 7.60181421e-01 2.82830656e-02 1.45252092e+01] [ 4.44751030e-02 8.07038146e-04 9.99010167e-01 1.35473657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4703857229999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:620.31, Y:14.48, Z:135.48 [[ 7.62311183e-01 6.46299780e-01 -3.43257073e-02 6.20311870e+02] [-6.45680517e-01 7.63083376e-01 2.82919033e-02 1.44814654e+01] [ 4.44784274e-02 5.96206172e-04 9.99010167e-01 1.35475657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.36, Y:14.44, Z:135.48 [[ 7.63962891e-01 6.44346977e-01 -3.43172468e-02 6.20355967e+02] [-6.43725279e-01 7.64733125e-01 2.83021618e-02 1.44379959e+01] [ 4.44799478e-02 4.69077892e-04 9.99010167e-01 1.35481104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.40, Y:14.40, Z:135.49 [[ 7.65226266e-01 6.42846496e-01 -3.43095431e-02 6.20401663e+02] [-6.42222869e-01 7.65994939e-01 2.83114977e-02 1.43975899e+01] [ 4.44808834e-02 3.69671527e-04 9.99010167e-01 1.35485947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.650385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:620.45, Y:14.35, Z:135.48 [[ 7.65544174e-01 6.42468242e-01 -3.43027049e-02 6.20446714e+02] [-6.41843864e-01 7.66312237e-01 2.83197805e-02 1.43541196e+01] [ 4.44811421e-02 3.36937709e-04 9.99010167e-01 1.35483156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.49, Y:14.31, Z:135.49 [[ 7.64325112e-01 6.43918185e-01 -3.43000641e-02 6.20490836e+02] [-6.43295121e-01 7.65094240e-01 2.83229786e-02 1.43125100e+01] [ 4.44804625e-02 4.17100100e-04 9.99010167e-01 1.35491611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.770385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:620.54, Y:14.27, Z:135.49 [[ 7.63963553e-01 6.44347473e-01 -3.42932052e-02 6.20536615e+02] [-6.43724468e-01 7.64732730e-01 2.83312808e-02 1.42686544e+01] [ 4.44803257e-02 4.31309332e-04 9.99010167e-01 1.35493673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.830385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:620.58, Y:14.22, Z:135.50 [[ 7.63828541e-01 6.44507931e-01 -3.42853673e-02 6.20582136e+02] [-6.43884662e-01 7.64597504e-01 2.83407628e-02 1.42248925e+01] [ 4.44803527e-02 4.28338631e-04 9.99010168e-01 1.35497101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.890385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:620.63, Y:14.18, Z:135.50 [[ 7.63668913e-01 6.44697492e-01 -3.42773340e-02 6.20625952e+02] [-6.44073978e-01 7.64437677e-01 2.83504755e-02 1.41789550e+01] [ 4.44803660e-02 4.26762041e-04 9.99010168e-01 1.35500319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.67, Y:14.14, Z:135.50 [[ 7.63379851e-01 6.45040164e-01 -3.42693800e-02 6.20671847e+02] [-6.44416564e-01 7.64148544e-01 2.83600868e-02 1.41356922e+01] [ 4.44802919e-02 4.34237283e-04 9.99010168e-01 1.35503156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.72, Y:14.09, Z:135.51 [[ 7.62703622e-01 6.45840024e-01 -3.42614610e-02 6.20718066e+02] [-6.45216800e-01 7.63472622e-01 2.83696505e-02 1.40926447e+01] [ 4.44799432e-02 4.68435043e-04 9.99010168e-01 1.35507017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.76, Y:14.05, Z:135.51 [[ 7.61177131e-01 6.47638845e-01 -3.42534930e-02 6.20761083e+02] [-6.47017005e-01 7.61947250e-01 2.83792679e-02 1.40479317e+01] [ 4.44788710e-02 5.60942751e-04 9.99010168e-01 1.35509837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.81, Y:14.00, Z:135.51 [[ 7.59457990e-01 6.49654341e-01 -3.42461324e-02 6.20806216e+02] [-6.49034145e-01 7.60229433e-01 2.83881473e-02 1.40047443e+01] [ 4.44774010e-02 6.67304020e-04 9.99010168e-01 1.35511522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.85, Y:13.96, Z:135.51 [[ 7.57115113e-01 6.52383614e-01 -3.42392405e-02 6.20850191e+02] [-6.51765823e-01 7.57888483e-01 2.83964572e-02 1.39624091e+01] [ 4.44749095e-02 8.16579882e-04 9.99010168e-01 1.35512796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.90, Y:13.92, Z:135.52 [[ 7.55257879e-01 6.54533024e-01 -3.42353205e-02 6.20895371e+02] [-6.53917220e-01 7.56032832e-01 2.84011825e-02 1.39191577e+01] [ 4.44725382e-02 9.36848709e-04 9.99010168e-01 1.35515715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.94, Y:13.88, Z:135.52 [[ 7.54431971e-01 6.55485228e-01 -3.42274177e-02 6.20939714e+02] [-6.54869970e-01 7.55207358e-01 2.84107033e-02 1.38751996e+01] [ 4.44715940e-02 9.80565094e-04 9.99010168e-01 1.35520056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.370385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:620.98, Y:13.83, Z:135.52 [[ 7.54617056e-01 6.55272507e-01 -3.42204651e-02 6.20983296e+02] [-6.54656651e-01 7.55391968e-01 2.84190752e-02 1.38326716e+01] [ 4.44721031e-02 9.57136228e-04 9.99010168e-01 1.35523444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.03, Y:13.79, Z:135.53 [[ 7.55286540e-01 6.54500923e-01 -3.42167122e-02 6.21028900e+02] [-6.53884071e-01 7.56060660e-01 2.84235929e-02 1.37890301e+01] [ 4.44731778e-02 9.05805929e-04 9.99010168e-01 1.35528200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.07, Y:13.75, Z:135.53 [[ 7.56077957e-01 6.53586941e-01 -3.42086772e-02 6.21073380e+02] [-6.52968716e-01 7.56850980e-01 2.84332601e-02 1.37463870e+01] [ 4.44744783e-02 8.39434828e-04 9.99010168e-01 1.35530688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.12, Y:13.70, Z:135.53 [[ 7.56833526e-01 6.52712252e-01 -3.42013255e-02 6.21120018e+02] [-6.52092734e-01 7.57605513e-01 2.84421005e-02 1.37043899e+01] [ 4.44756202e-02 7.76500660e-04 9.99010168e-01 1.35532585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.17, Y:13.66, Z:135.54 [[ 7.56287695e-01 6.53345028e-01 -3.41935252e-02 6.21168193e+02] [-6.52725733e-01 7.57059860e-01 2.84514750e-02 1.36644079e+01] [ 4.44751751e-02 8.01493365e-04 9.99010168e-01 1.35535693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.22, Y:13.63, Z:135.54 [[ 7.56250928e-01 6.53388005e-01 -3.41855147e-02 6.21215035e+02] [-6.52768318e-01 7.57022780e-01 2.84610967e-02 1.36256806e+01] [ 4.44753525e-02 7.91490166e-04 9.99010168e-01 1.35536222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.26, Y:13.59, Z:135.54 [[ 7.55804148e-01 6.53904968e-01 -3.41816077e-02 6.21263847e+02] [-6.53285597e-01 7.56576253e-01 2.84657881e-02 1.35858166e+01] [ 4.44749130e-02 8.15791249e-04 9.99010168e-01 1.35539134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.790385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:621.31, Y:13.55, Z:135.54 [[ 7.55286604e-01 6.54503103e-01 -3.41735844e-02 6.21313177e+02] [-6.53883909e-01 7.56058850e-01 2.84754170e-02 1.35460718e+01] [ 4.44744897e-02 8.38455898e-04 9.99010169e-01 1.35541516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.36, Y:13.51, Z:135.54 [[ 7.54873077e-01 6.54980423e-01 -3.41655347e-02 6.21360299e+02] [-6.54361280e-01 7.55645364e-01 2.84850720e-02 1.35060860e+01] [ 4.44741924e-02 8.53989063e-04 9.99010169e-01 1.35544701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.41, Y:13.47, Z:135.55 [[ 7.54267671e-01 6.55677897e-01 -3.41580895e-02 6.21409006e+02] [-6.55059064e-01 7.55040207e-01 2.84939972e-02 1.34661632e+01] [ 4.44736151e-02 8.83465252e-04 9.99010169e-01 1.35548082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9703857229999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:621.46, Y:13.43, Z:135.55 [[ 7.52215686e-01 6.58031405e-01 -3.41501378e-02 6.21458613e+02] [-6.57414556e-01 7.52989807e-01 2.85035240e-02 1.34280550e+01] [ 4.44709197e-02 1.00999984e-03 9.99010169e-01 1.35549391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.51, Y:13.39, Z:135.55 [[ 7.52641633e-01 6.57544538e-01 -3.41431173e-02 6.21506534e+02] [-6.56926808e-01 7.53415051e-01 2.85119312e-02 1.33884814e+01] [ 4.44718031e-02 9.70262627e-04 9.99010169e-01 1.35552542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0903857229999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:621.55, Y:13.35, Z:135.55 [[ 7.56353048e-01 6.53272396e-01 -3.41356586e-02 6.21552751e+02] [-6.52649893e-01 7.57122630e-01 2.85208582e-02 1.33475835e+01] [ 4.44767690e-02 7.06795921e-04 9.99010169e-01 1.35553821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.150385723 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:621.60, Y:13.31, Z:135.56 [[ 7.60711111e-01 6.48192516e-01 -3.41330845e-02 6.21599126e+02] [-6.47564736e-01 7.61476394e-01 2.85239386e-02 1.33062084e+01] [ 4.44805416e-02 4.04904830e-04 9.99010169e-01 1.35560317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.210385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:621.65, Y:13.27, Z:135.56 [[ 7.64531346e-01 6.43682573e-01 -3.41257520e-02 6.21646993e+02] [-6.43049886e-01 7.65292577e-01 2.85327083e-02 1.32658656e+01] [ 4.44821918e-02 1.30411076e-04 9.99010169e-01 1.35562214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.270385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:621.69, Y:13.23, Z:135.56 [[ 7.66931234e-01 6.40821413e-01 -3.41233020e-02 6.21694700e+02] [-6.40185756e-01 7.67689987e-01 2.85356382e-02 1.32257513e+01] [ 4.44823652e-02 -3.96203179e-05 9.99010169e-01 1.35563942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.74, Y:13.19, Z:135.57 [[ 7.68022381e-01 6.39513643e-01 -3.41163064e-02 6.21742110e+02] [-6.38876323e-01 7.68779737e-01 2.85439994e-02 1.31855529e+01] [ 4.44822021e-02 -1.26329985e-04 9.99010169e-01 1.35566231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.79, Y:13.15, Z:135.57 [[ 7.67435700e-01 6.40217930e-01 -3.41093568e-02 6.21790075e+02] [-6.39580936e-01 7.68193330e-01 2.85523016e-02 1.31458483e+01] [ 4.44822758e-02 -9.63612334e-05 9.99010169e-01 1.35568986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.450385723 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:621.84, Y:13.11, Z:135.57 [[ 7.63257349e-01 6.45193979e-01 -3.41020338e-02 6.21838826e+02] [-6.44561533e-01 7.64018780e-01 2.85610453e-02 1.31066085e+01] [ 4.44820087e-02 1.81431449e-04 9.99010169e-01 1.35572167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.510385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:621.89, Y:13.07, Z:135.58 [[ 7.60214633e-01 6.48776488e-01 -3.40995638e-02 6.21886684e+02] [-6.48147498e-01 7.60978921e-01 2.85639939e-02 1.30666612e+01] [ 4.44806970e-02 3.86780842e-04 9.99010169e-01 1.35575978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:621.94, Y:13.03, Z:135.58 [[ 7.56661639e-01 6.52917242e-01 -3.40916158e-02 6.21935269e+02] [-6.52292007e-01 7.57429002e-01 2.85734769e-02 1.30269168e+01] [ 4.44780943e-02 6.17234601e-04 9.99010169e-01 1.35580369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.98, Y:12.99, Z:135.58 [[ 7.54661597e-01 6.55228344e-01 -3.40836032e-02 6.21982738e+02] [-6.54605027e-01 7.55430519e-01 2.85830314e-02 1.29864193e+01] [ 4.44762064e-02 7.40781850e-04 9.99010169e-01 1.35583908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.03, Y:12.95, Z:135.59 [[ 7.53942579e-01 6.56055976e-01 -3.40755713e-02 6.22029363e+02] [-6.55433071e-01 7.54711834e-01 2.85926035e-02 1.29464245e+01] [ 4.44755853e-02 7.77075095e-04 9.99010169e-01 1.35586437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.08, Y:12.91, Z:135.59 [[ 7.54373300e-01 6.55561045e-01 -3.40681572e-02 6.22076667e+02] [-6.54937237e-01 7.55141823e-01 2.86014348e-02 1.29057076e+01] [ 4.44762768e-02 7.36346004e-04 9.99010169e-01 1.35589558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.12, Y:12.86, Z:135.59 [[ 7.56318058e-01 6.53316833e-01 -3.40603982e-02 6.22124107e+02] [-6.52690328e-01 7.57084385e-01 2.86106717e-02 1.28640521e+01] [ 4.44784290e-02 5.92124771e-04 9.99010169e-01 1.35593236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.17, Y:12.82, Z:135.60 [[ 7.58106423e-01 6.51241179e-01 -3.40525963e-02 6.22170163e+02] [-6.50612158e-01 7.58870686e-01 2.86199546e-02 1.28231712e+01] [ 4.44800100e-02 4.58061756e-04 9.99010170e-01 1.35595914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.930385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:622.22, Y:12.78, Z:135.60 [[ 7.59616081e-01 6.49480039e-01 -3.40453952e-02 6.22217699e+02] [-6.48848863e-01 7.60378564e-01 2.86285181e-02 1.27815389e+01] [ 4.44810398e-02 3.43633226e-04 9.99010170e-01 1.35598840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.990385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:622.27, Y:12.75, Z:135.59 [[ 7.65082046e-01 6.43032575e-01 -3.40377793e-02 6.22271107e+02] [-6.42394570e-01 7.65838825e-01 2.86375702e-02 1.27476910e+01] [ 4.44823434e-02 -4.44061659e-05 9.99010170e-01 1.35594098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.31, Y:12.70, Z:135.61 [[ 7.60462854e-01 6.48489158e-01 -3.40302953e-02 6.22312699e+02] [-6.47856185e-01 7.61223846e-01 2.86464608e-02 1.27020630e+01] [ 4.44815915e-02 2.62168002e-04 9.99010170e-01 1.35606096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.36, Y:12.67, Z:135.61 [[ 7.63396325e-01 6.45033709e-01 -3.40230046e-02 6.22364248e+02] [-6.44396906e-01 7.64154115e-01 2.86551172e-02 1.26674930e+01] [ 4.44823355e-02 4.91077269e-05 9.99010170e-01 1.35605096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.41, Y:12.63, Z:135.61 [[ 7.62271992e-01 6.46362371e-01 -3.40160963e-02 6.22411649e+02] [-6.45726523e-01 7.63030584e-01 2.86633156e-02 1.26262124e+01] [ 4.44822105e-02 1.15852944e-04 9.99010170e-01 1.35609111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.46, Y:12.58, Z:135.62 [[ 7.60208159e-01 6.48788902e-01 -3.40075900e-02 6.22456277e+02] [-6.48155024e-01 7.60968397e-01 2.86734044e-02 1.25840201e+01] [ 4.44816878e-02 2.44434345e-04 9.99010170e-01 1.35616273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.50, Y:12.55, Z:135.62 [[ 7.59291661e-01 6.49861647e-01 -3.40002071e-02 6.22504984e+02] [-6.49228451e-01 7.60052467e-01 2.86821562e-02 1.25457696e+01] [ 4.44813745e-02 2.95779750e-04 9.99010170e-01 1.35616961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.55, Y:12.51, Z:135.62 [[ 7.57575088e-01 6.51862286e-01 -3.39933348e-02 6.22553209e+02] [-6.51230733e-01 7.58337259e-01 2.86902987e-02 1.25064326e+01] [ 4.44805361e-02 4.02448774e-04 9.99010170e-01 1.35619145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.60, Y:12.47, Z:135.62 [[ 7.56415300e-01 6.53208116e-01 -3.39860569e-02 6.22602374e+02] [-6.52577532e-01 7.57178272e-01 2.86989174e-02 1.24673113e+01] [ 4.44798696e-02 4.70236968e-04 9.99010170e-01 1.35622371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.65, Y:12.43, Z:135.63 [[ 7.55383483e-01 6.54401467e-01 -3.39781364e-02 6.22651257e+02] [-6.53771667e-01 7.56147103e-01 2.87082919e-02 1.24285550e+01] [ 4.44792177e-02 5.28173317e-04 9.99010170e-01 1.35625064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.530385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:622.70, Y:12.39, Z:135.62 [[ 7.58590941e-01 6.50681014e-01 -3.39706246e-02 6.22702637e+02] [-6.50047071e-01 7.59351124e-01 2.87171779e-02 1.23933573e+01] [ 4.44813544e-02 2.97914039e-04 9.99010170e-01 1.35620557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.75, Y:12.35, Z:135.63 [[ 7.55468238e-01 6.54304401e-01 -3.39631145e-02 6.22745021e+02] [-6.53673704e-01 7.56231117e-01 2.87260572e-02 1.23502363e+01] [ 4.44795496e-02 4.99171064e-04 9.99010170e-01 1.35632192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.79, Y:12.31, Z:135.63 [[ 7.55676524e-01 6.54064193e-01 -3.39561694e-02 6.22793900e+02] [-6.53432886e-01 7.56438898e-01 2.87342643e-02 1.23106078e+01] [ 4.44798208e-02 4.74268783e-04 9.99010170e-01 1.35634281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.84, Y:12.27, Z:135.64 [[ 7.55567742e-01 6.54190265e-01 -3.39482561e-02 6.22842172e+02] [-6.53558664e-01 7.56329873e-01 2.87436105e-02 1.22713607e+01] [ 4.44798704e-02 4.69432029e-04 9.99010171e-01 1.35635315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.89, Y:12.23, Z:135.64 [[ 7.55984917e-01 6.53708494e-01 -3.39412657e-02 6.22889869e+02] [-6.53076037e-01 7.56746338e-01 2.87518627e-02 1.22300071e+01] [ 4.44802654e-02 4.30252747e-04 9.99010171e-01 1.35638742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.94, Y:12.20, Z:135.63 [[ 7.60566152e-01 6.48373087e-01 -3.39332865e-02 6.22941493e+02] [-6.47734868e-01 7.61322750e-01 2.87612767e-02 1.21951376e+01] [ 4.44822208e-02 1.04919357e-04 9.99010171e-01 1.35634489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.98, Y:12.15, Z:135.65 [[ 7.55451832e-01 6.54325089e-01 -3.39294465e-02 6.22983628e+02] [-6.53692628e-01 7.56213248e-01 2.87658060e-02 1.21510537e+01] [ 4.44800855e-02 4.48248199e-04 9.99010171e-01 1.35647606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.03, Y:12.11, Z:135.65 [[ 7.53167081e-01 6.56954031e-01 -3.39226918e-02 6.23031524e+02] [-6.56323869e-01 7.53930401e-01 2.87737695e-02 1.21126450e+01] [ 4.44783925e-02 5.92816304e-04 9.99010171e-01 1.35650061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.08, Y:12.07, Z:135.65 [[ 7.52080730e-01 6.58197786e-01 -3.39153408e-02 6.23080077e+02] [-6.57568496e-01 7.52844768e-01 2.87824315e-02 1.20737149e+01] [ 4.44775195e-02 6.54947550e-04 9.99010171e-01 1.35651687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.13, Y:12.04, Z:135.65 [[ 7.52268925e-01 6.57983040e-01 -3.39084743e-02 6.23128232e+02] [-6.57353167e-01 7.53032483e-01 2.87905185e-02 1.20366573e+01] [ 4.44778555e-02 6.31630615e-04 9.99010171e-01 1.35652953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.130385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:623.18, Y:12.00, Z:135.66 [[ 7.54439409e-01 6.55493569e-01 -3.39022039e-02 6.23177379e+02] [-6.54860844e-01 7.55200606e-01 2.87979004e-02 1.19969346e+01] [ 4.44798034e-02 4.74954889e-04 9.99010171e-01 1.35657564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.22, Y:11.96, Z:135.66 [[ 7.57386464e-01 6.52086601e-01 -3.38940789e-02 6.23224800e+02] [-6.51450025e-01 7.58144443e-01 2.88074599e-02 1.19583978e+01] [ 4.44815662e-02 2.61918340e-04 9.99010171e-01 1.35660761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.27, Y:11.92, Z:135.66 [[ 7.59641128e-01 6.49458859e-01 -3.38902129e-02 6.23274082e+02] [-6.48819457e-01 7.60396726e-01 2.88120074e-02 1.19199153e+01] [ 4.44822204e-02 1.01843757e-04 9.99010171e-01 1.35663389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.32, Y:11.88, Z:135.67 [[ 7.60789417e-01 6.48113759e-01 -3.38824151e-02 6.23323664e+02] [-6.47472614e-01 7.61543534e-01 2.88211745e-02 1.18805461e+01] [ 4.44823339e-02 1.10913288e-05 9.99010171e-01 1.35666968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.37, Y:11.84, Z:135.67 [[ 7.61798210e-01 6.46928128e-01 -3.38745456e-02 6.23373483e+02] [-6.46285397e-01 7.62550977e-01 2.88304209e-02 1.18428887e+01] [ 4.44822781e-02 -7.03388704e-05 9.99010171e-01 1.35669451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.42, Y:11.81, Z:135.67 [[ 7.62698308e-01 6.45867079e-01 -3.38674967e-02 6.23422541e+02] [-6.45222933e-01 7.63449865e-01 2.88386990e-02 1.18056529e+01] [ 4.44821020e-02 -1.43141389e-04 9.99010171e-01 1.35671323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.47, Y:11.77, Z:135.67 [[ 7.64561616e-01 6.43660598e-01 -3.38610450e-02 6.23474121e+02] [-6.43013948e-01 7.65311019e-01 2.88462723e-02 1.17699911e+01] [ 4.44814397e-02 -2.81628325e-04 9.99010171e-01 1.35668700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.52, Y:11.73, Z:135.67 [[ 7.64305002e-01 6.43965678e-01 -3.38536470e-02 6.23523197e+02] [-6.43318943e-01 7.65054331e-01 2.88549518e-02 1.17321104e+01] [ 4.44814779e-02 -2.75291606e-04 9.99010171e-01 1.35674615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.57, Y:11.70, Z:135.68 [[ 7.64564832e-01 6.43657559e-01 -3.38461842e-02 6.23573558e+02] [-6.43010135e-01 7.65313565e-01 2.88637028e-02 1.16952347e+01] [ 4.44812845e-02 -3.04732619e-04 9.99010171e-01 1.35680291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.62, Y:11.66, Z:135.68 [[ 7.63143013e-01 6.45342972e-01 -3.38406679e-02 6.23622799e+02] [-6.44696914e-01 7.63892926e-01 2.88701689e-02 1.16587879e+01] [ 4.44818074e-02 -2.15093531e-04 9.99010171e-01 1.35684720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7303857229999 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:623.67, Y:11.62, Z:135.68 [[ 7.61327619e-01 6.47483998e-01 -3.38338416e-02 6.23672772e+02] [-6.46839693e-01 7.62079040e-01 2.88781667e-02 1.16195804e+01] [ 4.44822123e-02 -1.00674184e-04 9.99010171e-01 1.35684147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.17, Y:12.21, Z:136.58 [[ 8.04352166e-01 5.93188976e-01 -3.38294513e-02 6.24169114e+02] [-5.92493951e-01 8.05056937e-01 2.88833088e-02 1.22135890e+01] [ 4.43678948e-02 -3.18860667e-03 9.99010171e-01 1.36575442e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 849.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.22, Y:12.18, Z:136.58 [[ 8.02730460e-01 5.95280546e-01 -3.55651616e-02 6.24219474e+02] [-5.94687781e-01 8.03517917e-01 2.65593627e-02 1.21792470e+01] [ 4.43875165e-02 -1.69842392e-04 9.99014374e-01 1.36583712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.27, Y:12.14, Z:136.59 [[ 8.02785715e-01 5.95206412e-01 -3.55587268e-02 6.24272086e+02] [-5.94613193e-01 8.03572830e-01 2.65679750e-02 1.21443154e+01] [ 4.43874558e-02 -1.84702777e-04 9.99014374e-01 1.36586676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.32, Y:12.11, Z:136.59 [[ 8.01680423e-01 5.96694712e-01 -3.55516564e-02 6.24324372e+02] [-5.96102535e-01 8.02468322e-01 2.65774329e-02 1.21098347e+01] [ 4.43876917e-02 -1.14175112e-04 9.99014374e-01 1.36590553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.38, Y:12.08, Z:136.59 [[ 7.99727492e-01 5.99310048e-01 -3.55444112e-02 6.24375849e+02] [-5.98720017e-01 8.00517000e-01 2.65871190e-02 1.20756060e+01] [ 4.43878329e-02 1.87004626e-05 9.99014374e-01 1.36594906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0903857229999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:624.43, Y:12.04, Z:136.60 [[ 7.96313749e-01 6.03838946e-01 -3.55378581e-02 6.24428598e+02] [-6.03253015e-01 7.97106304e-01 2.65958754e-02 1.20411760e+01] [ 4.43870761e-02 2.59658788e-04 9.99014374e-01 1.36596571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.48, Y:12.01, Z:136.60 [[ 7.93677342e-01 6.07300475e-01 -3.55304215e-02 6.24480601e+02] [-6.06717555e-01 7.94472114e-01 2.66058064e-02 1.20053853e+01] [ 4.43856480e-02 4.40504743e-04 9.99014374e-01 1.36598933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.53, Y:11.97, Z:136.60 [[ 7.92181669e-01 6.09250621e-01 -3.55230118e-02 6.24530994e+02] [-6.08669215e-01 7.92977548e-01 2.66156959e-02 1.19687835e+01] [ 4.43845801e-02 5.37297355e-04 9.99014374e-01 1.36602146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.270385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:624.58, Y:11.93, Z:136.61 [[ 7.91468405e-01 6.10177191e-01 -3.55184387e-02 6.24581394e+02] [-6.09596442e-01 7.92264765e-01 2.66217974e-02 1.19317432e+01] [ 4.43840210e-02 5.81602322e-04 9.99014374e-01 1.36605703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.63, Y:11.89, Z:136.61 [[ 7.91552436e-01 6.10068607e-01 -3.55110619e-02 6.24630808e+02] [-6.09487308e-01 7.92348394e-01 2.66316336e-02 1.18925648e+01] [ 4.43842565e-02 5.63207059e-04 9.99014375e-01 1.36608987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.68, Y:11.85, Z:136.61 [[ 7.90503454e-01 6.11427661e-01 -3.55035800e-02 6.24679252e+02] [-6.10847283e-01 7.91300083e-01 2.66416044e-02 1.18533466e+01] [ 4.43833996e-02 6.26985067e-04 9.99014375e-01 1.36610392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.450385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:624.73, Y:11.82, Z:136.61 [[ 7.89931114e-01 6.12167314e-01 -3.54966838e-02 6.24729034e+02] [-6.11587269e-01 7.90727986e-01 2.66507895e-02 1.18150718e+01] [ 4.43829635e-02 6.57032057e-04 9.99014375e-01 1.36611700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.510385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:624.78, Y:11.77, Z:136.61 [[ 7.87469081e-01 6.15331590e-01 -3.54891644e-02 6.24775710e+02] [-6.14754296e-01 7.88267948e-01 2.66607989e-02 1.17742941e+01] [ 4.43802025e-02 8.22561445e-04 9.99014375e-01 1.36614818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.82, Y:11.73, Z:136.62 [[ 7.86008377e-01 6.17196738e-01 -3.54826471e-02 6.24823902e+02] [-6.16620948e-01 7.86808329e-01 2.66694699e-02 1.17348129e+01] [ 4.43783521e-02 9.16916760e-04 9.99014375e-01 1.36617261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.87, Y:11.69, Z:136.62 [[ 7.84208797e-01 6.19482069e-01 -3.54757480e-02 6.24870197e+02] [-6.18908195e-01 7.85010125e-01 2.66786438e-02 1.16920711e+01] [ 4.43757629e-02 1.03460400e-03 9.99014375e-01 1.36621059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.92, Y:11.65, Z:136.62 [[ 7.83422922e-01 6.20476052e-01 -3.54682143e-02 6.24916998e+02] [-6.19902742e-01 7.84224653e-01 2.66886559e-02 1.16490150e+01] [ 4.43747199e-02 1.07833859e-03 9.99014375e-01 1.36623944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.96, Y:11.61, Z:136.63 [[ 7.83308253e-01 6.20621238e-01 -3.54606676e-02 6.24963368e+02] [-6.20047623e-01 7.84109766e-01 2.66986792e-02 1.16070047e+01] [ 4.43748232e-02 1.07400690e-03 9.99014375e-01 1.36626947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.01, Y:11.56, Z:136.63 [[ 7.82982806e-01 6.21032174e-01 -3.54536875e-02 6.25009351e+02] [-6.20458561e-01 7.83784320e-01 2.67079450e-02 1.15639566e+01] [ 4.43745375e-02 1.08568218e-03 9.99014375e-01 1.36630928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.05, Y:11.52, Z:136.63 [[ 7.83347968e-01 6.20571936e-01 -3.54461979e-02 6.25054303e+02] [-6.19997402e-01 7.84148822e-01 2.67178815e-02 1.15225996e+01] [ 4.43754618e-02 1.04715242e-03 9.99014375e-01 1.36631738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.930385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:625.10, Y:11.48, Z:136.64 [[ 7.84736993e-01 6.18814870e-01 -3.54402059e-02 6.25101370e+02] [-6.18238185e-01 7.85536299e-01 2.67258272e-02 1.14800357e+01] [ 4.43779075e-02 9.37743329e-04 9.99014375e-01 1.36635157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.15, Y:11.44, Z:136.64 [[ 7.87656841e-01 6.15094480e-01 -3.54327808e-02 6.25146443e+02] [-6.14513576e-01 7.88453086e-01 2.67356677e-02 1.14375998e+01] [ 4.43820470e-02 7.15393209e-04 9.99014375e-01 1.36638298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.050385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:625.19, Y:11.40, Z:136.64 [[ 7.91066058e-01 6.10704071e-01 -3.54263844e-02 6.25193136e+02] [-6.10118368e-01 7.91858780e-01 2.67441406e-02 1.13959208e+01] [ 4.43854491e-02 4.57905973e-04 9.99014375e-01 1.36641933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.24, Y:11.35, Z:136.65 [[ 7.94738435e-01 6.05917752e-01 -3.54188864e-02 6.25239580e+02] [-6.05326832e-01 7.95527276e-01 2.67540670e-02 1.13538410e+01] [ 4.43874544e-02 1.77516997e-04 9.99014375e-01 1.36645584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.29, Y:11.31, Z:136.65 [[ 7.97395057e-01 6.02417701e-01 -3.54123724e-02 6.25286891e+02] [-6.01822936e-01 7.98181002e-01 2.67626863e-02 1.13126110e+01] [ 4.43877989e-02 -2.84558161e-05 9.99014376e-01 1.36648254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.33, Y:11.27, Z:136.65 [[ 7.99386586e-01 5.99772939e-01 -3.54049118e-02 6.25333924e+02] [-5.99175137e-01 8.00170223e-01 2.67725525e-02 1.12712202e+01] [ 4.43874087e-02 -1.87876414e-04 9.99014376e-01 1.36652002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.290385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:625.38, Y:11.23, Z:136.65 [[ 8.00161131e-01 5.98739668e-01 -3.53973719e-02 6.25380780e+02] [-5.98140413e-01 8.00943658e-01 2.67825176e-02 1.12308418e+01] [ 4.43870563e-02 -2.57730940e-04 9.99014376e-01 1.36654847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.43, Y:11.19, Z:136.66 [[ 8.00286926e-01 5.98571929e-01 -3.53904286e-02 6.25429404e+02] [-5.97972104e-01 8.01069016e-01 2.67916895e-02 1.11913088e+01] [ 4.43869290e-02 -2.78549761e-04 9.99014376e-01 1.36657123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.48, Y:11.15, Z:136.66 [[ 7.98949578e-01 6.00356252e-01 -3.53828032e-02 6.25476211e+02] [-5.99757728e-01 7.99732664e-01 2.68017562e-02 1.11512702e+01] [ 4.43873854e-02 -1.92142180e-04 9.99014376e-01 1.36657003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.53, Y:11.11, Z:136.66 [[ 7.96816632e-01 6.03184670e-01 -3.53766701e-02 6.25525278e+02] [-6.02588566e-01 7.97601562e-01 2.68098491e-02 1.11113415e+01] [ 4.43877773e-02 -4.49567576e-05 9.99014376e-01 1.36660609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.57, Y:11.07, Z:136.66 [[ 7.95136664e-01 6.05397968e-01 -3.53692786e-02 6.25574265e+02] [-6.04803615e-01 7.95922921e-01 2.68195969e-02 1.10722573e+01] [ 4.43877490e-02 6.62227193e-05 9.99014376e-01 1.36663446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5903857229999 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:625.62, Y:11.03, Z:136.66 [[ 7.92051572e-01 6.09429120e-01 -3.53617840e-02 6.25622037e+02] [-6.08838328e-01 7.92840507e-01 2.68294749e-02 1.10331832e+01] [ 4.43869181e-02 2.79281675e-04 9.99014376e-01 1.36664243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.67, Y:10.99, Z:136.67 [[ 7.88393698e-01 6.14154223e-01 -3.53548650e-02 6.25670893e+02] [-6.13567751e-01 7.89185850e-01 2.68385895e-02 1.09927925e+01] [ 4.43845923e-02 5.33230200e-04 9.99014376e-01 1.36665770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.710385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:625.72, Y:10.95, Z:136.67 [[ 7.86796822e-01 6.16199091e-01 -3.53474425e-02 6.25718148e+02] [-6.15614238e-01 7.87590170e-01 2.68483617e-02 1.09512876e+01] [ 4.43832343e-02 6.36183238e-04 9.99014376e-01 1.36669278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.77, Y:10.91, Z:136.67 [[ 7.85815218e-01 6.17450835e-01 -3.53399116e-02 6.25765860e+02] [-6.16866800e-01 7.86609169e-01 2.68582707e-02 1.09110862e+01] [ 4.43823602e-02 6.94380275e-04 9.99014376e-01 1.36672330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.81, Y:10.87, Z:136.67 [[ 7.85718470e-01 6.17574341e-01 -3.53329867e-02 6.25814725e+02] [-6.16990021e-01 7.86512211e-01 2.68673776e-02 1.08711257e+01] [ 4.43824285e-02 6.89905447e-04 9.99014376e-01 1.36673382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.86, Y:10.83, Z:136.68 [[ 7.87378846e-01 6.15456454e-01 -3.53257056e-02 6.25863503e+02] [-6.14869570e-01 7.88170693e-01 2.68769475e-02 1.08322043e+01] [ 4.43842767e-02 5.58361523e-04 9.99014376e-01 1.36676948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.91, Y:10.80, Z:136.68 [[ 7.88425324e-01 6.14115720e-01 -3.53184219e-02 6.25913392e+02] [-6.13527061e-01 7.89215852e-01 2.68865155e-02 1.07956264e+01] [ 4.43852902e-02 4.70797909e-04 9.99014376e-01 1.36681627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.96, Y:10.76, Z:136.68 [[ 7.90149719e-01 6.11895812e-01 -3.53119909e-02 6.25964831e+02] [-6.11304554e-01 7.90938305e-01 2.68949591e-02 1.07593963e+01] [ 4.43865191e-02 3.35336431e-04 9.99014377e-01 1.36684726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.01, Y:10.72, Z:136.69 [[ 7.93656197e-01 6.07341287e-01 -3.53044248e-02 6.26013917e+02] [-6.06745062e-01 7.94441034e-01 2.69048873e-02 1.07224676e+01] [ 4.43877326e-02 6.75549414e-05 9.99014377e-01 1.36685828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.130385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:626.06, Y:10.69, Z:136.69 [[ 7.96433072e-01 6.03695608e-01 -3.52983751e-02 6.26064748e+02] [-6.03095439e-01 7.97214897e-01 2.69128220e-02 1.06858425e+01] [ 4.43875429e-02 -1.45972525e-04 9.99014377e-01 1.36689390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.11, Y:10.65, Z:136.69 [[ 7.99267445e-01 5.99938412e-01 -3.52909922e-02 6.26114910e+02] [-5.99334140e-01 8.00046103e-01 2.69224997e-02 1.06508398e+01] [ 4.43862625e-02 -3.67181057e-04 9.99014377e-01 1.36691985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.16, Y:10.61, Z:136.70 [[ 8.02234454e-01 5.95965330e-01 -3.52874925e-02 6.26164718e+02] [-5.95357001e-01 8.03009946e-01 2.69270860e-02 1.06142251e+01] [ 4.43838172e-02 -5.93180442e-04 9.99014377e-01 1.36696697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.22, Y:10.58, Z:136.70 [[ 8.03447144e-01 5.94329828e-01 -3.52809131e-02 6.26215090e+02] [-5.93719542e-01 8.04221097e-01 2.69357039e-02 1.05787623e+01] [ 4.43823469e-02 -6.94446775e-04 9.99014377e-01 1.36698467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.370385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:626.27, Y:10.54, Z:136.70 [[ 8.02637106e-01 5.95423597e-01 -3.52762971e-02 6.26266362e+02] [-5.94814100e-01 8.03411681e-01 2.69417479e-02 1.05428107e+01] [ 4.43831416e-02 -6.41607684e-04 9.99014377e-01 1.36702091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.32, Y:10.51, Z:136.70 [[ 8.00593382e-01 5.98169160e-01 -3.52688656e-02 6.26318895e+02] [-5.97561891e-01 8.01369705e-01 2.69514728e-02 1.05074191e+01] [ 4.43849403e-02 -5.01840672e-04 9.99014377e-01 1.36704454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.490385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:626.37, Y:10.47, Z:136.71 [[ 7.98480019e-01 6.00987762e-01 -3.52614413e-02 6.26370559e+02] [-6.00382805e-01 7.99258145e-01 2.69611828e-02 1.04723733e+01] [ 4.43863350e-02 -3.57602736e-04 9.99014377e-01 1.36705979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.42, Y:10.44, Z:136.71 [[ 7.96122567e-01 6.04107559e-01 -3.52549924e-02 6.26422352e+02] [-6.03505278e-01 7.96902766e-01 2.69696128e-02 1.04360919e+01] [ 4.43873480e-02 -1.94543394e-04 9.99014377e-01 1.36708966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.610385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:626.47, Y:10.40, Z:136.71 [[ 7.94025946e-01 6.06861110e-01 -3.52475471e-02 6.26472830e+02] [-6.06261103e-01 7.94807895e-01 2.69793399e-02 1.04001294e+01] [ 4.43877409e-02 -5.30790948e-05 9.99014377e-01 1.36713239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.52, Y:10.36, Z:136.72 [[ 7.92444123e-01 6.08925603e-01 -3.52409003e-02 6.26524216e+02] [-6.08327247e-01 7.93227336e-01 2.69880192e-02 1.03633883e+01] [ 4.43877414e-02 5.15026293e-05 9.99014377e-01 1.36716473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.57, Y:10.33, Z:136.72 [[ 7.91332041e-01 6.10370554e-01 -3.52333303e-02 6.26573360e+02] [-6.09773188e-01 7.92116010e-01 2.69978984e-02 1.03267976e+01] [ 4.43876072e-02 1.20038063e-04 9.99014377e-01 1.36720431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.62, Y:10.29, Z:136.72 [[ 7.90408628e-01 6.11566218e-01 -3.52272799e-02 6.26623025e+02] [-6.10969687e-01 7.91193231e-01 2.70057908e-02 1.02903390e+01] [ 4.43874147e-02 1.77190068e-04 9.99014377e-01 1.36722408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.67, Y:10.25, Z:136.72 [[ 7.89627947e-01 6.12574248e-01 -3.52206768e-02 6.26672794e+02] [-6.11978334e-01 7.90413019e-01 2.70143996e-02 1.02539472e+01] [ 4.43872071e-02 2.22966196e-04 9.99014377e-01 1.36723228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.72, Y:10.22, Z:136.73 [[ 7.90127686e-01 6.11929906e-01 -3.52140555e-02 6.26723476e+02] [-6.11332967e-01 7.90911980e-01 2.70230280e-02 1.02176091e+01] [ 4.43874173e-02 1.75870481e-04 9.99014377e-01 1.36725393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.77, Y:10.18, Z:136.73 [[ 7.91935630e-01 6.09588730e-01 -3.52070575e-02 6.26773870e+02] [-6.08989068e-01 7.92717843e-01 2.70321423e-02 1.01808131e+01] [ 4.43877520e-02 3.29964127e-05 9.99014377e-01 1.36729944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.82, Y:10.15, Z:136.73 [[ 7.93338213e-01 6.07762678e-01 -3.51995325e-02 6.26823067e+02] [-6.07160780e-01 7.94118707e-01 2.70419373e-02 1.01451522e+01] [ 4.43876875e-02 -8.16265907e-05 9.99014378e-01 1.36733517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.87, Y:10.11, Z:136.74 [[ 7.94444063e-01 6.06316787e-01 -3.51935312e-02 6.26874665e+02] [-6.05713123e-01 7.95223192e-01 2.70497455e-02 1.01085734e+01] [ 4.43874269e-02 -1.72326021e-04 9.99014378e-01 1.36735990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.93, Y:10.07, Z:136.74 [[ 7.95506594e-01 6.04922475e-01 -3.51860404e-02 6.26925458e+02] [-6.04317015e-01 7.96284327e-01 2.70594859e-02 1.00723517e+01] [ 4.43869837e-02 -2.62476564e-04 9.99014378e-01 1.36737724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.210385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:626.98, Y:10.04, Z:136.74 [[ 7.96754459e-01 6.03278318e-01 -3.51795751e-02 6.26978007e+02] [-6.02670882e-01 7.97530650e-01 2.70678888e-02 1.00372694e+01] [ 4.43862598e-02 -3.64755538e-04 9.99014378e-01 1.36741815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.03, Y:10.00, Z:136.74 [[ 7.97088405e-01 6.02837460e-01 -3.51720431e-02 6.27029330e+02] [-6.02229162e-01 7.97863921e-01 2.70776723e-02 1.00024876e+01] [ 4.43859394e-02 -4.01668535e-04 9.99014378e-01 1.36744035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.08, Y:9.97, Z:136.75 [[ 7.97024788e-01 6.02921948e-01 -3.51655010e-02 6.27081473e+02] [-6.02313358e-01 7.97800075e-01 2.70861658e-02 9.96802372e+00] [ 4.43858831e-02 -4.07694540e-04 9.99014378e-01 1.36747457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.13, Y:9.93, Z:136.75 [[ 7.96796776e-01 6.03223685e-01 -3.51579721e-02 6.27133828e+02] [-6.02614957e-01 7.97571955e-01 2.70959348e-02 9.93461751e+00] [ 4.43859222e-02 -4.03233582e-04 9.99014378e-01 1.36751956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.450385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:627.19, Y:9.90, Z:136.75 [[ 7.96401816e-01 6.03745411e-01 -3.51514727e-02 6.27185966e+02] [-6.03136820e-01 7.97177101e-01 2.71043638e-02 9.90086188e+00] [ 4.43860844e-02 -3.84817138e-04 9.99014378e-01 1.36754418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.24, Y:9.87, Z:136.76 [[ 7.96391519e-01 6.03759394e-01 -3.51446001e-02 6.27238597e+02] [-6.03150423e-01 7.97166506e-01 2.71132723e-02 9.86702327e+00] [ 4.43859908e-02 -3.95299681e-04 9.99014378e-01 1.36756071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:627.29, Y:9.83, Z:136.76 [[ 7.97089549e-01 6.02837918e-01 -3.51382460e-02 6.27291485e+02] [-6.02227688e-01 7.97863545e-01 2.71215045e-02 9.83220925e+00] [ 4.43853968e-02 -4.57043089e-04 9.99014378e-01 1.36760098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.34, Y:9.80, Z:136.76 [[ 7.98134402e-01 6.01454331e-01 -3.51306828e-02 6.27344576e+02] [-6.00842328e-01 7.98906997e-01 2.71312977e-02 9.79908322e+00] [ 4.43843847e-02 -5.46420825e-04 9.99014378e-01 1.36762239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.690385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:627.40, Y:9.77, Z:136.76 [[ 8.00397602e-01 5.98439641e-01 -3.51237011e-02 6.27397547e+02] [-5.97824333e-01 8.01167567e-01 2.71403331e-02 9.76610986e+00] [ 4.43818213e-02 -7.25254365e-04 9.99014378e-01 1.36762774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.750385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:627.45, Y:9.73, Z:136.77 [[ 7.98449697e-01 6.01036522e-01 -3.51166666e-02 6.27445242e+02] [-6.00423318e-01 7.99221339e-01 2.71494318e-02 9.72854004e+00] [ 4.43837894e-02 -5.92590124e-04 9.99014378e-01 1.36768338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.810385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:627.50, Y:9.70, Z:136.77 [[ 7.99385486e-01 5.99791728e-01 -3.51102291e-02 6.27499331e+02] [-5.99176956e-01 8.00155879e-01 2.71577544e-02 9.69613479e+00] [ 4.43826527e-02 -6.72274436e-04 9.99014378e-01 1.36765077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.870385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:627.55, Y:9.66, Z:136.77 [[ 7.95766809e-01 6.04584917e-01 -3.51036300e-02 6.27548551e+02] [-6.03974410e-01 7.96540586e-01 2.71662816e-02 9.65910015e+00] [ 4.43857901e-02 -4.16330991e-04 9.99014378e-01 1.36769920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.60, Y:9.62, Z:136.78 [[ 7.91169993e-01 6.10588463e-01 -3.50965795e-02 6.27595322e+02] [-6.09983425e-01 7.91948054e-01 2.71753872e-02 9.61852741e+00] [ 4.43876458e-02 -9.20191256e-05 9.99014379e-01 1.36775666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.65, Y:9.58, Z:136.78 [[ 7.91742178e-01 6.09846494e-01 -3.50938344e-02 6.27647385e+02] [-6.09240569e-01 7.92519548e-01 2.71789317e-02 9.58388557e+00] [ 4.43875260e-02 -1.38118929e-04 9.99014379e-01 1.36777739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.69, Y:9.54, Z:136.78 [[ 7.89184550e-01 6.13153095e-01 -3.50860065e-02 6.27694895e+02] [-6.12549978e-01 7.89964101e-01 2.71890333e-02 9.54405320e+00] [ 4.43877255e-02 3.47675395e-05 9.99014379e-01 1.36781072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.74, Y:9.51, Z:136.79 [[ 7.87698624e-01 6.15061006e-01 -3.50832726e-02 6.27743049e+02] [-6.14459621e-01 7.88479511e-01 2.71925604e-02 9.50658922e+00] [ 4.43875252e-02 1.37711981e-04 9.99014379e-01 1.36786950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.170385723 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:627.79, Y:9.47, Z:136.79 [[ 7.86977508e-01 6.15983817e-01 -3.50761726e-02 6.27792409e+02] [-6.15382939e-01 7.87758786e-01 2.72017158e-02 9.46757690e+00] [ 4.43873799e-02 1.78139637e-04 9.99014379e-01 1.36787557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2303857229999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:627.84, Y:9.43, Z:136.79 [[ 7.87824750e-01 6.14900290e-01 -3.50684535e-02 6.27842006e+02] [-6.14297894e-01 7.88604859e-01 2.72116637e-02 9.43075422e+00] [ 4.43876127e-02 1.04454976e-04 9.99014379e-01 1.36787923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.89, Y:9.39, Z:136.79 [[ 7.86727191e-01 6.16304326e-01 -3.50614271e-02 6.27888303e+02] [-6.15702919e-01 7.87508062e-01 2.72207140e-02 9.39103584e+00] [ 4.43874003e-02 1.72147139e-04 9.99014379e-01 1.36792648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.94, Y:9.35, Z:136.79 [[ 7.86130536e-01 6.17065576e-01 -3.50550322e-02 6.27936204e+02] [-6.16464558e-01 7.86911706e-01 2.72289468e-02 9.35013238e+00] [ 4.43872610e-02 2.04678399e-04 9.99014379e-01 1.36794867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.98, Y:9.31, Z:136.80 [[ 7.85112772e-01 6.18360322e-01 -3.50492152e-02 6.27983226e+02] [-6.17760258e-01 7.85894675e-01 2.72364325e-02 9.31095884e+00] [ 4.43869207e-02 2.68341222e-04 9.99014379e-01 1.36799364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.03, Y:9.27, Z:136.80 [[ 7.85817053e-01 6.17465309e-01 -3.50449902e-02 6.28032586e+02] [-6.16864112e-01 7.86598085e-01 2.72418677e-02 9.27224932e+00] [ 4.43872304e-02 2.10872593e-04 9.99014379e-01 1.36795479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.08, Y:9.23, Z:136.80 [[ 7.84326008e-01 6.19358320e-01 -3.50426092e-02 6.28076787e+02] [-6.18758872e-01 7.85108383e-01 2.72449302e-02 9.22980786e+00] [ 4.43866204e-02 3.14018018e-04 9.99014379e-01 1.36804155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.12, Y:9.19, Z:136.81 [[ 7.84433002e-01 6.19223154e-01 -3.50364246e-02 6.28124801e+02] [-6.18623215e-01 7.85215001e-01 2.72528811e-02 9.18915937e+00] [ 4.43867412e-02 2.96286264e-04 9.99014379e-01 1.36807143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.17, Y:9.15, Z:136.81 [[ 7.85113268e-01 6.18360822e-01 -3.50292743e-02 6.28170291e+02] [-6.17759615e-01 7.85894292e-01 2.72620686e-02 9.14647178e+00] [ 4.43871019e-02 2.35859208e-04 9.99014379e-01 1.36812507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.710385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:628.22, Y:9.11, Z:136.82 [[ 7.86214790e-01 6.16960060e-01 -3.50226717e-02 6.28217660e+02] [-6.16357084e-01 7.86994449e-01 2.72705481e-02 9.10511812e+00] [ 4.43874872e-02 1.45963553e-04 9.99014379e-01 1.36815536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.770385723 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:628.26, Y:9.06, Z:136.81 [[ 7.87810263e-01 6.14921892e-01 -3.50150971e-02 6.28263141e+02] [-6.14316466e-01 7.88588021e-01 2.72802703e-02 9.06159694e+00] [ 4.43877216e-02 1.86738246e-05 9.99014379e-01 1.36812655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.830385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:628.31, Y:9.02, Z:136.82 [[ 7.90447343e-01 6.11528529e-01 -3.50122355e-02 6.28309606e+02] [-6.10919601e-01 7.91222363e-01 2.72839425e-02 9.02225121e+00] [ 4.43873729e-02 -1.76858874e-04 9.99014379e-01 1.36819657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.36, Y:8.98, Z:136.82 [[ 7.92826998e-01 6.08440643e-01 -3.50048040e-02 6.28356977e+02] [-6.07828276e-01 7.93599303e-01 2.72934736e-02 8.98025454e+00] [ 4.43862467e-02 -3.62093050e-04 9.99014379e-01 1.36823148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.40, Y:8.94, Z:136.83 [[ 7.94295975e-01 6.06522139e-01 -3.49971419e-02 6.28403272e+02] [-6.05907474e-01 7.95066452e-01 2.73032949e-02 8.93806054e+00] [ 4.43851062e-02 -4.81867408e-04 9.99014379e-01 1.36826413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.45, Y:8.90, Z:136.83 [[ 7.93973023e-01 6.06945283e-01 -3.49894694e-02 6.28450641e+02] [-6.06330596e-01 7.94743482e-01 2.73131237e-02 8.89768683e+00] [ 4.43852243e-02 -4.70697527e-04 9.99014379e-01 1.36828321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.50, Y:8.86, Z:136.83 [[ 7.92249583e-01 6.09193592e-01 -3.49823715e-02 6.28498706e+02] [-6.08580690e-01 7.93021463e-01 2.73222116e-02 8.85754496e+00] [ 4.43862877e-02 -3.56415006e-04 9.99014380e-01 1.36829948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.55, Y:8.82, Z:136.83 [[ 7.89625450e-01 6.12591545e-01 -3.49749558e-02 6.28545859e+02] [-6.11981544e-01 7.90399625e-01 2.73317011e-02 8.81675184e+00] [ 4.43873610e-02 -1.77779288e-04 9.99014380e-01 1.36832415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.59, Y:8.78, Z:136.84 [[ 7.87467858e-01 6.15362990e-01 -3.49680403e-02 6.28593998e+02] [-6.14755321e-01 7.88243864e-01 2.73405459e-02 8.77561459e+00] [ 4.43877033e-02 -3.30122777e-05 9.99014380e-01 1.36835990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.250385723 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:628.64, Y:8.73, Z:136.84 [[ 7.85838982e-01 6.17442175e-01 -3.49607610e-02 6.28642135e+02] [-6.16836146e-01 7.86616269e-01 2.73498509e-02 8.73451072e+00] [ 4.43876548e-02 7.24821532e-05 9.99014380e-01 1.36837523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.69, Y:8.69, Z:136.84 [[ 7.83365506e-01 6.20577740e-01 -3.49535739e-02 6.28689397e+02] [-6.19974412e-01 7.84144892e-01 2.73590330e-02 8.69292434e+00] [ 4.43870733e-02 2.38198667e-04 9.99014380e-01 1.36842717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.74, Y:8.65, Z:136.85 [[ 7.82361670e-01 6.21843226e-01 -3.49459692e-02 6.28736413e+02] [-6.21240724e-01 7.83141695e-01 2.73687431e-02 8.65174276e+00] [ 4.43867131e-02 2.97603693e-04 9.99014380e-01 1.36845547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.78, Y:8.61, Z:136.85 [[ 7.81487755e-01 6.22941572e-01 -3.49383213e-02 6.28782417e+02] [-6.22339731e-01 7.82268289e-01 2.73785028e-02 8.61100404e+00] [ 4.43863484e-02 3.47540790e-04 9.99014380e-01 1.36847124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.83, Y:8.57, Z:136.85 [[ 7.81374774e-01 6.23083625e-01 -3.49322055e-02 6.28828763e+02] [-6.22481577e-01 7.82155149e-01 2.73863038e-02 8.56869204e+00] [ 4.43863618e-02 3.45687416e-04 9.99014380e-01 1.36849870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.87, Y:8.53, Z:136.85 [[ 7.80392498e-01 6.24313660e-01 -3.49285402e-02 6.28873469e+02] [-6.23712632e-01 7.81173660e-01 2.73909777e-02 8.52711618e+00] [ 4.43858171e-02 4.09658279e-04 9.99014380e-01 1.36853015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.92, Y:8.49, Z:136.86 [[ 7.79106590e-01 6.25918010e-01 -3.49222795e-02 6.28920986e+02] [-6.25318234e-01 7.79888712e-01 2.73989575e-02 8.48527493e+00] [ 4.43849925e-02 4.90829745e-04 9.99014380e-01 1.36857491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.97, Y:8.44, Z:136.86 [[ 7.78139621e-01 6.27120168e-01 -3.49145430e-02 6.28968201e+02] [-6.26521158e-01 7.78922330e-01 2.74088126e-02 8.44345203e+00] [ 4.43843363e-02 5.46816851e-04 9.99014380e-01 1.36859929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.02, Y:8.40, Z:136.86 [[ 7.77637740e-01 6.27742827e-01 -3.49068653e-02 6.29015008e+02] [-6.27144004e-01 7.78420593e-01 2.74185872e-02 8.40162854e+00] [ 4.43840442e-02 5.69903077e-04 9.99014380e-01 1.36863433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.06, Y:8.36, Z:136.87 [[ 7.79126071e-01 6.25895048e-01 -3.48992117e-02 6.29061364e+02] [-6.25293932e-01 7.79907164e-01 2.74283254e-02 8.35989020e+00] [ 4.43853983e-02 4.52141956e-04 9.99014380e-01 1.36866533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.11, Y:8.32, Z:136.87 [[ 7.80749293e-01 6.23869439e-01 -3.48921920e-02 6.29108010e+02] [-6.23265898e-01 7.81528514e-01 2.74372524e-02 8.31709488e+00] [ 4.43865062e-02 3.25497963e-04 9.99014380e-01 1.36871040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.16, Y:8.28, Z:136.87 [[ 7.81181728e-01 6.23328310e-01 -3.48844735e-02 6.29155017e+02] [-6.22723791e-01 7.81960190e-01 2.74470625e-02 8.27832884e+00] [ 4.43868006e-02 2.82247923e-04 9.99014380e-01 1.36873305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.20, Y:8.24, Z:136.87 [[ 7.80454032e-01 6.24239546e-01 -3.48782678e-02 6.29204618e+02] [-6.23635584e-01 7.81232926e-01 2.74549460e-02 8.24195778e+00] [ 4.43865143e-02 3.24005643e-04 9.99014380e-01 1.36874510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.25, Y:8.20, Z:136.88 [[ 7.81013914e-01 6.23539301e-01 -3.48712687e-02 6.29254767e+02] [-6.22934244e-01 7.81791958e-01 2.74638330e-02 8.20455101e+00] [ 4.43868566e-02 2.72871659e-04 9.99014381e-01 1.36877466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.30, Y:8.17, Z:136.88 [[ 7.82733110e-01 6.21380236e-01 -3.48637562e-02 6.29303616e+02] [-6.20772608e-01 7.83509147e-01 2.74733663e-02 8.16705878e+00] [ 4.43874787e-02 1.38151440e-04 9.99014381e-01 1.36879242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.35, Y:8.13, Z:136.88 [[ 7.83255603e-01 6.20721887e-01 -3.48568493e-02 6.29353107e+02] [-6.20113217e-01 7.84030823e-01 2.74821266e-02 8.12802751e+00] [ 4.43876018e-02 8.96633055e-05 9.99014381e-01 1.36882000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.40, Y:8.09, Z:136.89 [[ 7.85636306e-01 6.17706327e-01 -3.48495137e-02 6.29403171e+02] [-6.17094268e-01 7.86408854e-01 2.74914256e-02 8.09075553e+00] [ 4.43875937e-02 -9.28268558e-05 9.99014381e-01 1.36886936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.45, Y:8.05, Z:136.89 [[ 7.86567827e-01 6.16520156e-01 -3.48418110e-02 6.29452996e+02] [-6.15906500e-01 7.87339106e-01 2.75011843e-02 8.05434420e+00] [ 4.43873548e-02 -1.72248904e-04 9.99014381e-01 1.36890288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.330385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:629.50, Y:8.02, Z:136.89 [[ 7.86859239e-01 6.16148560e-01 -3.48351812e-02 6.29503219e+02] [-6.15534169e-01 7.87629932e-01 2.75095797e-02 8.01664888e+00] [ 4.43872193e-02 -2.03922628e-04 9.99014381e-01 1.36892742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.55, Y:7.98, Z:136.89 [[ 7.87597247e-01 6.15205347e-01 -3.48275429e-02 6.29553404e+02] [-6.14589605e-01 7.88366861e-01 2.75192464e-02 7.97895158e+00] [ 4.43868683e-02 -2.69436801e-04 9.99014381e-01 1.36894384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.60, Y:7.94, Z:136.90 [[ 7.88678163e-01 6.13819458e-01 -3.48199259e-02 6.29604055e+02] [-6.13201939e-01 7.89446352e-01 2.75288808e-02 7.94153801e+00] [ 4.43862262e-02 -3.59781083e-04 9.99014381e-01 1.36897396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.65, Y:7.90, Z:136.90 [[ 7.89561494e-01 6.12683232e-01 -3.48124215e-02 6.29653286e+02] [-6.12064188e-01 7.90328456e-01 2.75383675e-02 7.90352039e+00] [ 4.43855433e-02 -4.35798075e-04 9.99014381e-01 1.36900393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.70, Y:7.87, Z:136.90 [[ 7.88853202e-01 6.13595308e-01 -3.48055014e-02 6.29703896e+02] [-6.12976766e-01 7.89620568e-01 2.75471110e-02 7.86601464e+00] [ 4.43859178e-02 -3.95663067e-04 9.99014381e-01 1.36902746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.75, Y:7.83, Z:136.91 [[ 7.87012937e-01 6.15954327e-01 -3.47980344e-02 6.29754502e+02] [-6.15337668e-01 7.87781817e-01 2.75565402e-02 7.82858743e+00] [ 4.43868289e-02 -2.74812347e-04 9.99014381e-01 1.36905386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.80, Y:7.79, Z:136.91 [[ 7.85357859e-01 6.18063639e-01 -3.47904033e-02 6.29804075e+02] [-6.17448618e-01 7.86128049e-01 2.75661711e-02 7.79001495e+00] [ 4.43873599e-02 -1.68022669e-04 9.99014381e-01 1.36909319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.750385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:629.85, Y:7.75, Z:136.91 [[ 7.83737428e-01 6.20117572e-01 -3.47827715e-02 6.29853849e+02] [-6.19504143e-01 7.84508886e-01 2.75757976e-02 7.75243890e+00] [ 4.43876299e-02 -6.41136729e-05 9.99014381e-01 1.36911845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.810385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:629.90, Y:7.71, Z:136.91 [[ 7.81817568e-01 6.22536706e-01 -3.47755622e-02 6.29904480e+02] [-6.21925260e-01 7.82590599e-01 2.75848862e-02 7.71441689e+00] [ 4.43876322e-02 6.14518992e-05 9.99014381e-01 1.36914299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.870385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.95, Y:7.68, Z:136.92 [[ 7.80691862e-01 6.23948247e-01 -3.47678163e-02 6.29954319e+02] [-6.23337764e-01 7.81465654e-01 2.75946455e-02 7.67711012e+00] [ 4.43874850e-02 1.29177704e-04 9.99014382e-01 1.36918417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.00, Y:7.64, Z:136.92 [[ 7.80656181e-01 6.23993289e-01 -3.47606489e-02 6.30004417e+02] [-6.23382448e-01 7.81429691e-01 2.76036713e-02 7.63972516e+00] [ 4.43875087e-02 1.20201780e-04 9.99014382e-01 1.36920530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.05, Y:7.60, Z:136.92 [[ 7.82333010e-01 6.21890097e-01 -3.47529763e-02 6.30054357e+02] [-6.21276747e-01 7.83104532e-01 2.76133278e-02 7.60208458e+00] [ 4.43876683e-02 -1.16017707e-05 9.99014382e-01 1.36922273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.10, Y:7.57, Z:136.92 [[ 7.84248815e-01 6.19472808e-01 -3.47453047e-02 6.30103956e+02] [-6.18856653e-01 7.85018098e-01 2.76229774e-02 7.56537088e+00] [ 4.43873764e-02 -1.60924354e-04 9.99014382e-01 1.36923749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.110385723 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:630.15, Y:7.53, Z:136.93 [[ 7.85084514e-01 6.18413735e-01 -3.47384333e-02 6.30153748e+02] [-6.17796160e-01 7.85852657e-01 2.76316161e-02 7.52782463e+00] [ 4.43870610e-02 -2.31883226e-04 9.99014382e-01 1.36926537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.20, Y:7.49, Z:136.93 [[ 7.85753832e-01 6.17563488e-01 -3.47311838e-02 6.30202758e+02] [-6.16944679e-01 7.86520981e-01 2.76407252e-02 7.49192795e+00] [ 4.43867074e-02 -2.91586682e-04 9.99014382e-01 1.36931312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.25, Y:7.45, Z:136.94 [[ 7.87522442e-01 6.15306898e-01 -3.47250013e-02 6.30253297e+02] [-6.14685548e-01 7.88287535e-01 2.76484901e-02 7.45477442e+00] [ 4.43855924e-02 -4.28849941e-04 9.99014382e-01 1.36935427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.290385723 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:630.30, Y:7.42, Z:136.94 [[ 7.89247528e-01 6.13093009e-01 -3.47174581e-02 6.30304270e+02] [-6.12469097e-01 7.90010533e-01 2.76579587e-02 7.41765816e+00] [ 4.43840587e-02 -5.65605326e-04 9.99014382e-01 1.36938473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.36, Y:7.38, Z:136.94 [[ 7.91128237e-01 6.10664670e-01 -3.47098448e-02 6.30355198e+02] [-6.10037998e-01 7.91888976e-01 2.76675099e-02 7.38120560e+00] [ 4.43819142e-02 -7.14224140e-04 9.99014382e-01 1.36942061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.41, Y:7.34, Z:136.94 [[ 7.92516392e-01 6.08862480e-01 -3.47022865e-02 6.30405517e+02] [-6.08233663e-01 7.93275359e-01 2.76769867e-02 7.34315801e+00] [ 4.43799476e-02 -8.27366811e-04 9.99014382e-01 1.36942386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.46, Y:7.31, Z:136.94 [[ 7.94449282e-01 6.06338485e-01 -3.46984145e-02 6.30457819e+02] [-6.05707045e-01 7.95206069e-01 2.76818401e-02 7.30774867e+00] [ 4.43769548e-02 -9.74743880e-04 9.99014382e-01 1.36943259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.51, Y:7.27, Z:136.95 [[ 7.94551618e-01 6.06204900e-01 -3.46892839e-02 6.30508315e+02] [-6.05572833e-01 7.95307881e-01 2.76932773e-02 7.27165209e+00] [ 4.43764613e-02 -9.96850324e-04 9.99014382e-01 1.36945138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.56, Y:7.24, Z:136.95 [[ 7.92668740e-01 6.08665316e-01 -3.46814313e-02 6.30560790e+02] [-6.08035168e-01 7.93426602e-01 2.77031080e-02 7.23817610e+00] [ 4.43790912e-02 -8.71857819e-04 9.99014382e-01 1.36952698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.61, Y:7.20, Z:136.96 [[ 7.91978327e-01 6.09563820e-01 -3.46738999e-02 6.30612311e+02] [-6.08934118e-01 7.92736561e-01 2.77125312e-02 7.20272686e+00] [ 4.43798246e-02 -8.33603436e-04 9.99014382e-01 1.36955674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.66, Y:7.17, Z:136.96 [[ 7.91173881e-01 6.10608002e-01 -3.46663846e-02 6.30664756e+02] [-6.09978890e-01 7.91932604e-01 2.77219292e-02 7.16762518e+00] [ 4.43806720e-02 -7.87103585e-04 9.99014383e-01 1.36957650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.72, Y:7.13, Z:136.96 [[ 7.90343854e-01 6.11682412e-01 -3.46586088e-02 6.30716422e+02] [-6.11053905e-01 7.91103079e-01 2.77316473e-02 7.13287470e+00] [ 4.43814930e-02 -7.39258764e-04 9.99014383e-01 1.36960183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.77, Y:7.10, Z:136.96 [[ 7.90340363e-01 6.11687330e-01 -3.46514212e-02 6.30769546e+02] [-6.11058434e-01 7.91099265e-01 2.77406255e-02 7.09811056e+00] [ 4.43813030e-02 -7.50492904e-04 9.99014383e-01 1.36957189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.890385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:630.82, Y:7.06, Z:136.97 [[ 7.88414747e-01 6.14167761e-01 -3.46431556e-02 6.30819235e+02] [-6.13540800e-01 7.89175248e-01 2.77509440e-02 7.06224405e+00] [ 4.43832560e-02 -6.24264103e-04 9.99014383e-01 1.36965197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.87, Y:7.03, Z:136.97 [[ 7.87730981e-01 6.15044803e-01 -3.46380022e-02 6.30870530e+02] [-6.14418406e-01 7.88491947e-01 2.77573748e-02 7.02583829e+00] [ 4.43838149e-02 -5.83118013e-04 9.99014383e-01 1.36969299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.010385723 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:630.92, Y:6.99, Z:136.97 [[ 7.89014037e-01 6.13398390e-01 -3.46304158e-02 6.30924411e+02] [-6.12769990e-01 7.89773349e-01 2.77668365e-02 6.99257284e+00] [ 4.43823122e-02 -6.87944232e-04 9.99014383e-01 1.36965455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.070385723 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:630.97, Y:6.96, Z:136.97 [[ 7.86980926e-01 6.16004816e-01 -3.46278618e-02 6.30972517e+02] [-6.15378791e-01 7.87742197e-01 2.77700212e-02 6.95595673e+00] [ 4.43842947e-02 -5.45225308e-04 9.99014383e-01 1.36970621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.02, Y:6.92, Z:136.98 [[ 7.83921418e-01 6.19893949e-01 -3.46222736e-02 6.31020429e+02] [-6.19271394e-01 7.84685529e-01 2.77769865e-02 6.91538939e+00] [ 4.43863830e-02 -3.34391025e-04 9.99014383e-01 1.36976314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.07, Y:6.88, Z:136.97 [[ 7.84133949e-01 6.19625516e-01 -3.46145936e-02 6.31073079e+02] [-6.19002276e-01 7.84897502e-01 2.77865538e-02 6.87939100e+00] [ 4.43861658e-02 -3.61867948e-04 9.99014383e-01 1.36972565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.250385723 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:631.12, Y:6.84, Z:136.97 [[ 7.82977854e-01 6.21086196e-01 -3.46066093e-02 6.31123218e+02] [-6.20463942e-01 7.83742210e-01 2.77964941e-02 6.84074492e+00] [ 4.43866793e-02 -2.91886080e-04 9.99014383e-01 1.36973122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.17, Y:6.80, Z:136.98 [[ 7.79707885e-01 6.25186830e-01 -3.45982895e-02 6.31166737e+02] [-6.24568136e-01 7.80475126e-01 2.78068460e-02 6.79677965e+00] [ 4.43875783e-02 -7.22279678e-05 9.99014383e-01 1.36979261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.21, Y:6.76, Z:136.98 [[ 7.80034388e-01 6.24779832e-01 -3.45906648e-02 6.31213853e+02] [-6.24160318e-01 7.80800967e-01 2.78163276e-02 6.75519331e+00] [ 4.43875050e-02 -1.07571763e-04 9.99014383e-01 1.36982099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.26, Y:6.72, Z:136.98 [[ 7.82256074e-01 6.21996347e-01 -3.45829209e-02 6.31263582e+02] [-6.21373679e-01 7.83020094e-01 2.78259519e-02 6.71730040e+00] [ 4.43867624e-02 -2.78103078e-04 9.99014383e-01 1.36981533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.31, Y:6.67, Z:136.99 [[ 7.79660920e-01 6.25246633e-01 -3.45759724e-02 6.31305979e+02] [-6.24626768e-01 7.80427215e-01 2.78345834e-02 6.67266608e+00] [ 4.43875093e-02 -1.04459038e-04 9.99014383e-01 1.36986574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.550385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:631.36, Y:6.64, Z:136.98 [[ 7.82204414e-01 6.22061904e-01 -3.45722727e-02 6.31355982e+02] [-6.21438716e-01 7.82968008e-01 2.78391778e-02 6.63596989e+00] [ 4.43866755e-02 -2.91379020e-04 9.99014383e-01 1.36983863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.40, Y:6.59, Z:136.99 [[ 7.80982788e-01 6.23595322e-01 -3.45652939e-02 6.31397704e+02] [-6.22973250e-01 7.81747292e-01 2.78478401e-02 6.59128765e+00] [ 4.43871077e-02 -2.15430292e-04 9.99014383e-01 1.36988736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.44, Y:6.55, Z:136.99 [[ 7.82834436e-01 6.21269464e-01 -3.45615262e-02 6.31441548e+02] [-6.20644914e-01 7.83596917e-01 2.78525154e-02 6.54667394e+00] [ 4.43862226e-02 -3.53472709e-04 9.99014383e-01 1.36990440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.49, Y:6.50, Z:136.99 [[ 7.83323803e-01 6.20652737e-01 -3.45542927e-02 6.31487282e+02] [-6.20027191e-01 7.84085467e-01 2.78614865e-02 6.50361626e+00] [ 4.43858266e-02 -3.99964505e-04 9.99014384e-01 1.36991680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.53, Y:6.46, Z:136.99 [[ 7.83498063e-01 6.20433171e-01 -3.45465810e-02 6.31532150e+02] [-6.19806990e-01 7.84259205e-01 2.78710452e-02 6.45930660e+00] [ 4.43855951e-02 -4.24697579e-04 9.99014384e-01 1.36994221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.58, Y:6.42, Z:137.00 [[ 7.83393054e-01 6.20566187e-01 -3.45388257e-02 6.31577526e+02] [-6.19939712e-01 7.84153953e-01 2.78806526e-02 6.41595566e+00] [ 4.43855470e-02 -4.29519938e-04 9.99014384e-01 1.36996130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.62, Y:6.37, Z:137.00 [[ 7.81895769e-01 6.22452100e-01 -3.45309844e-02 6.31622141e+02] [-6.21827032e-01 7.82657825e-01 2.78903608e-02 6.37224740e+00] [ 4.43863588e-02 -3.35055598e-04 9.99014384e-01 1.36999095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.67, Y:6.33, Z:137.00 [[ 7.79926985e-01 6.24917602e-01 -3.45237507e-02 6.31667157e+02] [-6.24294546e-01 7.80690687e-01 2.78993122e-02 6.32837301e+00] [ 4.43871419e-02 -2.06437193e-04 9.99014384e-01 1.37000962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.71, Y:6.28, Z:137.00 [[ 7.76611138e-01 6.29034017e-01 -3.45158657e-02 6.31711316e+02] [-6.28414576e-01 7.77377775e-01 2.79090637e-02 6.28282887e+00] [ 4.43876174e-02 1.57833953e-05 9.99014384e-01 1.37002550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.76, Y:6.24, Z:137.00 [[ 7.73554652e-01 6.32789374e-01 -3.45080980e-02 6.31756305e+02] [-6.32173226e-01 7.74323938e-01 2.79186648e-02 6.23843164e+00] [ 4.43870807e-02 2.18482533e-04 9.99014384e-01 1.37003467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.80, Y:6.19, Z:137.01 [[ 7.71328628e-01 6.35501278e-01 -3.45003359e-02 6.31800920e+02] [-6.34887406e-01 7.72099731e-01 2.79282534e-02 6.19325493e+00] [ 4.43861408e-02 3.61967385e-04 9.99014384e-01 1.37005891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.85, Y:6.15, Z:137.01 [[ 7.70901248e-01 6.36020072e-01 -3.44925147e-02 6.31845800e+02] [-6.35406286e-01 7.71672420e-01 2.79379096e-02 6.14842283e+00] [ 4.43859936e-02 3.79391270e-04 9.99014384e-01 1.37009480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.270385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:631.89, Y:6.10, Z:137.01 [[ 7.71548463e-01 6.35235207e-01 -3.44847902e-02 6.31890815e+02] [-6.34620211e-01 7.72318670e-01 2.79474410e-02 6.10355051e+00] [ 4.43864458e-02 3.21939662e-04 9.99014384e-01 1.37011862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.94, Y:6.06, Z:137.01 [[ 7.73856221e-01 6.32422232e-01 -3.44770972e-02 6.31935678e+02] [-6.31804013e-01 7.74623844e-01 2.79569282e-02 6.06098879e+00] [ 4.43873645e-02 1.48125547e-04 9.99014384e-01 1.37012151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.390385723 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:631.99, Y:6.02, Z:137.01 [[ 7.73883206e-01 6.32389469e-01 -3.44723558e-02 6.31985008e+02] [-6.31770958e-01 7.74650593e-01 2.79627734e-02 6.02124949e+00] [ 4.43873943e-02 1.38712534e-04 9.99014384e-01 1.37014466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.03, Y:5.98, Z:137.02 [[ 7.75222197e-01 6.30747762e-01 -3.44645684e-02 6.32034415e+02] [-6.30127199e-01 7.75987925e-01 2.79723681e-02 5.98263269e+00] [ 4.43875976e-02 3.22612972e-05 9.99014384e-01 1.37016507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.08, Y:5.94, Z:137.02 [[ 7.76872238e-01 6.28714775e-01 -3.44566092e-02 6.32083166e+02] [-6.28091773e-01 7.77635983e-01 2.79821689e-02 5.94383730e+00] [ 4.43875022e-02 -9.66574283e-05 9.99014384e-01 1.37018147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.13, Y:5.91, Z:137.02 [[ 7.78390867e-01 6.26834029e-01 -3.44493708e-02 6.32132827e+02] [-6.26208787e-01 7.79152780e-01 2.79910775e-02 5.90569065e+00] [ 4.43870829e-02 -2.15500383e-04 9.99014385e-01 1.37019446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.18, Y:5.87, Z:137.02 [[ 7.78835835e-01 6.26281499e-01 -3.44416297e-02 6.32182330e+02] [-6.25655296e-01 7.79596958e-01 2.80005993e-02 5.86654181e+00] [ 4.43868470e-02 -2.59282119e-04 9.99014385e-01 1.37022105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.23, Y:5.83, Z:137.02 [[ 7.78530301e-01 6.26661692e-01 -3.44339303e-02 6.32232482e+02] [-6.26035442e-01 7.79291385e-01 2.80100644e-02 5.82791570e+00] [ 4.43868996e-02 -2.49823094e-04 9.99014385e-01 1.37023750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.750385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.28, Y:5.79, Z:137.03 [[ 7.77507700e-01 6.27930417e-01 -3.44262722e-02 6.32281699e+02] [-6.27304992e-01 7.78269462e-01 2.80194736e-02 5.78955075e+00] [ 4.43871961e-02 -1.89584054e-04 9.99014385e-01 1.37025762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.810385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:632.33, Y:5.75, Z:137.03 [[ 7.76618577e-01 6.29030155e-01 -3.44187375e-02 6.32329943e+02] [-6.28405399e-01 7.77380888e-01 2.80287261e-02 5.74951937e+00] [ 4.43873827e-02 -1.38708916e-04 9.99014385e-01 1.37029750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.870385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:632.38, Y:5.71, Z:137.03 [[ 7.76432282e-01 6.29260502e-01 -3.44112082e-02 6.32378243e+02] [-6.28635563e-01 7.77194442e-01 2.80379669e-02 5.71009721e+00] [ 4.43873849e-02 -1.37473409e-04 9.99014385e-01 1.37031073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.43, Y:5.67, Z:137.03 [[ 7.75620663e-01 6.30261005e-01 -3.44042484e-02 6.32426687e+02] [-6.29636671e-01 7.76383318e-01 2.80465043e-02 5.66949134e+00] [ 4.43875026e-02 -9.12718366e-05 9.99014385e-01 1.37033173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.990385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:632.48, Y:5.63, Z:137.04 [[ 7.75417401e-01 6.30511461e-01 -3.43969720e-02 6.32475384e+02] [-6.29886977e-01 7.76179934e-01 2.80554255e-02 5.62959255e+00] [ 4.43875068e-02 -8.84604194e-05 9.99014385e-01 1.37036475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.050385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:632.52, Y:5.59, Z:137.04 [[ 7.75212969e-01 6.30763214e-01 -3.43892437e-02 6.32521558e+02] [-6.30138557e-01 7.75975361e-01 2.80648953e-02 5.59017254e+00] [ 4.43875094e-02 -8.62824312e-05 9.99014385e-01 1.37037601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.110385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:632.57, Y:5.55, Z:137.04 [[ 7.75525776e-01 6.30378915e-01 -3.43830601e-02 6.32569610e+02] [-6.29753544e-01 7.76287582e-01 2.80724691e-02 5.54967027e+00] [ 4.43874351e-02 -1.18069406e-04 9.99014385e-01 1.37041420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.170385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:632.62, Y:5.51, Z:137.04 [[ 7.75384519e-01 6.30553078e-01 -3.43753327e-02 6.32617370e+02] [-6.29927460e-01 7.76146121e-01 2.80819282e-02 5.51061401e+00] [ 4.43874274e-02 -1.20326423e-04 9.99014385e-01 1.37043063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.67, Y:5.48, Z:137.04 [[ 7.76403328e-01 6.29298557e-01 -3.43685836e-02 6.32667239e+02] [-6.28671342e-01 7.77163616e-01 2.80901858e-02 5.47521783e+00] [ 4.43871261e-02 -2.02770119e-04 9.99014385e-01 1.37043758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.71, Y:5.43, Z:137.05 [[ 7.74210057e-01 6.31995263e-01 -3.43624208e-02 6.32712068e+02] [-6.31370362e-01 7.74972248e-01 2.80977227e-02 5.43219022e+00] [ 4.43875501e-02 -5.81254414e-05 9.99014385e-01 1.37050060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.76, Y:5.39, Z:137.05 [[ 7.73234774e-01 6.33188492e-01 -3.43557725e-02 6.32760401e+02] [-6.32564405e-01 7.73997632e-01 2.81058494e-02 5.39384875e+00] [ 4.43875869e-02 -1.81308133e-07 9.99014385e-01 1.37053711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.410385723 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:632.81, Y:5.36, Z:137.06 [[ 7.72217660e-01 6.34428918e-01 -3.43487082e-02 6.32809981e+02] [-6.33805674e-01 7.72981205e-01 2.81144801e-02 5.35592921e+00] [ 4.43875451e-02 5.99081477e-05 9.99014385e-01 1.37055347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4703857229999 meters Centerline goodness : 0.999863 with order 1 Centerline is valid? [True, True] Translation: X:632.86, Y:5.32, Z:137.06 [[ 7.71802181e-01 6.34934647e-01 -3.43422123e-02 6.32858496e+02] [-6.34311549e-01 7.72565847e-01 2.81224127e-02 5.31801995e+00] [ 4.43875145e-02 7.87224656e-05 9.99014385e-01 1.37055768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.530385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:632.91, Y:5.28, Z:137.06 [[ 7.72515512e-01 6.34066901e-01 -3.43358101e-02 6.32906218e+02] [-6.33442599e-01 7.73278193e-01 2.81302273e-02 5.27915349e+00] [ 4.43875792e-02 1.87277866e-05 9.99014386e-01 1.37058680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.95, Y:5.24, Z:137.06 [[ 7.73924945e-01 6.32346209e-01 -3.43285762e-02 6.32954841e+02] [-6.31719819e-01 7.74685913e-01 2.81390523e-02 5.23889341e+00] [ 4.43874875e-02 -9.14725664e-05 9.99014386e-01 1.37064545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.00, Y:5.20, Z:137.07 [[ 7.75880349e-01 6.29945854e-01 -3.43206264e-02 6.33002865e+02] [-6.29316681e-01 7.76639017e-01 2.81487452e-02 5.19993774e+00] [ 4.43869229e-02 -2.41515512e-04 9.99014386e-01 1.37068269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.710385723 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:633.05, Y:5.16, Z:137.07 [[ 7.76886881e-01 6.28704489e-01 -3.43138227e-02 6.33052205e+02] [-6.28073738e-01 7.77644238e-01 2.81570366e-02 5.16058251e+00] [ 4.43864018e-02 -3.23221508e-04 9.99014386e-01 1.37071890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.10, Y:5.12, Z:137.07 [[ 7.77299899e-01 6.28194212e-01 -3.43059546e-02 6.33101540e+02] [-6.27562541e-01 7.78056488e-01 2.81666197e-02 5.12221795e+00] [ 4.43860780e-02 -3.64778633e-04 9.99014386e-01 1.37074538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.15, Y:5.08, Z:137.08 [[ 7.77112004e-01 6.28427058e-01 -3.42981976e-02 6.33150834e+02] [-6.27795196e-01 7.77868434e-01 2.81760622e-02 5.08410755e+00] [ 4.43860851e-02 -3.63712495e-04 9.99014386e-01 1.37076168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.20, Y:5.05, Z:137.08 [[ 7.76486547e-01 6.29200099e-01 -3.42910777e-02 6.33200753e+02] [-6.28568608e-01 7.77243286e-01 2.81847247e-02 5.04551096e+00] [ 4.43863414e-02 -3.30764567e-04 9.99014386e-01 1.37079382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.25, Y:5.01, Z:137.08 [[ 7.75944736e-01 6.29868574e-01 -3.42833138e-02 6.33250413e+02] [-6.29237318e-01 7.76701671e-01 2.81941653e-02 5.00736630e+00] [ 4.43865258e-02 -3.04773743e-04 9.99014386e-01 1.37081749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.30, Y:4.97, Z:137.08 [[ 7.76377326e-01 6.29335707e-01 -3.42755852e-02 6.33299488e+02] [-6.28703517e-01 7.77133481e-01 2.82035578e-02 4.96810817e+00] [ 4.43862108e-02 -3.47421797e-04 9.99014386e-01 1.37084808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.35, Y:4.93, Z:137.09 [[ 7.76740734e-01 6.28887554e-01 -3.42677061e-02 6.33347695e+02] [-6.28254506e-01 7.77496171e-01 2.82131278e-02 4.92941563e+00] [ 4.43858952e-02 -3.85444894e-04 9.99014386e-01 1.37088272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.40, Y:4.89, Z:137.09 [[ 7.76740852e-01 6.28887678e-01 -3.42627876e-02 6.33397523e+02] [-6.28254366e-01 7.77496067e-01 2.82190998e-02 4.89149570e+00] [ 4.43858267e-02 -3.93181715e-04 9.99014386e-01 1.37091342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.45, Y:4.85, Z:137.09 [[ 7.76151213e-01 6.29615679e-01 -3.42548123e-02 6.33446437e+02] [-6.28982648e-01 7.76906664e-01 2.82287775e-02 4.85352800e+00] [ 4.43860729e-02 -3.64117356e-04 9.99014386e-01 1.37094130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.50, Y:4.82, Z:137.10 [[ 7.74593221e-01 6.31531810e-01 -3.42478376e-02 6.33496961e+02] [-6.30900275e-01 7.75349922e-01 2.82372369e-02 4.81631872e+00] [ 4.43867715e-02 -2.65402136e-04 9.99014386e-01 1.37096385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.310385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:633.55, Y:4.78, Z:137.10 [[ 7.72610628e-01 6.33956184e-01 -3.42399576e-02 6.33547041e+02] [-6.33326599e-01 7.73368953e-01 2.82467888e-02 4.77814778e+00] [ 4.43873466e-02 -1.38693324e-04 9.99014386e-01 1.37099544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.60, Y:4.74, Z:137.10 [[ 7.70131984e-01 6.36965377e-01 -3.42320835e-02 6.33597339e+02] [-6.36338331e-01 7.70892410e-01 2.82563281e-02 4.74058061e+00] [ 4.43875560e-02 2.20848559e-05 9.99014386e-01 1.37103447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.65, Y:4.70, Z:137.11 [[ 7.67626891e-01 6.39982547e-01 -3.42242106e-02 6.33647375e+02] [-6.39358065e-01 7.68389424e-01 2.82658606e-02 4.70405361e+00] [ 4.43871789e-02 1.83890357e-04 9.99014387e-01 1.37106644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.70, Y:4.67, Z:137.11 [[ 7.64816588e-01 6.43338763e-01 -3.42172719e-02 6.33697764e+02] [-6.42717252e-01 7.65581544e-01 2.82742578e-02 4.66569250e+00] [ 4.43860379e-02 3.67409609e-04 9.99014387e-01 1.37110034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.75, Y:4.63, Z:137.11 [[ 7.61749334e-01 6.46968060e-01 -3.42093730e-02 6.33747708e+02] [-6.46349764e-01 7.62516891e-01 2.82838115e-02 4.62815192e+00] [ 4.43839474e-02 5.66045601e-04 9.99014387e-01 1.37112569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.80, Y:4.59, Z:137.12 [[ 7.59408673e-01 6.49714339e-01 -3.42015445e-02 6.33798325e+02] [-6.49098392e-01 7.60178116e-01 2.82932748e-02 4.59055695e+00] [ 4.43818120e-02 7.14009241e-04 9.99014387e-01 1.37115265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.670385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.85, Y:4.55, Z:137.12 [[ 7.59022186e-01 6.50166217e-01 -3.41937480e-02 6.33848598e+02] [-6.49550304e-01 7.59791656e-01 2.83026941e-02 4.55230283e+00] [ 4.43815800e-02 7.28186626e-04 9.99014387e-01 1.37118856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.90, Y:4.52, Z:137.11 [[ 7.63459000e-01 6.44950920e-01 -3.41857686e-02 6.33900349e+02] [-6.44329318e-01 7.64223882e-01 2.83123288e-02 4.51700177e+00] [ 4.43856433e-02 4.11590790e-04 9.99014387e-01 1.37112730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.790385723 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:633.95, Y:4.48, Z:137.12 [[ 7.62541184e-01 6.46036188e-01 -3.41787623e-02 6.33945259e+02] [-6.45415296e-01 7.63306642e-01 2.83207844e-02 4.47501426e+00] [ 4.43851278e-02 4.63731539e-04 9.99014387e-01 1.37124621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.99, Y:4.44, Z:137.13 [[ 7.63689348e-01 6.44678888e-01 -3.41718039e-02 6.33994657e+02] [-6.44056260e-01 7.64453394e-01 2.83291779e-02 4.43678084e+00] [ 4.43859744e-02 3.73872844e-04 9.99014387e-01 1.37128332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.04, Y:4.40, Z:137.13 [[ 7.65149432e-01 6.42945705e-01 -3.41638132e-02 6.34043407e+02] [-6.42320917e-01 7.65911713e-01 2.83388111e-02 4.39808242e+00] [ 4.43867815e-02 2.60706586e-04 9.99014387e-01 1.37130976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.09, Y:4.36, Z:137.13 [[ 7.66913255e-01 6.40841162e-01 -3.41564762e-02 6.34092046e+02] [-6.40213887e-01 7.67673491e-01 2.83476515e-02 4.36001670e+00] [ 4.43873633e-02 1.27260776e-04 9.99014387e-01 1.37133974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.14, Y:4.32, Z:137.14 [[ 7.68336710e-01 6.39134177e-01 -3.41497180e-02 6.34141633e+02] [-6.38504852e-01 7.69095250e-01 2.83557907e-02 4.32182580e+00] [ 4.43875408e-02 1.79656878e-05 9.99014387e-01 1.37136498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.19, Y:4.28, Z:137.14 [[ 7.71030414e-01 6.35882396e-01 -3.41420499e-02 6.34192378e+02] [-6.35249463e-01 7.71785945e-01 2.83650205e-02 4.28440666e+00] [ 4.43871714e-02 -1.81574588e-04 9.99014387e-01 1.37141053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.24, Y:4.25, Z:137.14 [[ 7.73103753e-01 6.33360437e-01 -3.41342196e-02 6.34242904e+02] [-6.32724623e-01 7.73856862e-01 2.83744403e-02 4.24847485e+00] [ 4.43862479e-02 -3.38825060e-04 9.99014387e-01 1.37143485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.29, Y:4.21, Z:137.15 [[ 7.72372289e-01 6.34252630e-01 -3.41269426e-02 6.34290765e+02] [-6.33617300e-01 7.73125806e-01 2.83831899e-02 4.21054620e+00] [ 4.43865328e-02 -2.98968119e-04 9.99014387e-01 1.37148462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.34, Y:4.17, Z:137.15 [[ 7.71976497e-01 6.34734665e-01 -3.41202777e-02 6.34342132e+02] [-6.34099451e-01 7.72730112e-01 2.83911997e-02 4.17386363e+00] [ 4.43866446e-02 -2.81689570e-04 9.99014388e-01 1.37151989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.330385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.39, Y:4.14, Z:137.15 [[ 7.71472334e-01 6.35347767e-01 -3.41123528e-02 6.34390911e+02] [-6.34712732e-01 7.72226099e-01 2.84007183e-02 4.13630779e+00] [ 4.43867821e-02 -2.58823843e-04 9.99014388e-01 1.37153692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.390385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.44, Y:4.10, Z:137.16 [[ 7.71211794e-01 6.35664389e-01 -3.41050350e-02 6.34441592e+02] [-6.35029274e-01 7.71965492e-01 2.84095032e-02 4.10093930e+00] [ 4.43868196e-02 -2.52048288e-04 9.99014388e-01 1.37156718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.49, Y:4.06, Z:137.16 [[ 7.68196346e-01 6.39305661e-01 -3.40975930e-02 6.34489813e+02] [-6.38673723e-01 7.68952709e-01 2.84184324e-02 4.06367465e+00] [ 4.43875012e-02 -5.36992970e-05 9.99014388e-01 1.37161430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.54, Y:4.03, Z:137.16 [[ 7.65882097e-01 6.42076660e-01 -3.40907028e-02 6.34538568e+02] [-6.41447090e-01 7.66640433e-01 2.84266955e-02 4.02598001e+00] [ 4.43874289e-02 9.58849027e-05 9.99014388e-01 1.37164052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.570385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.59, Y:3.99, Z:137.17 [[ 7.64181440e-01 6.44100180e-01 -3.40834831e-02 6.34587630e+02] [-6.43472233e-01 7.64941120e-01 2.84353493e-02 3.98801706e+00] [ 4.43870713e-02 2.02008762e-04 9.99014388e-01 1.37165371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.63, Y:3.95, Z:137.17 [[ 7.60598382e-01 6.48327784e-01 -3.40761803e-02 6.34632941e+02] [-6.47703666e-01 7.61361211e-01 2.84440981e-02 3.94755913e+00] [ 4.43853810e-02 4.36731907e-04 9.99014388e-01 1.37170189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.690385723 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:634.68, Y:3.91, Z:137.17 [[ 7.58413950e-01 6.50882135e-01 -3.40694547e-02 6.34680385e+02] [-6.50260225e-01 7.59178579e-01 2.84521515e-02 3.90649171e+00] [ 4.43837973e-02 5.75502638e-04 9.99014388e-01 1.37174166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:634.73, Y:3.87, Z:137.17 [[ 7.58982330e-01 6.50219684e-01 -3.40614829e-02 6.34727365e+02] [-6.49596679e-01 7.59746068e-01 2.84616917e-02 3.86650920e+00] [ 4.43844299e-02 5.24305078e-04 9.99014388e-01 1.37173303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.810385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.77, Y:3.83, Z:137.17 [[ 7.60298401e-01 6.48680699e-01 -3.40542610e-02 6.34774192e+02] [-6.48055760e-01 7.61060557e-01 2.84703301e-02 3.82580769e+00] [ 4.43855085e-02 4.23113512e-04 9.99014388e-01 1.37173599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.870385723 meters Centerline goodness : 0.996126 with order 1 Centerline is valid? [True, True] Translation: X:635.26, Y:4.42, Z:138.07 [[ 8.23813034e-01 5.65838234e-01 -3.40466986e-02 6.35257492e+02] [-5.65136838e-01 8.24505476e-01 2.84793709e-02 4.41790451e+00] [ 4.41864063e-02 -4.22063334e-03 9.99014388e-01 1.38069410e+02] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 862.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.31, Y:4.38, Z:138.07 [[ 8.22394849e-01 5.67726223e-01 -3.67919555e-02 6.35308281e+02] [-5.67205357e-01 8.23216979e-01 2.43287567e-02 4.38310016e+00] [ 4.40998357e-02 8.60750043e-04 9.99026758e-01 1.38073368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.990385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.36, Y:4.34, Z:138.08 [[ 8.21911833e-01 5.68425768e-01 -3.67842937e-02 6.35356570e+02] [-5.67905084e-01 8.22734078e-01 2.43403357e-02 4.34385058e+00] [ 4.40993660e-02 8.84377430e-04 9.99026758e-01 1.38075662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.41, Y:4.30, Z:138.08 [[ 8.21298854e-01 5.69311462e-01 -3.67783985e-02 6.35405635e+02] [-5.68791266e-01 8.22121408e-01 2.43492402e-02 4.30387506e+00] [ 4.40986103e-02 9.21228758e-04 9.99026758e-01 1.38078170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.45, Y:4.26, Z:138.08 [[ 8.20579682e-01 5.70347993e-01 -3.67716137e-02 6.35453435e+02] [-5.69828377e-01 8.21402603e-01 2.43594821e-02 4.26400056e+00] [ 4.40976809e-02 9.64612892e-04 9.99026758e-01 1.38082435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.50, Y:4.22, Z:138.09 [[ 8.20518131e-01 5.70436926e-01 -3.67656054e-02 6.35501466e+02] [-5.69916994e-01 8.21340852e-01 2.43685470e-02 4.22289289e+00] [ 4.40978127e-02 9.58508673e-04 9.99026759e-01 1.38086232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.55, Y:4.19, Z:138.09 [[ 8.20826877e-01 5.69993013e-01 -3.67587181e-02 6.35549199e+02] [-5.69472171e-01 8.21649021e-01 2.43789317e-02 4.18527358e+00] [ 4.40985855e-02 9.22184657e-04 9.99026759e-01 1.38089359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.59, Y:4.14, Z:138.09 [[ 8.22217507e-01 5.67985543e-01 -3.67531479e-02 6.35594960e+02] [-5.67462318e-01 8.23038138e-01 2.43873263e-02 4.14282460e+00] [ 4.41008912e-02 8.04339847e-04 9.99026759e-01 1.38093842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.64, Y:4.10, Z:138.10 [[ 8.23789553e-01 5.65703469e-01 -3.67472139e-02 6.35641696e+02] [-5.65177572e-01 8.24608473e-01 2.43962645e-02 4.10323115e+00] [ 4.41031154e-02 6.71313279e-04 9.99026759e-01 1.38096164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.69, Y:4.06, Z:138.10 [[ 8.25846872e-01 5.62696176e-01 -3.67417711e-02 6.35689799e+02] [-5.62166932e-01 8.26663633e-01 2.44044588e-02 4.06361439e+00] [ 4.41053816e-02 5.00662829e-04 9.99026759e-01 1.38099421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.74, Y:4.02, Z:138.10 [[ 8.28278536e-01 5.59111031e-01 -3.67358486e-02 6.35739071e+02] [-5.58577856e-01 8.29092736e-01 2.44133706e-02 4.02375842e+00] [ 4.41072101e-02 2.98760738e-04 9.99026759e-01 1.38101764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.79, Y:3.99, Z:138.10 [[ 8.29668319e-01 5.57047094e-01 -3.67289544e-02 6.35787840e+02] [-5.56511435e-01 8.30480887e-01 2.44237384e-02 3.98623438e+00] [ 4.41078671e-02 1.76481126e-04 9.99026759e-01 1.38103751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.84, Y:3.95, Z:138.11 [[ 8.31127148e-01 5.54868552e-01 -3.67226526e-02 6.35837610e+02] [-5.54330344e-01 8.31938031e-01 2.44332098e-02 3.94676279e+00] [ 4.41081910e-02 4.93767317e-05 9.99026759e-01 1.38106464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.89, Y:3.91, Z:138.11 [[ 8.31020594e-01 5.55028567e-01 -3.67159633e-02 6.35889164e+02] [-5.54490072e-01 8.31831285e-01 2.44432577e-02 3.91075347e+00] [ 4.41081933e-02 4.57865993e-05 9.99026759e-01 1.38110581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.94, Y:3.88, Z:138.11 [[ 8.30242837e-01 5.56191754e-01 -3.67091827e-02 6.35941801e+02] [-5.55653945e-01 8.31053983e-01 2.44534367e-02 3.87690944e+00] [ 4.41081124e-02 9.53115260e-05 9.99026759e-01 1.38112343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.99, Y:3.84, Z:138.11 [[ 8.29819629e-01 5.56823409e-01 -3.67025076e-02 6.35994887e+02] [-5.56285774e-01 8.30630891e-01 2.44634513e-02 3.84267387e+00] [ 4.41080590e-02 1.16830755e-04 9.99026759e-01 1.38114181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.05, Y:3.81, Z:138.12 [[ 8.28774863e-01 5.58377692e-01 -3.66957684e-02 6.36047926e+02] [-5.57841131e-01 8.29586836e-01 2.44735562e-02 3.81030309e+00] [ 4.41078142e-02 1.87340769e-04 9.99026759e-01 1.38115251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.10, Y:3.78, Z:138.12 [[ 8.28698931e-01 5.58490787e-01 -3.66895437e-02 6.36100740e+02] [-5.57953924e-01 8.29510704e-01 2.44828844e-02 3.77878112e+00] [ 4.41078346e-02 1.82134762e-04 9.99026759e-01 1.38116902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.15, Y:3.74, Z:138.12 [[ 8.29615909e-01 5.57128143e-01 -3.66834597e-02 6.36153166e+02] [-5.56589543e-01 8.30426531e-01 2.44919967e-02 3.74486405e+00] [ 4.41080989e-02 9.86799599e-05 9.99026759e-01 1.38119955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.21, Y:3.71, Z:138.12 [[ 8.31394991e-01 5.54470187e-01 -3.66767126e-02 6.36206259e+02] [-5.53928550e-01 8.32203586e-01 2.45020964e-02 3.71034461e+00] [ 4.41081737e-02 -5.46419331e-05 9.99026759e-01 1.38122436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.26, Y:3.68, Z:138.12 [[ 8.32585010e-01 5.52682122e-01 -3.66697806e-02 6.36257985e+02] [-5.52138292e-01 8.33392132e-01 2.45124665e-02 3.67674138e+00] [ 4.41079086e-02 -1.61922145e-04 9.99026760e-01 1.38124030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.31, Y:3.64, Z:138.12 [[ 8.33134108e-01 5.51854468e-01 -3.66633918e-02 6.36310708e+02] [-5.51309415e-01 8.33940405e-01 2.45220185e-02 3.64217178e+00] [ 4.41076693e-02 -2.17256928e-04 9.99026760e-01 1.38124980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.36, Y:3.61, Z:138.13 [[ 8.33586766e-01 5.51170938e-01 -3.66565241e-02 6.36362771e+02] [-5.50624773e-01 8.34392310e-01 2.45322804e-02 3.60721356e+00] [ 4.41074018e-02 -2.65794010e-04 9.99026760e-01 1.38127155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.250385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.41, Y:3.57, Z:138.13 [[ 8.34159574e-01 5.50304099e-01 -3.66497424e-02 6.36414583e+02] [-5.49756652e-01 8.34964247e-01 2.45424076e-02 3.57187748e+00] [ 4.41070121e-02 -3.23844598e-04 9.99026760e-01 1.38129725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.310385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.47, Y:3.54, Z:138.13 [[ 8.34348656e-01 5.50017827e-01 -3.66430144e-02 6.36466069e+02] [-5.49469663e-01 8.35152840e-01 2.45524487e-02 3.53659031e+00] [ 4.41068020e-02 -3.51077774e-04 9.99026760e-01 1.38131948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.370385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.52, Y:3.50, Z:138.13 [[ 8.34362513e-01 5.49997255e-01 -3.66362660e-02 6.36518327e+02] [-5.49448629e-01 8.35166383e-01 2.45625143e-02 3.50150118e+00] [ 4.41066932e-02 -3.64294976e-04 9.99026760e-01 1.38134504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.430385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.57, Y:3.47, Z:138.14 [[ 8.33979482e-01 5.50578333e-01 -3.66295349e-02 6.36570567e+02] [-5.50029827e-01 8.34783433e-01 2.45725482e-02 3.46584055e+00] [ 4.41068415e-02 -3.45664233e-04 9.99026760e-01 1.38136831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.490385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.62, Y:3.43, Z:138.14 [[ 8.33185214e-01 5.51780002e-01 -3.66227866e-02 6.36621209e+02] [-5.51232213e-01 8.33989654e-01 2.45826017e-02 3.43058844e+00] [ 4.41072131e-02 -2.94200537e-04 9.99026760e-01 1.38139006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.550385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.67, Y:3.40, Z:138.14 [[ 8.31130213e-01 5.54870974e-01 -3.66165503e-02 6.36673099e+02] [-5.54325768e-01 8.31936405e-01 2.45918873e-02 3.39516474e+00] [ 4.41079657e-02 -1.41563092e-04 9.99026760e-01 1.38141814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.610385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.73, Y:3.36, Z:138.14 [[ 8.29201926e-01 5.57748947e-01 -3.66098088e-02 6.36725137e+02] [-5.57206096e-01 8.30009706e-01 2.46019193e-02 3.36113749e+00] [ 4.41081912e-02 -7.50219776e-07 9.99026760e-01 1.38143184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.670385723 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:636.78, Y:3.32, Z:138.15 [[ 8.29424541e-01 5.57418252e-01 -3.66035851e-02 6.36776312e+02] [-5.56874671e-01 8.30231830e-01 2.46111756e-02 3.32485127e+00] [ 4.41081800e-02 -2.95036050e-05 9.99026760e-01 1.38146054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.83, Y:3.29, Z:138.15 [[ 8.30477162e-01 5.55849215e-01 -3.65969136e-02 6.36828548e+02] [-5.55303671e-01 8.31283126e-01 2.46210922e-02 3.28943012e+00] [ 4.41080115e-02 -1.24854255e-04 9.99026760e-01 1.38149856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.790385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.88, Y:3.26, Z:138.15 [[ 8.32193887e-01 5.53276149e-01 -3.65901326e-02 6.36881912e+02] [-5.52727670e-01 8.32997856e-01 2.46311655e-02 3.25546543e+00] [ 4.41073384e-02 -2.73526583e-04 9.99026760e-01 1.38152015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.93, Y:3.22, Z:138.15 [[ 8.33982777e-01 5.50576414e-01 -3.65833326e-02 6.36934163e+02] [-5.50024890e-01 8.34784660e-01 2.46412611e-02 3.22118752e+00] [ 4.41061020e-02 -4.28643844e-04 9.99026760e-01 1.38152552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.910385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.99, Y:3.18, Z:138.15 [[ 8.37605171e-01 5.45050215e-01 -3.65765061e-02 6.36985715e+02] [-5.44492959e-01 8.38403081e-01 2.46513899e-02 3.18479783e+00] [ 4.41021008e-02 -7.32481557e-04 9.99026761e-01 1.38152723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.04, Y:3.15, Z:138.16 [[ 8.41363729e-01 5.39230682e-01 -3.65697643e-02 6.37038683e+02] [-5.38667474e-01 8.42157449e-01 2.46613871e-02 3.15064042e+00] [ 4.40956760e-02 -1.05025406e-03 9.99026761e-01 1.38155409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.030385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.09, Y:3.12, Z:138.16 [[ 8.42616733e-01 5.37271049e-01 -3.65631136e-02 6.37092097e+02] [-5.36705568e-01 8.43408835e-01 2.46712436e-02 3.11701903e+00] [ 4.40927980e-02 -1.16477600e-03 9.99026761e-01 1.38157928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.15, Y:3.08, Z:138.16 [[ 8.43373410e-01 5.36082936e-01 -3.65564974e-02 6.37145559e+02] [-5.35515915e-01 8.44164410e-01 2.46810432e-02 3.08461919e+00] [ 4.40907802e-02 -1.23874938e-03 9.99026761e-01 1.38161552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.150385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.20, Y:3.05, Z:138.16 [[ 8.42956782e-01 5.36738274e-01 -3.65498102e-02 6.37199742e+02] [-5.36171439e-01 8.43747916e-01 2.46909423e-02 3.05289245e+00] [ 4.40913999e-02 -1.21643297e-03 9.99026761e-01 1.38164076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.210385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.26, Y:3.02, Z:138.17 [[ 8.42182765e-01 5.37952399e-01 -3.65432056e-02 6.37255490e+02] [-5.37386281e-01 8.42974412e-01 2.47007134e-02 3.02226120e+00] [ 4.40927953e-02 -1.16469772e-03 9.99026761e-01 1.38166436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.270385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.31, Y:2.99, Z:138.17 [[ 8.41390976e-01 5.39190436e-01 -3.65362583e-02 6.37310054e+02] [-5.38625037e-01 8.42183137e-01 2.47109852e-02 2.99209677e+00] [ 4.40941475e-02 -1.11225650e-03 9.99026761e-01 1.38168291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.330385723 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:637.36, Y:2.96, Z:138.17 [[ 8.41311052e-01 5.39315570e-01 -3.65298433e-02 6.37364792e+02] [-5.38749878e-01 8.42103003e-01 2.47204647e-02 2.96261136e+00] [ 4.40940223e-02 -1.11715158e-03 9.99026761e-01 1.38168328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.390385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:637.42, Y:2.93, Z:138.17 [[ 8.43455614e-01 5.35955812e-01 -3.65238863e-02 6.37417459e+02] [-5.35386585e-01 8.44245028e-01 2.47292630e-02 2.93005418e+00] [ 4.40889017e-02 -1.30363700e-03 9.99026761e-01 1.38169776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.450385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.47, Y:2.90, Z:138.17 [[ 8.50973433e-01 5.23937646e-01 -3.65179284e-02 6.37473927e+02] [-5.23356902e-01 8.51754414e-01 2.47380580e-02 2.90329919e+00] [ 4.40655065e-02 -1.93952027e-03 9.99026761e-01 1.38168472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.510385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.52, Y:2.87, Z:138.18 [[ 8.51494649e-01 5.23090542e-01 -3.65122878e-02 6.37524237e+02] [-5.22508665e-01 8.52274786e-01 2.47463805e-02 2.86905960e+00] [ 4.40630998e-02 -1.99342382e-03 9.99026761e-01 1.38180174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.570385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:637.58, Y:2.84, Z:138.18 [[ 8.54498052e-01 5.18170181e-01 -3.65067502e-02 6.37582191e+02] [-5.17583467e-01 8.55274557e-01 2.47545470e-02 2.84468193e+00] [ 4.40503627e-02 -2.25742187e-03 9.99026761e-01 1.38180478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.630385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.63, Y:2.81, Z:138.19 [[ 8.51692616e-01 5.22768774e-01 -3.65033919e-02 6.37633307e+02] [-5.22186042e-01 8.52472114e-01 2.47594982e-02 2.81104087e+00] [ 4.40616162e-02 -2.02592006e-03 9.99026761e-01 1.38187626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.690385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.69, Y:2.78, Z:138.19 [[ 8.50731195e-01 5.24332138e-01 -3.64999116e-02 6.37688185e+02] [-5.23750620e-01 8.51511598e-01 2.47646277e-02 2.78245416e+00] [ 4.40649883e-02 -1.95119002e-03 9.99026761e-01 1.38189404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.750385723 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:637.75, Y:2.76, Z:138.19 [[ 8.50944568e-01 5.23986222e-01 -3.64935845e-02 6.37745570e+02] [-5.23403987e-01 8.51724438e-01 2.47739480e-02 2.75656104e+00] [ 4.40636851e-02 -1.98036886e-03 9.99026761e-01 1.38190160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.810385723 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:637.80, Y:2.73, Z:138.19 [[ 8.51960410e-01 5.22333320e-01 -3.64878312e-02 6.37800555e+02] [-5.21749211e-01 8.52738877e-01 2.47824188e-02 2.72773106e+00] [ 4.40592752e-02 -2.07614252e-03 9.99026761e-01 1.38192176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.870385723 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:637.86, Y:2.71, Z:138.20 [[ 8.54495798e-01 5.18175631e-01 -3.64821384e-02 6.37860685e+02] [-5.17587379e-01 8.55271139e-01 2.47907963e-02 2.70544409e+00] [ 4.40481065e-02 -2.30093686e-03 9.99026761e-01 1.38195190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.930385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.92, Y:2.68, Z:138.20 [[ 8.51631656e-01 5.22869997e-01 -3.64758721e-02 6.37915328e+02] [-5.22285627e-01 8.52409927e-01 2.48000127e-02 2.67815619e+00] [ 4.40595780e-02 -2.06965218e-03 9.99026761e-01 1.38200844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.990385723 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:637.97, Y:2.65, Z:138.20 [[ 8.49792543e-01 5.25854131e-01 -3.64700869e-02 6.37973283e+02] [-5.25272131e-01 8.50572587e-01 2.48085173e-02 2.65163096e+00] [ 4.40661175e-02 -1.92537273e-03 9.99026762e-01 1.38203962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.050385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.03, Y:2.63, Z:138.21 [[ 8.48911154e-01 5.27276279e-01 -3.64633809e-02 6.38031215e+02] [-5.26695164e-01 8.49691858e-01 2.48183699e-02 2.62670916e+00] [ 4.40687756e-02 -1.86350464e-03 9.99026762e-01 1.38211193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.110385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.09, Y:2.60, Z:138.21 [[ 8.47349079e-01 5.29783383e-01 -3.64568977e-02 6.38087968e+02] [-5.29204170e-01 8.48131194e-01 2.48278897e-02 2.60043516e+00] [ 4.40736356e-02 -1.74474717e-03 9.99026762e-01 1.38208133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.170385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.14, Y:2.57, Z:138.21 [[ 8.47180401e-01 5.30053482e-01 -3.64509845e-02 6.38144001e+02] [-5.29474145e-01 8.47962425e-01 2.48365680e-02 2.57095802e+00] [ 4.40737746e-02 -1.74119982e-03 9.99026762e-01 1.38211779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2303857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.20, Y:2.54, Z:138.21 [[ 8.48310726e-01 5.28243076e-01 -3.64439991e-02 6.38201826e+02] [-5.27661631e-01 8.49091184e-01 2.48468140e-02 2.54425557e+00] [ 4.40694358e-02 -1.84771883e-03 9.99026762e-01 1.38214077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.290385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.26, Y:2.52, Z:138.21 [[ 8.51634382e-01 5.22868267e-01 -3.64369953e-02 6.38258064e+02] [-5.22281461e-01 8.52410817e-01 2.48570805e-02 2.51584805e+00] [ 4.40562676e-02 -2.13877720e-03 9.99026762e-01 1.38214706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3503857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.31, Y:2.49, Z:138.22 [[ 8.54567568e-01 5.18060922e-01 -3.64301058e-02 6.38313278e+02] [-5.17469322e-01 8.55340356e-01 2.48671736e-02 2.48600733e+00] [ 4.40428505e-02 -2.39921793e-03 9.99026762e-01 1.38217818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.410385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.37, Y:2.46, Z:138.22 [[ 8.56415678e-01 5.15000515e-01 -3.64232961e-02 6.38369259e+02] [-5.14405731e-01 8.57186019e-01 2.48771438e-02 2.45636018e+00] [ 4.40332821e-02 -2.56882374e-03 9.99026762e-01 1.38221010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4703857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.43, Y:2.43, Z:138.22 [[ 8.57686100e-01 5.12882436e-01 -3.64164804e-02 6.38426223e+02] [-5.12285330e-01 8.58454642e-01 2.48871170e-02 2.42761563e+00] [ 4.40260619e-02 -2.68970562e-03 9.99026762e-01 1.38222520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.530385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.48, Y:2.40, Z:138.22 [[ 8.58188543e-01 5.12041766e-01 -3.64095442e-02 6.38480356e+02] [-5.11443479e-01 8.58956166e-01 2.48972605e-02 2.39752098e+00] [ 4.40226397e-02 -2.74511980e-03 9.99026762e-01 1.38223845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5903857229999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.54, Y:2.37, Z:138.23 [[ 8.59134734e-01 5.10452751e-01 -3.64073891e-02 6.38536843e+02] [-5.09852911e-01 8.59901145e-01 2.49004115e-02 2.36938498e+00] [ 4.40172391e-02 -2.83039510e-03 9.99026762e-01 1.38226654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.650385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.59, Y:2.34, Z:138.23 [[ 8.58853213e-01 5.10926770e-01 -3.64004675e-02 6.38593537e+02] [-5.10326927e-01 8.59619621e-01 2.49105256e-02 2.34072790e+00] [ 4.40180105e-02 -2.81834622e-03 9.99026762e-01 1.38228400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.710385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.65, Y:2.31, Z:138.23 [[ 8.58851531e-01 5.10929811e-01 -3.63974718e-02 6.38647448e+02] [-5.10329787e-01 8.59617797e-01 2.49149019e-02 2.31171709e+00] [ 4.40176807e-02 -2.82348762e-03 9.99026762e-01 1.38230257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.770385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.70, Y:2.28, Z:138.23 [[ 8.58715967e-01 5.11158013e-01 -3.63919319e-02 6.38701980e+02] [-5.10557852e-01 8.59482126e-01 2.49229913e-02 2.28039738e+00] [ 4.40178017e-02 -2.82158403e-03 9.99026762e-01 1.38225309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.830385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.76, Y:2.25, Z:138.23 [[ 8.58070250e-01 5.12241466e-01 -3.63885440e-02 6.38756724e+02] [-5.11642064e-01 8.58837002e-01 2.49279367e-02 2.25119093e+00] [ 4.40209509e-02 -2.77201118e-03 9.99026762e-01 1.38226419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.890385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.81, Y:2.22, Z:138.24 [[ 8.56612694e-01 5.14675526e-01 -3.63839985e-02 6.38808250e+02] [-5.14078022e-01 8.57380927e-01 2.49345695e-02 2.21887096e+00] [ 4.40281590e-02 -2.65505475e-03 9.99026762e-01 1.38240391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.950385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.86, Y:2.19, Z:138.24 [[ 8.56106598e-01 5.15517170e-01 -3.63804845e-02 6.38861330e+02] [-5.14920206e-01 8.56875250e-01 2.49396954e-02 2.18509827e+00] [ 4.40303780e-02 -2.61799124e-03 9.99026762e-01 1.38243423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.010385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.91, Y:2.15, Z:138.25 [[ 8.55249442e-01 5.16938432e-01 -3.63737572e-02 6.38914005e+02] [-5.16342330e-01 8.56018762e-01 2.49495031e-02 2.15189663e+00] [ 4.40339756e-02 -2.55673806e-03 9.99026762e-01 1.38245395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.070385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.97, Y:2.12, Z:138.25 [[ 8.54757442e-01 5.17751967e-01 -3.63677946e-02 6.38966090e+02] [-5.17156229e-01 8.55527044e-01 2.49581916e-02 2.11723508e+00] [ 4.40357846e-02 -2.52536848e-03 9.99026763e-01 1.38248929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.130385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.02, Y:2.08, Z:138.25 [[ 8.55328792e-01 5.16808028e-01 -3.63609640e-02 6.39017203e+02] [-5.16211020e-01 8.56097410e-01 2.49681389e-02 2.08220240e+00] [ 4.40322617e-02 -2.58603777e-03 9.99026763e-01 1.38252869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.190385723 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.07, Y:2.05, Z:138.26 [[ 8.57102829e-01 5.13860955e-01 -3.63546491e-02 6.39067223e+02] [-5.13260917e-01 8.57869083e-01 2.49773302e-02 2.04597102e+00] [ 4.40224043e-02 -2.74871983e-03 9.99026763e-01 1.38256120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.250385723 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:639.09, Y:1.97, Z:138.25 [[ 8.37980247e-01 5.44488654e-01 -3.63484761e-02 6.39087280e+02] [-5.43916300e-01 8.38767395e-01 2.49863103e-02 1.96966919e+00] [ 4.40926791e-02 -1.16750586e-03 9.99026763e-01 1.38248157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.310385723 meters Centerline goodness : 0.989547 with order 1 Centerline is valid? [True, True] Translation: X:639.04, Y:1.79, Z:138.24 [[ 8.01462994e-01 5.96938712e-01 -3.63489102e-02 6.39042618e+02] [-5.96417871e-01 8.02285136e-01 2.49856788e-02 1.79477647e+00] [ 4.40771093e-02 1.65404269e-03 9.99026763e-01 1.38235425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8428.93 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%| | 0/28912 [00:00